Articulated robot

Details Articulated robot Articulated robot

1995-03-01

1997-06-03

Pitts, Andrea L.

Machine element or mechanism

Control lever and linkage systems

Multiple controlling elements for single controlled element

7449003, 91 15, 91 48, G05G 1300

Patent

active

056343779

ABSTRACT:
A robot has a base shaft portion disposed on a base, a first arm attached in a rotatable state to the base shaft portion, and a second arm attached in a rotatable state to the first arm. Balance setting is performed so as to position the center of gravity of the second arm above the rotation shaft of the second arm. A housing to which the motor, whose driving power is transmitted to a rotation shaft of the second arm by a steel belt, and harmonic reduction gear for rotating the second arm are fixed, is supported in a rotatable state with respect to the first arm, the drive shaft of the motor being disposed substantially coaxial with a rotation shaft of the first arm. A support arm of the housing is supported in a rotatable and slidable state along the length direction of the first arm by a support member fixed to the base shaft portion. In adjusting the tension of the steel belt the housing is displaced by a setting bolt to change the gap between the rotation shaft of the second arm and the output shaft of the harmonic reduction gear.

REFERENCES:
patent: 4557662 (1985-12-01), Terauchi et al.
patent: 4991456 (1991-02-01), Shibata et al.
patent: 5031474 (1991-07-01), Keppler et al.
patent: 5054332 (1991-10-01), Terauchi et al.
patent: 5271292 (1993-12-01), Sawada et al.
patent: 5357824 (1994-10-01), Hashimoto
patent: 5415057 (1995-05-01), Nihei et al.

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