HORIZONTAL ARTICULATED ROBOT

Title:

HORIZONTAL ARTICULATED ROBOT

Document Type and Number:

WIPO Patent Application WO/1990/001403

Kind Code:

A1

Abstract:

A light, miniaturized horizontal articulated robot capable of being moved in a large space, and fabricated, assembled, maintained and transported at reduced costs. A ball screw (21) in a direct-acting actuator (100) is supported rotatably at its upper end on an upper plate of a column (10), and connected at its lower end to a driving unit (40) provided on a base plate of the column. A first link (220) is connected pivotably to a connecting member (210) of a manipulator (200) fixed to a slider (30) in the actuator, and a second link (240) to the first link. The ball screw is turned by the driving unit to move the manipulator with the slider along the ball screw, and a servomotor (230, 250) for the manipulator is driven to turn the two links in a horizontal plane, whereby robot work is carried out as wrist of the robot is positioned in a robot-provided space. Since a base on which the actuator is supported pivotably is not required, the robot can be made smaller in dimension and weight at a lower cost, and the space of movement of the robot becomes large owing to the low downward movement limit position of the manipulator.

Inventors:

TORII NOBUTOSHI (JP)
ITO SUSUMU (JP)
HAMURA MASAYUKI (JP)
TANAKA AKIRA (JP)

Application Number:

PCT/JP1989/000820

Publication Date:

February 22, 1990

Filing Date:

August 11, 1989

Export Citation:

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Assignee:

FANUC LTD (JP)

International Classes:

B25J9/02; B25J9/04; B25J9/10; B25J18/02; (IPC1-7): B25J9/02

Foreign References:

JPH06221379A	1994-08-09
JP5214814Y
JPH06215088A	1994-08-05

Other References: