Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1988-08-12
1990-03-13
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
901 23, 901 28, G05G 1100, B25J 1700, B25J 1800
Patent
active
049074679
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a structure of the first arm of an industrial robot having articulated horizontal arms, particularly to the structure of the first arm having a direct drive motor, etc., built therein to realize a compact unit.
BACKGROUND ART
An industrial robot having articulated horizontal arms usually comprises a vertical post fixed to a floor, a first arm rotatably attached to the post, a second arm rotatably attached to the first arm, and a wrist portion attached to an end of the second arm, which wrist portion rotatable and can move linearly. Of course, other industrial robots having articulated horizontal arms exist, such as a robot which comprises an inner trunk body movable upward and downward on the base of the vertical post, the first arm being rotatably attached to the inner trunk body, but an indirect drive motor driving through a transmission mechanism may be adopted as a drive motor for the first arm or the second arm in such an industrial robot having articulated horizontal arms. When a direct drive motor is adopted, a robot does not necessarily have a compact structure, since it must be equipped with a brake unit and a rotation position detector.
DISCLOSURE OF THE INVENTION
Accordingly, an object of the present invention is to solve the above problems by disposing direct drive motors, brake units, and rotation position detectors for the first and second arms in a compact form in the first arm, to make the robot compact.
In view of the above-mentioned object, the present invention provides a structure of a first arm of an industrial robot having articulated horizontal arms, characterized in that a first direct drive motor is disposed at one end of the first arm coaxially with a first central axis thereof for rotating the first arm, that a first brake means and a first rotation position detector means coaxial with the first central axis are juxtapositioned adjacent to the first direct drive motor, that a second direct drive motor is disposed at the other end of the first arm coaxially with a second central axis thereof for rotating a second arm, which second arm can rotate on the base of the first arm, and that a second brake means and a second rotation position detector means coaxial with the second central axis are juxtapositioned adjacent to the second direct drive motor.
The structure is made compact by a juxtaposition of the coaxial rotation position detector means and the brake means adjacent to the direct drive motor. Therefore, the industrial robot having articulated horizontal arms can be made compact so that the possibility of interference with an apparatus or an object to be handled in an operating region can be reduced .
BRIEF DESCRIPTION OF THE DRAWING
FIG. 1 a partial longitudinal sectional view of an industrial robot having articulated horizontal arms, one of the arms having a structure according to the present invention.
BEST MODE FOR CARRYING OUT THE INVENTION
The present invention will be described in detail hereinafter according to the embodiment shown in the attached drawing. An industrial robot having articulated horizontal arms comprises a vertical post 10 fixed to a floor, a first arm 12 rotatably mounted on the vertical post 10 and able to rotate around a vertical axis .theta., a second arm 14 rotatably attached to one end portion of the first arm 12 and able to rotate around a vertical axis u and a wrist portion 16 attached to one end portion of the second arm 14, which wrist portion can rotate around a vertical axis .alpha. and move upward and downward along the axis .alpha..
Now a structure for rotating the first arm 12 around the axis .theta. will be described. The first arm 12 is attached to the top of the vertical post 10 through a bearing 38 to enable a precise rotation thereof, and a direct drive motor 19 is disposed around the axis .theta. at a lower portion adjacent to the bearing 38. An armature 20 of the motor 19 is fixed to the vertical post 10, and a magnet 22 of a magnetic field pole is fixed to the first arm
REFERENCES:
patent: 4398110 (1983-08-01), Flinchbaugh
patent: 4552505 (1985-11-01), Gorman
patent: 4651591 (1987-03-01), Wurst
patent: 4678952 (1987-07-01), Peterson et al.
Nihei Ryo
Terada Akihiro
Toril Nobutoshi
Toyoda Kenichi
Fanuc Ltd.
Herrmann Allan D.
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