Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1990-05-18
1991-02-12
Moore, Richard E.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
B25J 1800
Patent
active
049914561
ABSTRACT:
An industrial robot utilizing a parallel link mechanism comprises a shoulder portion swingable about a vertical axis, which supports a first arm and a first link for swing movements about a common axis. A second arm pivoted at the end of the first arm for swing movement about a swing axis parallel to the common axis and being provided with a wrist portion at the front end thereof, while a second link is connected between the first link and the second arm so as to form a parallel link mechanism. Further, the second arm is provided with first and second connecting portions formed at the rear side and front sides of the second arm, respectively, with respect to the swing axis of the second arm. The first and second connecting portions are selectively connectable with one end of the second link using a connecting mechanism. In an application that the robot is placed on a floor, the second arm is assembled under a first condition that the first connecting portion is located in the back of the first arm in which the second link is located and the second link is connected to the first connecting portion. In an application that the robot is hung down from a ceiling, the second arm is assembled under a second condition that the second connecting portion is located in the back of the first arm in which the second link is located and the second link is connected to the second connecting portion.
REFERENCES:
patent: 4260319 (1981-04-01), Matoda et al.
patent: 4718815 (1985-01-01), Lindgren
patent: 4776230 (1988-10-01), Susnjara
patent: 4807486 (1989-02-01), Akeal et al.
Naruoka Shinji
Shibata Kunio
Toyama Osamu
Moore Richard E.
Toyoda Koki Kabushiki Kaisha
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