Machine element or mechanism – Mechanical movements – Reciprocating or oscillating to or from alternating rotary
Patent
1990-04-11
1992-04-28
Herrmann, Allan D.
Machine element or mechanism
Mechanical movements
Reciprocating or oscillating to or from alternating rotary
384296, 384439, 403 71, 403353, 4147446, 901 16, 901 17, F16H 2520, B25J 1100
Patent
active
051077167
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
Technical Field
1. Field of the Invention:
The present invention relates to a horizontal revolute robot small-sized, light in weight, enjoying a wide range of action, and low-priced.
2. Description of the Related Art:
It is generally known to employ a cylindrical coordinate robot for material handling, transportation of heavy objects, etc. The cylindrical coordinate robot, having a first direct-acting or prismatic actuator disposed on a base for swivel motion and extending vertically of the robot and a second direct-acting actuator extending horizontally, is arranged to move the second actuator in the vertical direction by means of the first actuator, and drive an arm in the horizontal direction by the second actuator, so as to permit an end effector attached to the arm to perform various operations. Thus, the cylindrical coordinate robot has advantages such as high repeatability. However, the base thereof is large-sized, and the first actuator must be coupled to a drive mechanism accomodated in the base, so that the assembly, maintenance, and transportation of the robot require much labor, thus entailing higher costs, and requiring a wide robot installation space. Also, since the lower movement limit position of the second actuator is high, the range of action of the robot is narrow.
SUMMARY OF THE INVENTION
An object of the present invention is to provide a horizontal revolute robot which eliminates the aforementioned drawbacks of the conventional cylindrical coordinate robot, which is small-sized and light in weight, has a wide range of action, and permits reduction in costs of manufacture, assembly, maintenance, and transportation.
In order to achieve the above and other objects, a horizontal revolute robot according to the present invention comprises a direct-acting actuator and a manipulator including at least one horizontal revolute joint and arranged for swivel motion within a horizontal plane. The direct-acting actuator includes a feed screw extending vertically of the robot, a column including an upper plate member rotatably supporting the feed screw at an upper end of the feed screw and a lower plate member spaced vertically of the robot from the upper plate member, a drive unit disposed on the lower plate member and coupled to a lower end of the feed screw for rotating the feed screw, and a slider coupled to the feed screw and movable along the feed screw with rotation of the feed screw. The manipulator is coupled at its proximal end portion to the slider so as to be movable in unison therewith vertically of the robot.
According to the present invention, as described above, the manipulator swivelable within a horizontal plane is vertically movable in unison with the slider of the direct-acting actuator, so that there is no need of elements which correspond to the large-sized base and the drive mechanism accommodated therein of the conventional cylindrical coordinate robot. As a result, the robot can be made compact in size, light in weight, and simple in construction. Thus, the assembly, disassembly, and transportation of the robot are facilitated, costs of manufacture, assembly, maintenance, and transportation can be reduced, and the reliability can be improved. Further, there is no need of a wide robot installation space. Furthermore, the lower movement limit position of the manipulator is low, so that the range of action of the robot is wide.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a schematic perspective view showing a horizontal revolute robot according to one embodiment of the present invention;
FIG. 2 is a schematic perspective view showing a direct-acting actuator of the FIG. 1 embodiment;
FIG. 3 is a schematic plan view of the directacting actuator taken along line III--III of FIG. 2;
FIG. 4 is a schematic perspective view showing a conventional cylindrical coordinate robot;
FIG. 5 is a schematic perspective view showing another conventional cylindrical coordinate robot, and
FIG. 6 is a plan view of the ball nut mounting plate of the robot of F
REFERENCES:
patent: 4502830 (1985-03-01), Inaba et al.
patent: 4628974 (1986-12-01), Meyer
patent: 4637771 (1987-01-01), Yasukawa
patent: 4652204 (1987-03-01), Arnett
patent: 4725191 (1988-02-01), Eberle et al.
patent: 4781517 (1988-11-01), Pearce et al.
patent: 4782713 (1988-11-01), Torii et al.
Hamura Masayuki
Ito Susumu
Tanaka Akira
Torii Nobutoshi
Fanuc Ltd.
Herrmann Allan D.
LandOfFree
Horizontal revolute robot does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Horizontal revolute robot, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Horizontal revolute robot will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-1239706