EP0102082A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Industrial robot
Assignee: Hitachi Ltd
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Filing: 1983-08-30
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Granted: —
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Expires: 2003-08-30
Abstract
Abstract An industrial robot comprising: a base (1); a stand (2) ' rigidly erected on the base (1); a shoulder (3) securely mounted on the stand (2); a first arm (4) consisting of upper and lower levers (56, 57) with the base portion pivoted to the shoulder (3) so that the arm (4) can be turned about a first vertical axis (5); a second arm (6) having its one end pivoted to the other end of the first arm (4) between the upper and lower levers (56; 57) so that the second arm (6) can be turned about a second vertical axis (7); a vertically movable shaft (8) so supported by the second arm (6) as to allow the linear movement of the shaft (8) along a third vertical axis (9); a rack (10) parallel to the vertically movoable shaft (8); a guide means for guiding the rack (10) relative to the second arm (6) in only the vertical direction; a coupling means for connecting the vertically movable shaft (8) and the rack (10) at their both ends; a first drive means (14) secured to the shoulder (3) to rotate, through a first power transmission means, the first arm (4) about the first vertical axis (5); a second drive means (15) secured to the shoulder (3) to rotate, through a second power transmission means (16), the second arm (6) about the second vertical axis (7); and a third drive means (17) secured to the second arm (6) to drive the rack (10) in vertical direction through a third power transmission means (78).
Inventors
- 👤 Hamada Toyohide
- 👤 Sugimoto Koichi
- 👤 Kusakawa Hitoshi
- 👤 Jinriki Takenori
- 👤 Koizumi Kiyohide
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-28 02:27
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/02; B25J9/04; B25J9/041; B25J9/042; B25J9/044; B25J19/00; B25J19/0025; B25J19/0029; B25J9/10; B25J9/104; B25J9/1045
Claims Analysis
Total Claims: 39
Claim 1
Independent Claim
226 words
An industrial robot, comprising: a base (1), a first arm (4) having one end mounted pivotally about a first axis (5) on said base (1), a second arm (6) having one end mounted pivotally about a second axis (7) on the other end. of said first arm (4), a moving member (8) mounted movably along a third axis (9) on the other end of said second arm (6), first drive means (14) mounted on said base (1) for providing power to said first arm (4), second drive means (15) mounted on said base (1) for providing power to said second arm (6), third drive means (17) mounted on the one end of said second arm (6) for providing power to said moving member (8), first power transmission means for moving said first arm (4) about the first axis (5) by transmitting the power of said first drive means (14) to said first arm (4), second power transmission means (16) for moving said second arm (6) about the second axis (7) by transmitting the power of said second drive means (15) to said second arm (6), and third power transmission means (78), mounted on the inside of said second arm (6), for moving said moving member (8) along the third axis (9) by transmitting the power of said third drive means (18) to said moving member (8).
Claim 2
Dependent Claim
226 words
An industrial robot, comprising: a base (1), a first arm (4) having one end mounted pivotally about a first axis (5) on said base (1), a second arm (6) having one end mounted pivotally about a second axis (7) on the other end. of said first arm (4), a moving member (8) mounted movably along a third axis (9) on the other end of said second arm (6), first drive means (14) mounted on said base (1) for providing power to said first arm (4), second drive means (15) mounted on said base (1) for providing power to said second arm (6), third drive means (17) mounted on the one end of said second arm (6) for providing power to said moving member (8), first power transmission means for moving said first arm (4) about the first axis (5) by transmitting the power of said first drive means (14) to said first arm (4), second power transmission means (16) for moving said second arm (6) about the second axis (7) by transmitting the power of said second drive means (15) to said second arm (6), and third power transmission means (78), mounted on the inside of said second arm (6), for moving said moving member (8) along the third axis (9) by transmitting the power of said third drive means (18) to said moving member (8).
Claim 3
Dependent Claim
51 words
An industrial robot according to claim 1, wherein said first arm (4) has a pair of first and second levers (56, 57) in parallel to form a divided construction, and each of said levers (56, 57) has its opposite ends pivotally mounted to said base (1) and second arm (6), respectively.
Claim 4
Dependent Claim
24 words
An industrial robot according to claim 2, wherein said second power transmission means (16) is mounted on the inside of said first arm (4).
Claim 5
Dependent Claim
58 words
An industrial robot according to claim 3, further comprising: fourth drive means (18) mounted on said base (1) for providing power to said moving member (8), and fourth power transmission means (19) for rotating said moving member (8) about the third axis (9) by transmitting the power of said fourth drive means (18) to said moving member (8).
Claim 6
Dependent Claim
29 words
An industrial robot according to claim 4, wherein said fourth power transmission means (19) is mounted on the inside of said first arm (4) and said second arm (6).
Claim 7
Dependent Claim
40 words
An industrial robot according to claim 5, wherein said fourth power transmission means (19) has a chain (151, 151') with two opposed tension adjusting mechanisms (152-157) so as to rotate smoothly said moving member (8) about the third axis (9).
