Machine element or mechanism – Mechanical movements – Reciprocating or oscillating to or from alternating rotary
Patent
1987-06-11
1989-05-16
Herrmann, Allan D.
Machine element or mechanism
Mechanical movements
Reciprocating or oscillating to or from alternating rotary
744248R, 74479, 901 15, 901 21, F16H 2520, B25J 1800
Patent
active
048298409
DESCRIPTION:
BRIEF SUMMARY
CROSS REFERENCE TO RELATION APPLICATION
The subject matter of the present application is related to that of U.S. Application Ser. No. 050,303, filed June 11, 1987.
TECHNICAL FIELD
The present invention relates to an industrial robot having replaceable modules, the robot being composed of blocks each of a unit structure.
BACKGROUND ART
Industrial robots are widely used in various fields in recent years. FIG. 3 of the accompanying drawings is a side elevational view showing by way of example a horizontally articulated industrial robot having an angularly movable post mounted on a bed installed on a floor.
A post 1 is mounted on a bed 2 installed on a floor and is angularly movable in a prescribed angular range (.theta.). The bed 2 houses therein a turning mechanism 21 for angularly moving the post 1. A first arm 3 is supported on the upper end of a support shaft 4 inserted in the post 1 from above, and a second arm 5 which is horizontally angularly movable is mounted on the distal end of the first arm 3. A wrist 51 is attached to the distal end of the second arm 5.
The post 1 houses therein a drive mechanism 6 vertically movable within a prescribed range (Z) for controlling the height of the first arm 3.
The industrial robot of the type described is designed and manufactured to desired individual specifications. Therefore, for manufacturing an industrial robot with a post 1 having a different height or first and second arms 3, 5 having different lengths, a long period of time is required before the robot is completed, and the cost of manufacture is high as the robot is customized.
SUMMARY OF THE INVENTION
The present invention has been made in view of the aforesaid problems of the conventional industrial robot. It is an object of the present invention to provide an industrial robot having replaceable modules assembled on a bed housing a drive mechanism therein, comprising a plurality of functional blocks successively coupled on said bed, an engagement mechanism for separably engaging said functional blocks, and an engagement structure compatibly used between modules of the same type of said functional blocks.
Each of the functional blocks of the industrial robot is of a unit structure which can easily be assembled and disassembled, and each block has a compatible engagement portion for easy replacement. Therefore, blocks of the same kind can easily be replaced, and blocks of different specifications can be replaced.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a vertical cross-sectional view of an embodiment of an industrial robot having replaceable modules;
FIG. 2 is a schematic view showing modular functional blocks in the industrial robot; and
FIG. 3 is a side elevational view of a conventional horizontally articulated industrial robot.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
A preferred embodiment of the present invention will hereinafter be described in specific detail with reference to the drawings.
FIG. 1 is a vertical cross-sectional view of an embodiment of an industrial robot having replaceable modules according to the present invention. Those parts which are identical to those shown in FIG. 3 are denoted by identical reference numerals, and will not be described in detail.
An upper portion 41 of a support shaft 4 shown in FIG. 1 has a flange having a plurality of screw holes 42 for attachment of a first arm 3. A bottom plate 11 of a post 1 and an upper portion of an upper base 9 are attached to each other by means of attachment screws 91. Each of the blocks of the first arm 3, the post 1, and the upper base 9 is of a unit structure. These unit members have attachment screw positions and other engagement portions which are compatibly structured such that arms, posts, and upper bases of different specifications can be installed.
The post 1 houses therein a support shaft 4 supporting the first arm 3 on its upper portion for controlling the height of the first arm 3, a drive mechanism 6 comprising a ball screw 61 and a nut 62 for vertically moving the support shaft 4, and a tr
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Nihei Ryo
Torii Nobutoshi
Fanuc Ltd.
Herrmann Allan D.
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