Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Reexamination Certificate
1999-07-14
2001-03-13
Herrmann, Allan D. (Department: 3682)
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
C901S023000, C901S024000, C901S048000
Reexamination Certificate
active
06199444
ABSTRACT:
BACKGROUND OF THE INVENTION AND RELATED ART STATEMENT
1.Field of the Invention
The present invention relates to a robot having multi-joint arms movable in a horizontal plane, more particularly relates to a robot having a robot body which is provided with a cylindrical mount movable vertically thereof, the cylindrical mount having articulated first and second arms arranged thereon such that the first and second arms may be turningly moved respectively in a horizontal plane with high precision and a minimum output of drive sources, wherein the robot is mechanically compact and small sized.
2. Prior Art
So far, the robot having multi-joint arms movable in a horizontal plane has been generally known, wherein the first arm is operatively connected at one end thereof to the robot body such that the first arm may be turningly moved in a horizontal plane by a drive motor while the second arm is operatively connected at one end thereof to the opposite end of the first arm such that the second arm may be turningly moved in a horizontal plane by a drive motor, the second arm having a control R shaft and a drive motor for driving the R shaft, both of which, mounted on the free end thereof. According to the conventional robot of this type, if the driving force is required to increase, the drive motors are accordingly required to be bigger in size and capacity, eventually increasing the weight. Thus the first and second arms must be constructed to be bulky and strong enough to support such heavy and big drive motors.
Further, the conventional robot of this type is completely not integrated, that is, the control part is separated from the robot body. This is because the conventional robot of this type is driven by AC servomotors which will, if integrated with the robot, cause the robot to be considerably large sized to a degree to being problematical for practical use.
OBJECTS OF THE INVENTION
It is, therefore, a primary object of the invention to provide a mechanically compact and small sized robot having articulated first and second arms which are turningly moved respectively in a horizontal plane and vertically movable with high precision and a minimum output of drive sources by way of a mount to which the first and second arms are operatively connected.
It is another object of the invention to provide a robot driven by small sized drive motors as drive sources.
It is still another object of the invention to provide a robot having a motor driver as a control part integrated therewith.
SUMMARY OF THE INVENTION
In order to realize the objects of the invention, the robot having multi-joint arms is designed to comprise a robot body, a cylindrical mount movable vertically of the robot body through a vertical guide means and a slider means, a vertical threaded shaft provided in the robot boy and rotated by a drive motor to vertically move the cylindrical mount therealong, a connector means having one end being in threaded engagement with the threaded shaft and the opposite end fixedly connected to the cylindrical mount, a first arm having one end operatively connected to the cylindrical mount such that the first arm may be turningly moved in a horizontal plane, and a second arm having one end operatively connected to the opposite end of the first arm such that the second arm may be turningly moved in a horizontal plane, wherein the cylindrical mount is moved with high precision by the motor arranged in the robot body, and the first and second arms are moved by the drive motors arranged in the cylindrical mount with a minimum output of the drive sources.
REFERENCES:
patent: 3791065 (1974-02-01), Snow
patent: 4442387 (1984-04-01), Lindbom
patent: 4568238 (1986-02-01), Hirano et al.
patent: 4787813 (1988-11-01), Stevens et al.
patent: 5944476 (1999-08-01), Bacchi et al.
patent: 6068442 (2000-05-01), Flemmer et al.
Nozawa Katsuaki
Sakashita Yoshihito
Suzuki Shinji
Wakaizumi Kiyoshi
Herrmann Allan D.
Janome Sewing Machine Co. Ltd.
Nields & Lomack
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