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Robot for handling products in a three-dimensional space

  • US 6,543,987 B2
  • Filed: 03/01/2001
  • Issued: 04/08/2003
  • Est. Priority Date: 03/01/2000
  • Status: Expired due to Fees
First Claim
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1. A robot for handling products in a three-dimensional space, comprising:

  • three arms that are pivotably supported by shafts on a common base to pivot around three pivot axes arranged in a common axes plane, the axes forming a triangle with three corners, each pivot shaft being connected to a first to third driving unit, each driving unit being connected to a common controller;

    a connecting first to third linkage connecting a free end of each arm to a carrier which is movable in space in all three linear dimensions and prevented from rotation around all three rotative dimensions;

    a telescopic fourth linkage which at its one end is connected by a first joint to a fourth driving unit fixed to the base and at its other end by a second joint to a gripper rotatably supported in a carrier, wherein, in the axes plane, the base has an opening through which the fourth linkage extends, the first joint is on an opposite side of the axes plane than the carrier, each arm is connected to the respective shaft at a point offset from a midpoint between adjacent corners of the triangle, and each arm is angled such that the free end lies approximately in a respective plane perpendicular to the common axes plane and extending through the midpoint between said adjacent corners.

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