Claim 8
Dependent Claim
45 words
An industrial robot according to claim 4, wherein said third power transmission means (78) has a rack (10) parallel to the third axis (9) and a gearwheel (103). geared into said rack (10) to precisely drive said moving member (8) along the third acis (9).
Claim 9
Dependent Claim
32 words
An industrial robot according to claim 7, including bellows (122, 123) covering said moving member (8) and a part. of said third power transmission means (78) movable with said moving member (8).
Claim 10
Dependent Claim
58 words
An industrial robot according to claim 2, further comprising: fourth drive means (18) mounted on said base (1) for providing power to said moving member (8), and fourth power transmission means (19) for rotating said moving member (8) about the third axis (9) by transmitting the power of said fourth drive means (18) to said moving member (8).
Claim 11
Dependent Claim
29 words
An industrial robot according to claim 9, wherein said fourth power transmission means (19) is mounted on the inside of said first arm (4) and said second arm (6).
Claim 12
Dependent Claim
40 words
An industrial robot according to claim 10, wherein said fourth power transmission means (19) has a chain (151, 151') with two opposed tension adjusting mechanisms (152-157) so as to rotate smoothly said moving member (8) about the third axis (9).
Claim 13
Dependent Claim
55 words
An industrial robot according to claim 9, wherein said base (1) has a pocket formed of a ceiling member (26), a bottom member (27) and a connecting wall (28) which connects said ceiling member (26) and said bottom member (27) so that said arms can be folded to reduce the volume of the industrial robot.
Claim 14
Dependent Claim
45 words
An industrial robot according to claim 9, wherein said third power transmission means (78) has a rack (10) parallel to the third axis (9) and a gearwheel (103) geared into said rack (10) to precisely drive said moving member (8) along the third axis (9).
Claim 15
Dependent Claim
32 words
An industrial robot according to claim 13, including bellows (122, 123) covering said moving member (8) and a part of said third power transmission means (78) movable with said moving member (8).
Claim 16
Dependent Claim
171 words
An industrial robot, comprising: a base (1), a first arm (4) having one end mounted pivotally about a first axis (5) on said base (1) and a pair of first and second levers (56, 57) to form a divided construction, a second arm (6) having one end mounted pivotally about a second axis (7) on the other end of said first arm (4), first drive means (14) mounted on said base (1) for providing power to said first arm (4), second drive means (15) mounted on said base (1) for providing power to said second arm (6), first power transmission means for moving said first arm (4) about the first axis (5) by transmitting the power of said first drive means (14) to said first arm (4), and second power transmission means (16), mounted in between said first lever (56) and said second lever (57), for moving said second arm (6) about the second axis (7) by transmitting the power of said second drive means (15) to said second arm (6).
Claim 17
Dependent Claim
171 words
An industrial robot, comprising: a base (1), a first arm (4) having one end mounted pivotally about a first axis (5) on said base (1) and a pair of first and second levers (56, 57) to form a divided construction, a second arm (6) having one end mounted pivotally about a second axis (7) on the other end of said first arm (4), first drive means (14) mounted on said base (1) for providing power to said first arm (4), second drive means (15) mounted on said base (1) for providing power to said second arm (6), first power transmission means for moving said first arm (4) about the first axis (5) by transmitting the power of said first drive means (14) to said first arm (4), and second power transmission means (16), mounted in between said first lever (56) and said second lever (57), for moving said second arm (6) about the second axis (7) by transmitting the power of said second drive means (15) to said second arm (6).
Claim 18
Dependent Claim
53 words
An industrial robot according to claim 15, wherein one end of each of said levers (56, 57) is respectively pivoted to said base (1) at the first axis (5) and the other end of each of said levers (56, 57) is respectively pivoted to said second arm (6) at the second axis (7).
Claim 19
Dependent Claim
35 words
An industrial robot according to claim 16, wherein said first lever (56) and said second lever (57) are pivoted to said base (1) and said second arm (6) to be in parallel with each other.
Claim 20
Dependent Claim
32 words
An industrial robot according to claim 17, wherein said first lever (56) and said second lever (57) are pivoted to said base (1) and said second arm (6) to be spaced apart.
Claim 21
Dependent Claim
82 words
An industrial robot according to claim 18, further comprising: a moving member (8) mounted movably along a third axis (9) on the other end of said second arm (6), third drive means (17) mounted on the one end of said second arm (6) for providing power to said moving member (8), and third power transmission means (78) for moving said moving member (8) along-the third axis (9) by transmitting the power of said third drive means (17) to said moving member (8).
Claim 22
Dependent Claim
58 words
An industrial robot according to claim 19, further comprising: fourth drive means (18) mounted on said base (1) for providing power to said moving member (8), and fourth power transmission means (19) for rotating said moving member (8) about the third axis (9) by transmitting the power of said fourth drive means (18) to said moving member (8).
