Transferring apparatus and robot arm

摘要

A robot arm and an apparatus for transferring an article. The robot arm includes a movable hand for holding the article. A first arm has a proximal end that rotatably supports a drive pulley and a distal end that rotatably supports a driven pulley. The pulleys are connected to each other by a belt. A second arm and a third arm each have a proximal end and a distal end. The proximal ends of the second and third arms are pivotally supported by the driven pulley. The distal ends of the second and third arms are pivotally coupled to the hand. The driven pulley, the second arm, and the third arm cooperate with the hand to define a parallel linkage mechanism. A first motor pivots the first arm about its proximal end. A second motor rotates the drive pulley. A pivoting mechanism pivots the second arm about its proximal end relative to the first arm in correspondence with the pivoting of the first arm.