Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1997-07-25
1998-10-20
Bonck, Rodney H.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
901 15, 901 23, B25J 906, B25J 1700
Patent
active
058230610
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The present invention relates to an industrial robot having a revolving portion which revolves on a base.
BACKGROUND OF THE INVENTION
Conventionally, in an industrial robot having a revolving portion mounted with a plurality of arms, for example, as shown in FIG. 2, a stationary portion 21 of a reduction gear 2 is fixed on a base 1 concentrically with a vertically extending rotation axis S, as a constituent member. A speed reduction mechanism portion 22 of the reduction gear 2 is supported on the stationary portion 21 through a bearing 23, and a bottom portion 31 of a revolving portion 3 is fixed to the speed reduction mechanism portion 22. A driving motor 4 is attached to the bottom portion 31 of the revolving portion 3 so as to rotate the revolving portion 3 concentrically with the rotation axis S. An output shaft 41 of the driving motor 4 is made to project downward through a through hole 32 provided in the bottom portion 31, and a small gear 42 is fixed to the output shaft 41 and is geared with an input gear 24 of the speed reduction mechanism portion 22 to thereby drive the speed reduction mechanism portion 22.
On the revolving portion 3, as shown in FIG. 3, a first arm 5A is supported rotatably around a horizontally extending rotation axis L, a second arm 5B is supported rotatably around a horizontally extending rotation axis U on the forward end side of the first arm 5A, a third arm 5C is supported rotatably around a rotation axis R extending in the longitudinal direction of the second arm 5B on the forward end side of the second arm 5B, and a wrist portion 5D is supported rotatably around a rotation axis B extending perpendicularly to the rotation axis R on the forward end side of the third arm 5C. The wrist portion 5D is provided with an end effector 5E for driving a tool or the like.
In the above-mentioned prior art, however, it is necessary to remove the revolving portion 3 when the reduction gear 2 is exchanged for repair or changing the specifications. Since the revolving portion 3 is mounted with heavy structures such as arms and so on, not only it is necessary to provide an equipment such as a crane, but also it is necessary to provide a large working place, or it is necessary to move the whole of the robot. Thus, there has been a problem that much trouble is inevitable.
DISCLOSURE OF THE INVENTION
It is an object of the present invention to provide an industrial robot in which a reduction gear can be exchanged without removing a revolving portion or any structure such as an arm or the like.
In order to attain the foregoing object, the present invention provides an industrial robot which comprises: a base provided with a mounting seat at its central upper portion; a reduction gear having a stationary portion fixed to the mounting seat so as to be concentric with a vertically extending rotation axis, and a speed reduction mechanism portion supported on the stationary portion through a bearing; a driving motor for driving the reduction gear; and a revolving portion rotatably supported through the speed reduction mechanism portion of the reduction gear, and mounted with arms; wherein an intermediate member having a disc portion, a flange portion provided on an outer circumference of the disc portion, and a through hole provided in a center of the disc portion is provided between the speed reduction mechanism portion and the revolving portion, wherein a through hole is provided in a bottom portion of the revolving portion so as to be concentric with the rotation axis and so as to have an inner diameter larger than an outer diameter of the stationary portion of the reduction gear, wherein the disc portion of the intermediate member is fixed to an upper surface of the speed reduction mechanism portion, and the flange portion is fixed to the bottom portion of the revolving portion, wherein a lower surface of the revolving portion is made opposite to an upper surface of the base through an air gap, and wherein the driving motor is fixed to the disc portion of the interm
REFERENCES:
patent: 4540332 (1985-09-01), Nakashima et al.
patent: 5064340 (1991-11-01), Genov et al.
patent: 5155423 (1992-10-01), Karlen et al.
patent: 5584646 (1986-12-01), Lewis et al.
Bonck Rodney H.
Joyce William C.
Kabushiki Kaisha Yaskawa Denki
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