Claim 23
Dependent Claim
45 words
An industrial robot according to claim 20, wherein said fourth power transmission means (19) has a chain (151, 151') with two tension adjusting mechanisms (152-157) on opposite sides of said chain (151, 151') to rotate smoothly said moving member (8) about the third axis (9).
Claim 24
Dependent Claim
45 words
An industrial robot according to claim 19, wherein said third power transmission means (78) has a rack (10) parallel to said third axis (9) and a gearwheel (103) geared into said rack (10) to drive precisely said moving member (8) along the third axis (9).
Claim 25
Dependent Claim
83 words
An industrial robot according to claim 15, further comprising: a moving member (8) mounted movably along a third axis (9) on the other end of said second arm (6), third drive means (17) mounted on the one end of said second arm (6) for providing power to said moving member (8), and third power transmission means (78) for moving said moving member (8) along the third axis (9) by transmitting the power of said third. drive means (17) to said moving member (8).
Claim 26
Dependent Claim
24 words
An industrial robot according to claim 23, wherein said third power transmission means (78) is mounted on the inside of said second arm (6).
Claim 27
Dependent Claim
46 words
. An industrial robot according to claim 23, wherein said third power transmission means (78) has a rack (10) parallel to said third axis (9) and a gearwheel (103) geared. into said rack (10) to drive: precisely said moving member (8) along the third axis (9).
Claim 28
Dependent Claim
58 words
An industrial robot according to ciaim 23, further comprising: fourth drive means (18) mounted on said base (1) for providing power to said moving member (8), and fourth power transmission means (19) for rotating said moving member (8) about the third axis (9) by transmitting the power of said fourth drive means (18) to said moving member (8).
Claim 29
Dependent Claim
58 words
An industrial robot according to ciaim 23, further comprising: fourth drive means (18) mounted on said base (1) for providing power to said moving member (8), and fourth power transmission means (19) for rotating said moving member (8) about the third axis (9) by transmitting the power of said fourth drive means (18) to said moving member (8).
Claim 30
Dependent Claim
45 words
An industrial robot according to claim 26, wherein said fourth power transmission means (19) has a chain (151, 151') with two tension adjusting mechanisms (152-157) on opposite sides of said chain (151, 151') to rotate smoothly said moving member (8) about the third axis (9).
Claim 31
Dependent Claim
31 words
An industrial robot according to claim 27, including a bellows covering said moving member (8) and a part of said third power transmission means (78) movable with said moving member (8).
Claim 32
Dependent Claim
55 words
An industrial robot according to claim 15, wherein said base (1) has a pocket formed at a ceiling member (26), a bottom member (27) and a connecting wall (28) which connects said ceiling member (26) and said bottom member (27) so that said arms can be folded to reduce the volume of the industrial robot.
Claim 33
Dependent Claim
93 words
An industrial robot according to claim 15, wherein said first drive means (14) has a first output shaft (32) rotated at a rotation axis parallel to said first axis (5) to,provide the power of said first drive means (14) to said first arm (4) and said second drive means (15) has a second output shaft (33) rotated at the rotation axis to provide the power of said second drive means (15) to said second arm (6) so that said first output shaft (32) and said second output shaft (33) have a common axis.
Claim 34
Dependent Claim
136 words
A hand mechanism of a robot, comprising: a base, a first member mounted to be translationally movable along a first axis relative to said base, a second member mounted to be rotatable relative to said first member about a second axis parallel to said first axis, first drive means for rotating said second member about the second axis and having a driving connection with said second member, second drive means for moving said first member along the first axis and having a driving connection with said first member, connection means for connecting said first member and said second member at each of opposite sides of said driving connections so that said second member moves with said first member along said first axis, and a grip mounted on said second member to be movable in two dimensions.
Claim 35
Dependent Claim
136 words
A hand mechanism of a robot, comprising: a base, a first member mounted to be translationally movable along a first axis relative to said base, a second member mounted to be rotatable relative to said first member about a second axis parallel to said first axis, first drive means for rotating said second member about the second axis and having a driving connection with said second member, second drive means for moving said first member along the first axis and having a driving connection with said first member, connection means for connecting said first member and said second member at each of opposite sides of said driving connections so that said second member moves with said first member along said first axis, and a grip mounted on said second member to be movable in two dimensions.
Claim 36
Dependent Claim
39 words
A hand mechanism of a robot according to claim 31, wherein said first member has a rack along said first axis and said second drive means has a gearwheel to translationally drive said first member by engaging said rack.
Claim 37
Dependent Claim
35 words
A hand mechanism of a robot according to claim 32, wherein said first drive means has a sprocket, rotatable with said second member and a chain engaging with said sprocket to rotate said second member.
Claim 38
Dependent Claim
36 words
A hand mechanism of a robot according to claim 33, wherein said first drive means has two tension adjusting mechanisms on opposite sides of said chain to smoothly rotate said second member about said second axis.
Claim 39
Dependent Claim
21 words
A hand mechanism of a robot according to claim 33, further comprising bellows covering said first member and said second member.
References Cited (Backward Citations)
No citation records indexed.
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