Industrial robot
AssigneeKabushiki Kaisha Toshiba
InventorTadashi Munakata
Life of this patent
Estimating the term…
Abstract
In an industrial robot of a type having an arm made of a pentagonally connected links, of which an uppermost link is secured to a stationary member so as to be swingable around its axis, the uppermost link is rotated by a first motor, while second and third motors are provided nearby the uppermost link for operating upper links connected to the uppermost link swingably. A wrist base is pivotally connected to the lower ends of lower links to be swingable in a plane defined by the lower links and fourth and fifth motors are also provided nearby the uppermost link for driving, through belts and pulleys, a cross-shaped member pivotally connected to the wrist base and a wrist casing pivotally connected to the wrist base so as to swing around axes perpendicularly to each other.
Claims6
An industrial robot of a type having an arm made of pentagonally connected links, an uppermost link thereof extending horizontally and having a horizontal axis and being secured to a stationary member to be rotatable around the horizontal axis, said robot comprising:
- a first motor provided between said stationary member and said uppermost link for rotating said uppermost link around its axis;
- second and third motors provided at opposite ends, respectively, of said uppermost link for operating upper links of said pentagonally connected links in a swingable manner, said upper links being downwardly connected with lower links of the pentagonally connected links, respectively, and the lower ends of the lower links being connected with each other in a pivotal manner;
- and
- a wrist assembly pivotally connected to the lower ends of the lower links so as to be swingable in a plane defined by said lower links.
Dependencies are inferred from the claim text.