Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1988-09-27
1990-02-27
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
310 67R, 901 17, 901 23, B25J 304
Patent
active
049035398
DESCRIPTION:
BRIEF SUMMARY
DESCRIPTION
1. TECHNICAL FIELD
The present invention relates to an industrial multi-articulated robot and, more particularly, to a motor disposing construction for application to a direct-drive-type multi-articulated robot.
2. BACKGROUND ART
Recently, an industrial robot having a direct-drive-type robot arm has been provided to improve the controllability of the multi-articulated robot. The direct-drive-type articulated robot is provided with a direct-drive motor as a drive motor at each junction of the robot components to drive the associated robot component for arm motions to improve the response characteristics through a reduction of frictional torque and inertia and to enhance the compactness of the robot body, by omitting the reduction gear and the trasmission. The universal utility of the direct-drive-type robot has progressively enhanced with an improvement of the performance of the direct-drive motor. Nevertheless, since it is conventional to incorporate a direct-drive motor serving as a drive source for a turning motion about the longitudinal axis relative to the robot base, namely, the turning motion of the first robot arm about the longitudinal axis, into the base and of the first robot arm, because the direct-drive-type robot is provided with a direct-drive motor at each junction, the direct-drive-type robot has structural disadvantages in that the external figure thereof is enlarged by a brake unit and encoders for detecting the angle of turning motion and turning speed, provided on the base end of the first robot arm in connection with the direct-drive motor, and that the range of turning motion of a second robot arm joined to the extremity of the first robot arm is limited by a part of the first robot arm in turning the second robot arm relative to the first robot arm through a large angle to locate the second robot arm at a desired position.
DISCLOSURE OF THE INVENTION
Accordingly, it is an object of the present invention to eliminate the disadvantages encountered by the industrial robot having the conventional direct-drive-type arm.
It is another object of the present invention to provide direct-drive-type multi-articulated robot having an increased degree of freedom of motion.
The present invention provides a direct-drive-type multi-articulated robot provided with, at least, a longitudinal stationary support shaft having an upper end and a lower end, a cylindrical rotary casing surrounding the stationary support shaft, a first robot arm joined to the upper end of the rotary casing, and a second robot arm joined to the extremity of the first robot arm; characterized by comprising a direct-drive motor means interposed between the lower end of the rotary casing and the lower end of the stationary support shaft to drive the rotary casing and the first robot arm together for turning motion, and break means interposed between the upper end of the stationary support shaft and the first robot arm to arrest the turning motion of the first robot arm. The direct-drive motor is separated from the junction of the rotary casing and the first robot arm and is disposed in the lower portion of the rotary casing so that the base end of the first robot arm forming the junction is formed in a compact form and shape and in a reduced size, and thereby a region of motion in the vicinity of the base end is expanded.
BRIEF DESCRIPTION OF THE DRAWINGS
The above and other objects, features and advantages of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings, wherein:
FIG. 1 is a schematic perspective view showing the essential construction of a direct-drive-type articulated robot in a preferred embodiment according to the present invention;
FIG. 2 is a longitudinal sectional view taken on line II--II in FIG. 1; and
FIGS. 3A and 3B are plan views of assistance in explaining the functional difference between the conventional articulated robot and an articulated robot according to the present invention.
BEST MODE FOR CARRYING OUT
REFERENCES:
patent: 3849668 (1974-11-01), Dane
patent: 4015721 (1977-04-01), Scheler
patent: 4425818 (1984-01-01), Asada et al.
patent: 4529901 (1985-07-01), Bartell
patent: 4552505 (1985-11-01), Gorman
patent: 4606695 (1986-08-01), Lenz
patent: 4651591 (1987-03-01), Wurst
Kikuchi Jun
Nihei Ryo
Terada Akihiro
Torii Nobutoshi
Toyoda Kenichi
Fanuc Ltd.
Herrmann Allan D.
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