US 4,787,813 AGranted

Industrial robot for use in clean room environment

AssigneeWatkins-Johnson Company

InventorsCraig L. Stevens, Samuel S. Kurita

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Abstract

The foregoing and other objects of the invention are achieved by a drive system which includes a base and a support assembly for rotatably supporting one end of the first arm from said base and for raising and lowering the arm with respect to the base. A second arm has one end rotatably supported at the other end of the first arm and an effector mount is rotatably supported at the other end of the second arm. Drive structure mounted on said base rotate said support assembly. Drive structure mounted at the lower end of said support assembly raise and lower the arm. Drive structure for rotating said second arm and drive structure for rotating said effector are mounted at the upper end of said support. All of said drive structure are mounted within an enclosed housing.

Claims9

Dependent claims

An industrial robot comprising:

a base;
a first arm;
an arm support assembly including a hollow support column for rotatably supporting one end of said first arm from said base and for raising and lowering the arm with respect to the base;
a second arm having an end rotatably supported at the other end of said first arm;
effectuator mounting means rotatably mounted at the other end of said second arm;
first drive means mounted on said base for rotating said arm support assembly;
second drive means mounted on said arm support assembly for raising and lowering the arm;
third drive means for rotating said second arm at the end of said first arm;
and
fourth drive means for rotating said effectuator, said third and fourth drive means each including a motor mounted in said hollow support column of said arm support assembly;
and
a cylindrical sleeve mounted on said base and extending upwardly adjacent to and surrounding said hollow support column to permit said arm support assembly to rotate and raise and lower while maintaining a seal.

9 more elements

Dependencies are inferred from the claim text.