Multi-joint type industrial robot and arm unit thereof
AssigneesJapan Servo Co., Ltd., Tazmo Co., Ltd.
InventorsShinji Shimizu, Noriyoshi Kikuchi, Katsuhiro Yamazoe, Takahiro Kobiki
Life of this patent
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Abstract
In an industrial robot having a plurality of arms, each arm is coupled with other elements such as a mounting base, another arm, a robotic hand, and revolved by a motion of the revolute joint. A motor for moving the revolute joint, an encoder for sensing a rotation angle of a drive shaft of the motor, and a control circuit for controlling the driving of the motor are provided on the same arm. A signal cable for transmitting a sensing signal of the encoder to the control circuit is terminated at the control circuit on the same arm. There is no need to align the signal cable from the encoder to a main control circuit provide in the mounting base.
Claims6
An industrial robot having a plurality of arms coupled by a plurality of revolute joints, each of the arms can be moved by a driving force of a motor which drives each of revolute joints, the improvement comprising:
- control circuits for controlling the motors which are provided on respective of the arms;
- wherein
- the control circuits are respectively provided on the same arms as the motors are provided.
An arm unit for industrial robot by which an optional robot can be composed of an optional number of arms, comprising:
- an arm having a revolute joint by which the arm can be coupled with another arm;
- a motor for driving the revolute joint;
- a control circuit for controlling driving of the motor;
- an encoder for sensing a rotation angle of a drive shaft of the motor;
- and wherein
- the motor, the control circuit and the encoder are provided on the arm for configuring one unit so as to be coupled with another optional unit.
Dependencies are inferred from the claim text.