Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1990-01-12
1991-10-29
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
403164, 403165, 901 27, 901 28, 901 50, G05G 1100, F16D 112, B25J 1800
Patent
active
050605330
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention is directed to an improved arm fitting structure of a horizontal articulated robot, to realize a desired packaging of the robot, and is particularly effective for a large horizontal articulated robot.
BACKGROUND ART
As shown in FIGS. 7A and 7B, a conventional horizontal articulated robot comprises a robot base 1 along which a slider 6, moves vertically, and a base 2' located at a base end of a first arm 3' is fixed to the slider 6'. For packaging, a stopper S.sub.1 is arranged between the base 2' and the first arm 3', and the first arm is horizontally folded. Also a stopper S.sub.2 is disposed between the first arm and a second arm 4, and the second arm 4 is horizontally folded. Then, while ensuring that the second arm 4 does not touch the robot base 1, the arms are folded to reduce the robot to as small a shape as possible.
Therefore, as apparent from FIG. 7B, when folding the arms for packaging, the first arm 3' with an arm length L.sub.3 is pivoted and folded around a point O.sub.3 on the base 2', and the second arm 4 with an arm length L.sub.4 is pivoted and folded around a journal point O.sub.4 on the first arm. Therefore, no matter how the arms 3 and 4 are folded, a shape thereof as seen from the top of the robot will have large projections due to the arm lengths L.sub.3 and L.sub.4.
DISCLOSURE OF THE INVENTION
For example, as shown in FIGS. 2 and 3, in a known LM guiding means (a linear motion guiding apparatus) a slider 6 moves vertically along a robot base, an engaging cylinder 23 of a base 2 disposed at a base end of a first arm 3 is inserted to an engaging hole 63 of the slider 6 in such a manner that the base 2 is rotatable relative to the slider 6. Then the base 2 and slider 6 are fastened to each other by fastening bolts B.sub.1.
Upon packaging, as shown in FIGS. 5 and 6, the slider 6 is raised, and the fastening bolts B.sub.1 are removed so that the base 2 can freely rotate relative to the slider 6. Then by rotating the base 2, the whole of the arm is turned by 90.degree. on the surface of the slider 6, and the whole arm is folded vertically along the robot base 1. Accordingly, the whole robot can be folded to a compact size and shape.
Also, when packaging, the whole of the arm can be hung down along a vertical axis so that the package volume is further reduced.
Since the structure fitting the arm to the slider is rotatable, the arm may be set to an optimum configuration for robot operation and packaging.
BRIEF EXPLANATION OF THE DRAWINGS
FIG. 1 is a perspective view showing essential parts of the present invention;
FIG. 2 is a sectional view taken along a line Y--Y of FIG. 1;
FIG. 3 is an exploded perspective view showing a base fitting portion of a robot arm of the present invention;
FIG. 4 is a general perspective view showing an operative state of the robot of the present invention;
FIG. 5 is a view showing a rotational state of a base portion of FIG. 2;
FIG. 6 is a general perspective view showing a packaging state of the robot of the present invention;
FIG. 7A is a general perspective view showing a packaging state of a robot according to a prior art; and
FIG. 7B is a top view of FIG. 7A.
BEST MODE OF CARRYING OUT THE INVENTION
As schematically shown in FIG. 4, a base 2 of an arm is fitted to a robot base 1 (an axis Z) through a slider, in such a manner that the base 2 is controlled and moved vertically. The base 2 is provided with a first arm 3, and this first arm 3 is horizontally controlled and rotated by a motor M.sub.1. A second arm 4 is fitted to a front end of the first arm 3, through a motor M.sub.2, in such a manner than the second arm 4 can be horizontally controlled and rotated. A wrist 5 is controllably and operably fitted to a front end of the second arm 4 through a motor M.sub.3. The horizontal articulated robot thus formed is known, and the present invention is intended to improve a structure for fitting the first arm 3.
Namely, as shown in FIGS. 1, 2 and 3, the slider 6 comprises a fitting base plate 60 from which a squ
REFERENCES:
patent: 3645057 (1972-02-01), Kaplan
patent: 4583909 (1986-04-01), Yamashita et al.
Ito Susumu
Tanaka Akira
Torii Nobotoshi
Fanuc Ltd.
Herrmann Allan D.
Laub David W.
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