Clean robot
AssigneeCanon Kabushiki Kaisha
InventorsYasuhiro Sawada, Yusaku Azuma, Masateru Yasuhara
Life of this patent
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Abstract
A clean robot capable of a linear conveying motion comprises a base, a first arm rotatably supported by the base, a second arm rotatably supported by the first arm, and a third arm rotatably supported by the second arm. Also provided are a first driving unit for rotating the first arm with respect to the base in a first rotational direction at a first angular velocity, a second driving unit for rotating the second arm with respect to the first arm in a second rotational direction reverse to the first rotational direction at a doubled angular velocity of the first angular velocity, and a third driving unit for rotating the third arm with respect to the second arm in the first rotational direction at the first angular velocity.
Claims3
A robot comprising:
- a base;
- a first arm rotatably supported-by said base;
- first driving means for rotating said first arm around said base, said first driving means having a first motor arranged in said base and first transmission means fixed to said first arm for transmitting rotation of said first motor to said first arm;
- a second arm rotatably supported by said first arm at an end portion of said first arm, said second arm having the same length as that of said first arm;
- second driving means for rotating said second arm around said end portion of said first arm, said second driving means having a second motor arranged in said base and second transmission means for transmitting rotation of said second motor to said second arm;
- a third arm rotatably supported by said second arm at an end portion of said second arm;
- third driving means for rotating said third arm around said end portion of said second arm, said third driving means having a third transmission means for transmitting rotation of a shaft, which extends between said first and second arms and comprises part of said second driving means, to said third arm;
- operating means arranged at said third arm for handling a workpiece;
- and
- control means for moving said operating means linearly, said control means controlling said first, second and third driving means so that a first arm rotation angle .theta..sub.1, a second arm rotation angle .theta..sub.2 and a third arm rotation angle .theta..sub.3 satisfy the following condition:
- .theta..sub.2 =180.degree.-2.theta..sub.1
- .theta..sub.3 =.theta..sub.2 /2
- where
- .theta..sub.1 =-60.degree. to 60.degree.
- .theta..sub.2 =300.degree. to 60.degree.
- .theta..sub.3 =150.degree. to 30.degree..
Dependencies are inferred from the claim text.