Material or article handling – Horizontally swinging load support – Swinging about pivot
Patent
1988-02-01
1989-08-22
Werner, Frank E.
Material or article handling
Horizontally swinging load support
Swinging about pivot
74469, 74479, 414719, 901 27, 901 48, B25J 1800
Patent
active
048591394
DESCRIPTION:
BRIEF SUMMARY
DESCRIPTION
1. Technical Field
The present invention relates generally to an arm structure for the movable unit of an industrial robot and, more particularly, to an industrial robot comprising an effective and inexpensive mechanism for improving the load capacity of the arm structure thereof in conveying a weight such as a workpiece held by a robot hand attached to the extremity of the arm structure or in executing robot work in a loaded state with a tool held by the robot hand.
2. Background Art
In a horizontal multi-articulate type robot applied to precision assembling work, in particular, among the recent industrial robots used for industrial purposes, movable robot units, such as a vertical shaft capable of vertically movement relative to a robot base unit, a horizontal robot upper arm and a horizontal robot forearm, are formed in hollow component structures, and drive sources for driving the shaft, the horizontal arms and a robot wrist attached to the extremity of the horizontal arm, transmission mechanisms, reduction gear mechanisms, wiring and piping are housed within the hollow component structures to prevent the horizontal articulated robot from generating dust and oil during operation.
However, when handling a weight such as a workpiece with a robot hand or a tool attached to the extremity of a wrist, a tensile load and a bending load act inevitably on the robot arms, and the influence of the tensile and bending loads on the robot arms formed in hollow structures is more significant than on robot arms formed in rigid structures. This influence on the robot arms cannot be entirely disregarded when the horizontal articulated robot is applied to precision assembling work.
DISCLOSURE OF THE INVENTION
Accordingly, an object of the present invention is to provide an arm structure for an industrial robot, capable of mitigating the influence of a load acting as the above-mentioned tensile load and bending load. Another object of the present invention is to provide a horizontal multi-articulate type industrial robot having a light weight and able to resist the tensile and bending loads.
In accordance with the present invention, there is provided an industrial robot comprising a vertical robot shaft, a first robot arm attached to the upper end of the vertical robot shaft, transmission-reduction gear means fixedly provided on the free end of the first robot arm and contained in a case, a second robot arm pivotally joined to the free end of the first robot arm, a plurality of coupling bolt means each penetrating through the interior of the first robot arm, and having one end fixed to the case containing the transmission-reduction gear means and the other end projecting from and fixed to the rear end of the first robot arm, and fastening nut means each engaging at least one end of each of the coupling bolt means, wherein a compressive force is applied beforehand to the first robot arm when coupling the transmission-reduction gear means with the first robot arm.
BRIEF DESCRIPTION OF THE DRAWINGS
The above and other objects and advantages of the present invention will be described in detail hereinafter with reference to a preferred embodiment thereof illustrated in the accompanying drawings.
FIG. 1 is a fragmentary perspective view of a horizontal multi-articulate type industrial robot incorporating an arm structure, in a preferred embodiment according to the present invention; and
FIG. 2 is a sectional view taken along the line II--II in FIG. 1.
BEST MODE FOR CARRYING OUT THE INVENTION
Referring to FIGS. 1 and 2 showing the essential portion of a horizontal articulated industrial robot incorporating an arm structure according to the present invention, the industrial robot 10 has a swiveling body 12. The swiveling body 12 is a component capable of swiveling about a vertical axis relative to a bed, not shown, in directions indicated by double-headed arrow .theta.. A vertical shaft 14 is mounted for vertical movement in directions indicated by a double-headed arrow Z on the swiveling body 12. A first ar
REFERENCES:
patent: 3731820 (1973-05-01), Niki et al.
patent: 4530062 (1985-07-01), Inaba et al.
Nihei Ryo
Terada Akihiro
Torii Nobutoshi
Fanuc Ltd.
Underwood Donald W.
Werner Frank E.
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