Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1991-11-26
1993-12-21
Braun, Leslie A.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
318466, 31856817, 340671, 474 69, 901 9, 901 21, G05G 1100, B25J 1100
Patent
active
052712923
ABSTRACT:
An industrial robot is provided with a body, a horizontal arm pivotally supported on the body, and a vertical arm mounted on the tip end portion of the horizontal arm for rotation about its own center axis. The robot includes a drive motor for rotatively driving the vertical arm, speed reduction means for speed-reducing and transmitting the drive force of the drive motor through a first output pulley to a second output pulley, and first and second detected portions mounted on the first and second output pulleys, respectively, with respective predetermined ranges of extension and indicating the original point position of the vertical arm by the difference between the respective phases. In addition, first and second detectors are fixed to the horizontal arm and output first and second detection signals, respectively, as long as they are detecting the first and second detected portions, respectively, and a controller is provided for judging the original point position of the vertical arm on the basis of the output modes of the first and second detection signals from the first and second detectors respectively.
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Azuma Yusaku
Karube Yasuo
Sawada Yasuhiro
Tanita Takeo
Braun Leslie A.
Canon Kabushiki Kaisha
Laub David W.
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