Industrial robot
AssigneeDaikin Industries, Ltd.
InventorsTadafumi Mikoshi, Hitoshi Oka, Akira Fukuda
Life of this patent
Estimating the term…
Abstract
An industrial robot provided with at least six joints and adapted to have at least six degrees of freedom, wherein rotational joints rotatable around axes extending lengthwise of the arm and bending joints swingable around perpendicular axes extending perpendicularly to the lengthwise direction of the arm, thereby enabling the position and attitude control for a wrist at the arm and the obstacle avoiding control to change height of an elbow portion at the arm so as to avoid the obstacle.
Claims8
An industrial robot comprising a support base and an arm supported thereto, said arm comprising at least three rotational joints each having an axis extending lengthwise of said arm and being rotatable around said axis, at least three bending joints each having a perpendicular axis extending perpendicularly to the lengthwise direction of said arm and swingable around said perpendicular axis, at least first through fourth links forming a wrist portion, an elbow portion and a trunk portion of said arm, said rotational joints and bending joints being disposed alternately with each other, and drive means for driving said joints so that said arm operates to avoid obstacles by changing a height of said elbow portion relative to a horizontal reference while maintaining the position and direction of the wrist portion, said drive means being responsive to a command signal from a first command means for driving said arm to avoid an obstacle.
Dependencies are inferred from the claim text.