Robot apparatus
AssigneeFanuc Corporation
InventorsWataru Amemiya, Kuniyasu Matsumoto, Kousuke Imasaka, Moriaki Oonishi
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Abstract
A robot apparatus includes a base, a strut unit, and a linear expansion mechanism 1 rotatably supported on the strut unit. The linear expansion mechanism includes: a plurality of cylindrical bodies assembled in series to each other; a block train including a plurality of blocks coupled to each other in a row, the block at the leading end being connected to the cylindrical body at the leading end; and a housing part that houses the block train along an arc-shaped trajectory, the housing part being arranged below the cylindrical body at the trailing end and above the strut unit.
Claims7
A robot apparatus, comprising:
- a base;
- a strut unit standing on the base, the strut unit having a first rotational joint having a first axis of rotation perpendicular to the base;
- and
- a linear expansion mechanism that is rotatably supported on the strut unit via a second rotational joint having a second axis of rotation perpendicular to the first axis of rotation,
- the linear expansion mechanism comprises:
- a plurality of linear-motion elements assembled in series to each other;
- a block train including a plurality of blocks coupled to each other in a row, a block at a leading end of the plurality of blocks being connected to a linear-motion element at a leading end of the plurality of linear-motion elements;
- and
- a housing part that houses the block train along an arc-shaped trajectory, the housing part being arranged below a linear-motion element at a trailing end of the plurality of linear-motion elements and above the strut unit,
- wherein at least a part of the block train is arranged inside the plurality of linear-motion elements.
A robot apparatus, comprising:
- a base;
- a strut unit standing on the base, the strut unit having a first rotational joint having a first axis of rotation perpendicular to the base;
- and
- a linear expansion mechanism that is rotatably supported on the strut unit via a second rotational joint having a second axis of rotation perpendicular to the first axis of rotation,
- the linear expansion mechanism comprises:
- a plurality of linear-motion elements assembled in series to each other;
- a block train including a plurality of blocks coupled to each other in a row, a block at a leading end of the plurality of blocks being connected to a linear-motion element at a leading end of the plurality of linear-motion elements;
- and
- a housing part that houses the block train along an arc-shaped trajectory, the housing part being arranged below a linear-motion element at a trailing end of the plurality of linear-motion elements and above the strut unit,
- wherein the plurality of linear-motion elements includes a plurality of cylindrical bodies assembled in a multi-level nested structure, and
- the blocks are coupled to each other by rotating shafts in a coupling direction perpendicular to the rotating shafts in such a manner that the blocks are prevented from rotating upward but are allowed to rotate downward, and inserted into the cylindrical bodies, the block at the leading end of the plurality of blocks being coupled to a cylindrical body at a leading end of the plurality of cylindrical bodies.
A robot apparatus, comprising:
- a strut unit;
- and
- a linear expansion mechanism arranged on the strut unit,
- wherein the linear expansion mechanism comprises:
- an arm unit capable of expansion;
- a block train including a plurality of blocks rotatably coupled to each other in a row, a block at a leading end of the plurality of blocks being coupled to a front end of the arm unit;
- and
- a housing part that houses the block train along an arc-shaped trajectory at a location below a rear end of the arm unit and above the strut unit,
- wherein at least a part of the block train is arranged inside the arm unit.
Dependencies are inferred from the claim text.