EP0048904A1
Expired / Lapsed
EP
⏱️ 0.0 years remaining
An industrial robot
Assignee: Fanuc Corp
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Filing: 1981-09-18
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Granted: —
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Expires: 2001-09-18
Abstract
Abstract An industrial robot having a stationary base (10), a robot trunk (40) rotatably and vertically movably mounted on the stationary base, a robot arm means (46) horizontaly movably supported by the robot trunk a robot wrist (50) attached to the free end of the robot arm means, and first, second and third actuating means, the first actuating means having two electric motors (12, 32) for the robot trunk, the second actuating means having an electric motor (52) for the robot arm, and the third actuating means having two electric motors (66, 68) for the robot wrist.
Inventors
- 👤 Hajimu Inaba
- 👤 Seiichiro Nakashima
- 👤 Shigemi Inagaki
- 👤 Susumu Ito
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-05 08:42
CPC Classifications
B; B25; B25J; B25J18/00; B25J18/02; B25J9/00; B25J9/02; B25J9/04; B25J9/041
Claims Analysis
Total Claims: 5
Claim 1
Independent Claim
214 words
An industrial robot comprising: a lowermost stationary base; a robot trunk means rotatably and vertically movably mounted on said stationary base, said robot trunk having laterally spaced apart front and rear sides thereof; a first actuating means having two electric motors, one for actuating a rotating motion of said robot trunk means and the other for actuating a vertical linear movement of said robot trunk; a robot arm means supported by said robot trunk and being capable of extending from and contracting into said front side of said robot trunk means; a second actuating means having an electric motor for actuating extending and contracting motions of said robot arm means; a robot wrist means attached to an outermost free end of said robot arm means, said robot wrist being rotatable about a first axis and swingable about a second axis perpendicular to said first axis, and; a third actuating means having two electric motors, one for actuating a rotating motion of said robot wrist about said first axis and the other for actuating a swinging motion of said robot wrist about said second axis, said two electric motors of said'third actuating means being arranged in a mounting compartment of said robot trunk which compartment is provided at said rear side of said robot trunk.
Claim 2
Dependent Claim
214 words
An industrial robot comprising: a lowermost stationary base; a robot trunk means rotatably and vertically movably mounted on said stationary base, said robot trunk having laterally spaced apart front and rear sides thereof; a first actuating means having two electric motors, one for actuating a rotating motion of said robot trunk means and the other for actuating a vertical linear movement of said robot trunk; a robot arm means supported by said robot trunk and being capable of extending from and contracting into said front side of said robot trunk means; a second actuating means having an electric motor for actuating extending and contracting motions of said robot arm means; a robot wrist means attached to an outermost free end of said robot arm means, said robot wrist being rotatable about a first axis and swingable about a second axis perpendicular to said first axis, and; a third actuating means having two electric motors, one for actuating a rotating motion of said robot wrist about said first axis and the other for actuating a swinging motion of said robot wrist about said second axis, said two electric motors of said'third actuating means being arranged in a mounting compartment of said robot trunk which compartment is provided at said rear side of said robot trunk.
Claim 3
Dependent Claim
43 words
An industrial robot as set forth in Claim 1, further comprising mechanical reduction means for converting rotations of said two electric motors of said third actuating means into said rotating and swinging motions of said robot wrist means at predetermined reduction ratios, respectively.
Claim 4
Dependent Claim
30 words
An industrial robot as set forth in Claim 1 or 2, wherein said electric motors of said first, second and third actuating means are comprised of electric servo motors, respectively.
Claim 5
Dependent Claim
27 words
An industrial robot as set forth in Claim 2 or 3, wherein said mechanical reduction means comprises a pair of harmonic drives provided for said robot wrist.
References Cited (Backward Citations)
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Cited
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Cited
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