Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Reexamination Certificate
1998-11-23
2001-01-30
Fenstermacher, David (Department: 3682)
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
C074S490030, C901S050000
Reexamination Certificate
active
06178842
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a vertical articulated industrial robot, especially it relates to an industrial robot adapted to be able be installed very closely between other robots in a production line, having a small height substantially the same level that of works of the production line, and operable within an operating range not exceed the height of the robot during operation, and yet is able to secure a wide operating range including that in the near front side of the robot.
2. Description of the Related Art
A conventional vertical articulated industrial robot, for example, shown schematically in
FIG. 4
is proposed which is able to be installed very between other robots in a production line and having a small height substantially the same level that of works of the production line. The height of this robot is made lower than that of the conventional robot. The robot has a fixed base
40
, a rotary base
43
mounted on the fixed base rotatably around a vertical swing axis
47
, a first arm
44
mounted on the rotary base
43
rotatably around a horizontal first rotational axis
41
closely located to the installation surface
48
of the robot and a second arm
45
mounted on the distal end of first arm
44
rotatably around a horizontal second rotational axis
42
. A wrist
46
is mounted at a distal end of the second arm
45
.
The robot shown in
FIG. 4
has a considerably wide operating range
4
A since (slant lines) or working envelop in the near front side as seen in side view. However, referring to
FIG. 5
, when the first arm
44
and the second arm
45
are folded together during operation, the folded portions projecting into the rear side of the robot forms a range B or space shown in
FIG. 6
in a plan view which interfere with the ambient installations. This results that this type of robot is not suitable to be installed very closely between other robots in a production line. In
FIG. 6
, for easy explanation, the swing angles are expressed as limited within about 120 degrees, and
6
A is an operating range of the front side.
To eliminate the interference range such as B shown in
FIG. 6
, U.S. Pat. No. 5,375,480, for example, discloses a robot shown in
FIG. 7
in skeleton. This robot has a fixed base
71
, a rotary base
72
mounted on the fixed base rotatably around a vertical swing axis
78
, a first arm
73
mounted on the rotary base
72
rotatably around a horizontal first rotational axis
76
located on the outer end of the rotary base
72
positioned substantially above the outer surface of the fixed base
71
and a second arm
74
mounted on the distal end of the first arm
73
rotatably around a horizontal second rotational axis
77
. A wrist
75
is mounted at the distal end of the second arm
74
. Although the robot shown in
FIG. 7
can eliminate the interference range such as shown in
FIG. 6
, it is however, unable to have a considerably wide operating range
4
A as been shown in FIG.
4
.
SUMMARY OF THE INVENTION
It is therefore an object of the present invention to provide an improved industrial robot which is able to be installed very closely between the other robots in a production line in order to shorten the production line.
Another object of the present invention is to provide an improved industrial robot having a small height at substantially the same level that as of works of the production line, and operable within an operating range not to exceed the height of the robot during operation, and yet is able to secure a wide operating range including that in the near front side of the robot.
A further object of the present invention is to provide an improved industrial robot which can eliminate a rear side interference range which may interfere with the other ambient robots when its arms are folded together during operation.
According to the first invention of the present invention, the above and other objects can be accomplished by an industrial robot come above and other objects can be accomplished by an industrial robot comprising: a fixed base mounted on an installation surface at a predetermined height therefrom, a rotary base mounted on the fixed base rotatably around a vertical swing axis perpendicular to the installation surface and having a projecting portion which offsets from and projects outward from an outer surface of the fixed base, a first arm mounted on the projecting portion of the rotary base rotatably around a substantially horizontal first rotational axis parallel to the installation surface, a second arm mounted on the distal end of the first arm rotatably around a substantially horizontal second rotational axis parallel to the first rotational axis, and a wrist mounted on the distal end of the second arm rotatably around a longitudinal axis of the second arm, wherein the longitudinal length of the first arm is made smaller than that of between the first rotational axis and the installation surface, and the first arm is made operable to hang down from the first rotational axis in a position where the axis of the first arm is substantially perpendicular to the installation surface.
By such an arrangement, since the first arm is made operable to hang down in a position perpendicular to the installation surface of the robot and outwardly offset from the outer surface of the fixed base, an interference range of the first arm which interfere with the fixed base is made so small, resulting in the operating range of the front side of the robot being much enlarged. This results in the robot being able to be installed very closely between the other robots in a production line in order to shorten the production line, and to have a small height substantially the same level that of works of the production line, and yet is able to secure a wide operating range including that of in the near front side of the robot. Further, a rear side interference range of the robot which interfere with the other robot in the production line causing out of the projecting portion of its arms when they are folded together during operation is eliminated.
According to the second invention of the present invention, there is provided an industrial robot comprising: a rotary base mounted on a fixed base rotatably around a vertical swing axis, an L-shaped first arm mounted on the rotary base rotatably around a substantially horizontal first rotational axis and having a curved portion curved toward the installation surface and a perpendicularly hanging down portion extending from the curved portion, a second arm mounted on the first arm and rotatable around a substantially horizontal second rotational axis outwardly offset from an outer surface of the fixed base, and a wrist mounted on the distal end of the second arm rotatably around a longitudinal axis of the second arm, wherein the longitudinal length of the perpendicular ingredient of the first arm is made smaller than that of between the first rotational axis and the installation surface.
By such an arrangement, the second invention of the present invention performs similar effects to that of the above described with reference to the first invention. Besides, since the first rotational axis is located within the outer surface of the fixed base, the radius of the gyration between the vertical swing axis and the end of the wrist mounted on the second arm can be made small, resulting that an interfere range which interfere with the ambient installations may be made small.
The longitudinal axis of the second arm is offset from the second rotational axis toward the first rotational axis, thereby resulting in that when the distal end of the first arm or the second rotational axis is operated to position very closely to the installation surface, added parts to second arms, such as motors/reduction gears for drive the wrist and which have very large outer contours do not interfere with the installation surface. Thus, in the design stage of the robot, the length of the first arm may be designed to reach closely to the installation surface, and also in
Arai Isao
Fukayama Nobutaka
Kanitani Kiyoshi
Murata Yuji
Fenstermacher David
Kelemen Gabor J.
Nachi-Fujikoshi Corp.
Venable
LandOfFree
Industrial 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 Industrial robot, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Industrial robot will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2509263