Claims
- 1. An industrial robot comprising:
- a base;
- a revolution portion mounted on said base in such a manner as to be revolutionarily drivable about a revolutionary axis for 360 degrees in either of clockwise and counterclockwise directions;
- a lower arm angularly drivable about a fore-and-aft axis perpendicular to said revolutionary axis, a base end portion of said lower arm being mounted on said revolution portion in such a manner as to be offset a specific distance from said revolutionary axis;
- an upper arm rotatably drivable about an up-and-down axis perpendicular to said revolutionary axis and parallel to said fore-and-aft axis, said upper arm being disposed on the opposite side of said lower arm from said revolutionary axis, a base end portion of said upper arm being mounted on a free end portion of said lower arm; and
- a motor casing provided at the base end portion of said upper arm, three motors for three dimensionally driving a wrist provided at a free end of said upper arm being vertically disposed therein with their axes being in parallel in a vertical plane;
- the length of said upper arm being less than the vertical height of said free end of said lower arm when said lower arm is in vertical posture, for enabling said upper arm to rotate for 360 degrees in either of said clockwise and counterclockwise directions so that said upper arm and said lower arm are capable of taking symmetrical postures of right-hand and left-hand systems for any position of work;
- said lower arm having a motor for driving said upper arm about the up-and-down axis at a lower part thereof, a reduction gearbox connected to the upper arm and a power transmission member connected across a shaft of said motor for driving the upper arm and a shaft of said gearbox.
- 2. The industrial robot according to claim 1, wherein said upper arm includes a first tubular shaft driven by a first motor of said three motors, said first tubular shaft includes a second tubular shaft driven by a second motor of said three motors, and said second tubular shaft includes a central shaft driven by a third motor of said three motors, said first tubular shaft, said second tubular shaft and said central shaft, being independently driven to separately activate either one of swivel, twist and bend motions of said wrist, and said first tubular shaft, said second tubular shaft and said central shaft being coaxially disposed.
- 3. The industrial robot according to claim 1, wherein three motors are air-tightly sealed in the motor casing.
- 4. The industrial robot according to claim 1, wherein said power trnasmission member is belt.
Parent Case Info
This is a continuation-in-part application of Ser. No. 060,045 filed on May 13, 1993, now abandoned which is a continuation-in-part application of Ser. No. 710,001 filed on Jun. 4, 1991, now abandoned.
US Referenced Citations (20)
Foreign Referenced Citations (5)
Number |
Date |
Country |
240438 |
Oct 1987 |
EPX |
3326962 |
Feb 1985 |
DEX |
3713469 |
Nov 1988 |
DEX |
3924537 |
Feb 1991 |
DEX |
2-232193 |
Sep 1990 |
JPX |
Continuation in Parts (2)
|
Number |
Date |
Country |
Parent |
60045 |
May 1993 |
|
Parent |
710001 |
Jun 1991 |
|