| 摘要 |
<p>An outrigger-type dual head attachment (10) for use with a robotic arm (12) having a three-axes wrist mechanism (14). The dual head attachment utilizes three separate and dissimilar transmission linkages to impart pitch, roll and yaw movement to the second operating head (18) that identically and simultaneously duplicates the movement and performance of the first operating head (16). The dual head attachment includes a frame (32) that is fixedly attached to the housing of the robotic arm and moves both the second operating head about the same pitch axis of the three-axes wrist mechanism as the first operating head. A gear (54, 56, 72, 74, 78) and flexible drive shaft (64) assembly imparts rotation about the roll axis to the second operating head, and a timing belt (86) and pulley (84, 88) assembly imparts rotation about the yaw axis to the second operating head. The workpiece is carried on a table (98) that slides linearly along a pair of rails (106) driven by a power cylinder (112) to accomplish transverse movement relative to the three-axes wirst mechanism and respective operating head. The dual head attachment doubles the functionality and productivity of the robotic arm at effectively no cost.</p> |
