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1. EP0190360 - INDUSTRIAL ROBOT HAVING HOLLOW ARM STRUCTURE.

Office
European Patent Office
Application Number 85903711
Application Date 26.07.1985
Publication Number 0190360
Publication Date 13.08.1986
Publication Kind B2
IPC
B25J 19/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B25J 17/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17Joints
B25J 9/04
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
02characterised by movement of the arms, e.g. cartesian co-ordinate type
04by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
B25J 17/02
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17Joints
02Wrist joints
B25J 18/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
18Arms
B25J 19/06
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
CPC
B25J 9/047
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
02characterised by movement of the arms, e.g. cartesian coordinate type
04by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
046Revolute coordinate type
047the pivoting axis of the first arm being offset to the vertical axis
B25J 17/02
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17Joints
02Wrist joints
B25J 18/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
18Arms
B25J 19/063
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
063working only upon contact with an outside object
Applicants FANUC LTD
Inventors NAKASHIMA SEIICHIRO
TOYODA KENICHI
TORII NOBUTOSHI FUYO HAITSU
TERADA AKIHIRO
MIZUNO HITOSHI FANUC HINO SHAT
Priority Data 1984155177 27.07.1984 JP
1984157294 30.07.1984 JP
8500424 26.07.1985 JP
Title
(DE) INDUSTRIELLER ROBOTER MIT HOHLARMSTRUKTUR.
(EN) INDUSTRIAL ROBOT HAVING HOLLOW ARM STRUCTURE.
(FR) ROBOT INDUSTRIEL A STRUCTURE DE BRAS CREUSE.
Abstract
(EN) The robot arm is coupled to one joint section (100) and consists of an elbow having driving gears (10,12,14), an arm (120) and a wrist (130). The arm comprises three concentric tubes (30,32,34) and its length has a selection of values, corresponding to the application. The arm is detachable and attached to the joint with pins (40,42) and bolts (56). It is also connected to the wrist with pins (48,50) and bolts (58). The driving rotary force from the driving gears is transmitted to the wrist through the pipes (30,32,34) and the gears (66,68).
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