Industrial robot of the articulated type

Details Industrial robot of the articulated type Industrial robot of the articulated type

1980-10-10

1983-08-02

Spar, Robert J.

Material or article handling

Vertically swinging load support

Grab

414917, 414706, B25J 900

Patent

active

043963447

ABSTRACT:
An industrial robot of the articulated type including a swivelling pedestal capable of swivelling about a vertical axis by force of a drive motor, a first brachium supported for pivotal movement about a first axis disposed horizontally on the pedestal, a lever supported for pivotal movement about the first axis, a second brachium connected at one end to a pivoting end of the lever for pivotal movement, a forearm connected to the other end of the second brachium and a pivoting end of the first brachium for pivotal movement and cooperating with the first and second brachiums and the lever to constitute a quadric parallel motion mechanism, and a wrist mounted on one end of the forearm. A motor pivotally moving the first brachium and a motor for pivotally moving the lever are mounted on the first axis, and a motor for driving the wrist is mounted on a connection between the lever and the second brachium, with the stator side of the wrist drive motor being secured to the pedestal together with the lever by the quadric parallel motion mechanism. Rotation of the wrist drive motor is transmitted through parallel links to a rotary member on a connection between the second brachium and forearm and a rotary member on a connection between the forearm and the wrist, whereby the wrist can be moved both pivotally and rotationally.

REFERENCES:
patent: 3630389 (1971-12-01), Schmidt
patent: 4062455 (1977-12-01), Flatau
patent: 4076131 (1978-02-01), Dahlstrom
patent: 4078670 (1978-03-01), Francois
patent: 4140226 (1979-02-01), Richter
patent: 4234150 (1980-11-01), Mee
patent: 4299533 (1981-11-01), Ohnaka
ASEA Information YB110-30ZE, Industrial Robot System, 9/76.
ASEA Pamphlet YB11-101E, Industrial Robot System, 4/77.

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