| 摘要 |
A robotic arm for moving product from a first handling station to a second handling station is disclosed. The robotic arm includes a support structure and a driven shaft mounted to the support structure. The driven shaft is adapted for rotation about a first axis. A device is provided for selectively oscillating the shaft through successive, selected arcs of rotation. A crank arm is secured to the driven shaft at a first point such that the crank arm is rotated about the first axis. A linkage member is rotatably secured to the support structure for rotation about a second axis. The linkage member is rotatably secured to the support structure at a first linkage pivot point on the linkage member. The crank arm and the linkage member are interconnected by an elongated boom member having a first end, a cranking point and a product handling end. The boom member is pivotally connected at its first end to the linkage member. The boom member is further pivotally connected at its cranking point to the crank arm. The interrelationship among these members is such that when the crank arm is selectively oscillated, the crank arm causes movement of the product handling end of the boom in a path having an arcuate component and an approximately straight line component for handling product. |
