| 摘要 |
A robot arm with a single link arm is provided to reduce the number of parts and manufacturing costs by reducing the number of robot arms. A robot arm comprises a first rotation pulley(P1) connected to a rotation shaft which is connected to a robot body, and disposed in the robot arm; a second rotation pulley(P2) spaced apart from the first rotation pulley, and rotatably arranged in the arm; a third rotation pulley(P3) which is arranged at one end of the robot arm, and has a rotation shaft connected to a robot hand; a guide rail(R) arranged in the robot arm in the gap formed between the second rotation pulley and the third rotation pulley; a power transmission unit(B) for interconnecting the second rotation pulley and the third rotation pulley; a slider(S) which is arranged to slide along the guide rail, and integrally connected to the power transmission unit so that the slider slides along the guide rail in correspondence to the motion of the power transmission unit; a linear link having one end rotatably connected to an eccentric rotation shaft(12) deviated from a center of the first pulley, and the other end rotatably connected to the slider; and a robot hand(H) connected to the rotation shaft of the third pulley.
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