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EP0105656A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Industrial robot
Assignee: Fanuc Corp
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Filing: 1983-09-19
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Granted: —
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Expires: 2003-09-19
Abstract
Abstract An industrial robot of the articulated arm type having a movable main body (10), an upper arm (16), a forearm (20), and a wrist assembly (30), comprises a forearm (20) provided with a rear extension (26) extending rearward of the axis (C 2 ) of articulation between the upper arm (16) and forearm (20). Servo motor (M 2 ; M 3 , M 4 ) for driving the wrist assembly (30) are mounted on the rear extension (26) in such a manner as to counterbalance the weight of the wrist assembly (30) to ensure prompt robot motion and improve the positioning accuracy of the robot hand.
Inventors
- 👤 Seiichiro Nakashima
- 👤 Shigemi Inagaki
- 👤 Susumu Ito
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-08 10:46
CPC Classifications
B; B25; B25J; B25J19/00; B25J19/0008; B25J19/002; B25J17/00; B25J17/02; B25J17/0283; B25J5/00; B25J5/02; B25J9/00; B25J9/02; B25J9/04; B25J9/046
Claims Analysis
Total Claims: 3
Claim 1
Independent Claim
131 words
An industrial robot of the articulated arm type having a movable main body mounted on a base, an upper arm articulated at its rear end to said main body for swinging movement about a first horizontal axis, a forearm articulated to the frontal end of said upper arm for swinging movement about a second horizontal axis parallel to said first axis, and a wrist assembly mounted movably at the frontal end of said forearm and adapted to support a robot hand, characterized in that said forearm (20) comprises a rear extension (26) extending rearward of said second axis (C 2 ) in alignment with said forearm (20) and in that servo motors (M 2 , M 3 , M4) for driving said wrist assembly (30) are mounted on-said rear extension (26).
Claim 2
Dependent Claim
131 words
An industrial robot of the articulated arm type having a movable main body mounted on a base, an upper arm articulated at its rear end to said main body for swinging movement about a first horizontal axis, a forearm articulated to the frontal end of said upper arm for swinging movement about a second horizontal axis parallel to said first axis, and a wrist assembly mounted movably at the frontal end of said forearm and adapted to support a robot hand, characterized in that said forearm (20) comprises a rear extension (26) extending rearward of said second axis (C 2 ) in alignment with said forearm (20) and in that servo motors (M 2 , M 3 , M4) for driving said wrist assembly (30) are mounted on-said rear extension (26).
Claim 3
Dependent Claim
170 words
An industrial robot according to claim 1, wherein said wrist assembly '(30) comprises a wrist base portion (32) mounted on said frontal end of the forearm (20) for rotation about a third axis (C 3 ) parallel to the longitudinal axis of said forearm, a yoke (34) with forked ends integrally secured to said wrist base portion (32), an inner wrist member (36) mounted on said forked ends of the yoke (34) for swinging about a fourth axis (C 4 ) perpendicular to said third axis (C 3 ), and a robot-hand mounting portion (38) mounted on said inner wrist member (36) for rotation about a fifth axis (C5) perpendicular to said fourth axis (C 4 ), and wherein said servo motors for driving said wrist assembly (30) comprise three mutually independent servo motors (M 2 ' M 3 , M 4 ) operatively connected to said wrist assembly (30) for performing said respective movements of said wrist base portion (32), inner wrist member (36), and robot-hand mounting portion (38).
References Cited (Backward Citations)
No citation records indexed.
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