Structure of first arm of industrial robot having articulated horizontal arms
AssigneeFanuc Corporation
InventorsKenichi Toyoda, Nobutoshi Toril, Ryo Nihei, Akihiro Terada
Life of this patent
Estimating the term…
Abstract
Provided is a compact first arm (12) of an industrial robot having articulated horizontal arms, which first arm has a direct drive motor (19), an electromagnetic brake (25), and a rotary encoder (34, 36) disposed close to each other concentrically between the first arm (12) and a base post (10) supporting the first arm (12), and has another direct drive motor (39), another electromagnetic brake (45), and another rotary encoder (54, 56) disposed close to each other concentrically between the first arm (12) and a second arm (14) rotatably supported by the first arm (12).
Claims3
A structure of a first arm of an industrial robot having articulated horizontal arms, characterized in that a first direct drive motor having a yoke is disposed at one end of said first arm coaxially with a first central axis thereof for rotating said first arm, that a first drum type brake means having a drum integrated with said yoke of said first motor adjacent said brake and a first rotation position detector means coaxial with said first central axis are juxtapositioned adjacent to said first direct drive motor, that a second direct drive motor having a yoke is disposed on the other end of said first arm coaxially with a second central axis for rotating said second arm, which second arm can rotate on the base of said first arm, and that a second drum type brake means having a drum integral with said yoke of said second motor adjacent to said second brake and a second rotation position detector means coaxial with said second central axis are juxtapositioned adjacent to said second direct drive motor.
Dependencies are inferred from the claim text.