Machine element or mechanism – Mechanical movements – Reciprocating or oscillating to or from alternating rotary
Patent
1987-06-11
1988-11-08
Herrmann, Allan D.
Machine element or mechanism
Mechanical movements
Reciprocating or oscillating to or from alternating rotary
248285, 2482951, 384 42, 414590, 901 17, 901 27, F16H 2524, B25J 1100, F16C 2902
Patent
active
047827130
DESCRIPTION:
BRIEF SUMMARY
DESCRIPTION
Background of the Invention
This invention relates to an industrial robot mechanism for supporting, internally of a post, a shaft supporting an arm in a freely extendable manner.
A variety of industrial robots have recently come into wide use in various fields. FIG. 3 is a side view illustrating one example of a horizontal articulated industrial robot installed on a floor and provided with a swiveling post.
In FIG. 3, numeral 1 denotes a post supported on a base 2 and capable of being swiveled within a predetermined rotational range (.theta.). Provided within the base 2 is a swiveling mechanism 21 for swiveling the post 1. Numeral 3 denotes a first arm (working arm) supported at the upper portion of the post 1 by a support shaft 4. A second arm 5 capable of being swiveled in the horizontal direction is attached to the distal end of the first arm 3, and the distal end of the second arm 5 is provided with a wrist 51.
Provided in the post 1 is a drive mechanism 11 (FIG. 4) for moving the support shaft 4 up and down within a predetermined range (Z) to control the height of the first arm 3. Though the details are not shown, the drive mechanism 11 drives the support shaft 4 up and down by e.g. a rack-and-pinion combination or a screw rod-nut combination, thereby controlling the height of the first 3 (working arm). A guide for linear support is provided between the support shaft 4 and the inner wall of the post 1 so that the support shaft 4 will move linearly with respect to the post 1 when it is driven up and down by the drive mechanism 11.
FIG. 4 is a sectional view taken along line 4--4 of FIG. 3 and illustrating an example of the drive mechanism 11. The support shaft 4, which is driven by the drive mechanism 11, consisting of a combination of a screw rod 6 and nut 41, possesses a sliding contact portion 42 at which the support shaft 4 slides on the side faces of a linear support guide 14 provided on a supporting plate 13, thereby forming a guide mechanism. The arrangement is such that the support shaft 4 moves in the vertical direction.
In the above-described shaft supporting mechanism of support shaft 4, the shaft 4 moves linearly while the sliding contact portion 42 thereof is in contact with three faces of the linear support guide 14, and the working plane of the first arm 3 moves up and down in parallel with the longitudinal direction of the post 1. However, the guide 14 and sliding contact portion 42 tend to separate from each other in response to a force acting in the direction of the arrow X shown in FIG. 4. For example, if the reaction force of a load acting upon the second arm 5 is in the direction of the arrow X, the support shaft 4 will no longer be supported stably.
SUMMARY OF THE INVENTION
The present invention has been devised in view of the foregoing problems of the prior art and its object is to provide an industrial robot shaft supporting mechanism capable of supporting the shaft of a working arm and of moving the shaft linearly in the vertical direction while maintaining a stable balance.
In accordance with the present invention, there is provided an industrial robot shaft supporting mechanism for supporting an arm in a freely extendable manner inside a hollow post and for variably setting a working plane of the arm. The mechanism includes: a drive mechanism for driving the support shaft to extend and retract the same; a plurality of guide seats arranged at positions symmetrical which respect to the drive mechanism and each having an opening, and linear support guides engaging the guide seats and attached to opposing inner wall portions of the post.
In accordance with the industrial robot shaft supporting mechanism of the invention, a plurality of linear support guide mechanisms are provided to oppose one another with the drive mechanism at the center. As a result, the support shaft is held in the post stably and balanced in the vertical direction even if an external force attempting to tilt the support shaft is applied during up-and-down movement of the support shaft or o
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patent: 4534006 (1985-08-01), Minucciani et al.
patent: 4566738 (1986-01-01), Fasth
patent: 4571149 (1986-02-01), Soroka et al.
European Search Report, 9/2/88.
Annex to European Search Report.
Nihei Ryo
Torii Nobutoshi
Fanuc Ltd
Herrmann Allan D.
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