CA2043919C - Industrial robot - Google Patents
Industrial robotInfo
- Publication number
- CA2043919C CA2043919C CA 2043919 CA2043919A CA2043919C CA 2043919 C CA2043919 C CA 2043919C CA 2043919 CA2043919 CA 2043919 CA 2043919 A CA2043919 A CA 2043919A CA 2043919 C CA2043919 C CA 2043919C
- Authority
- CA
- Canada
- Prior art keywords
- axis
- industrial robot
- upper arm
- lower arm
- revolutionary
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
- B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A base end portion of a lower arm is mounted on a revolutionarily drivable revolution portion at a specific offset from the revolutionary axis thereof, and an upper arm is mounted in the lower arm, with the lower and upper arms being rotationally drivable within a plane parallel to the revolutionary axis. Since the upper arm is offset from the revolutionary axis, both right-handed operation and left-handed operation can be easily selected, and the work range of this robot can be increased while its installation space can be reduced.
Description
INDUSTRIAL ROBOT
BACKGROUND OF THE INVENTION
The present invention relates to an industrial robot particularly suitable, for example, for painting or sealing the body of an automobile.
An industrial robot of typical conventional technology is shown in Figure 4, with Figure 5 showing a back view thereof as seen from the right of Figure 4.
With this industrial robot 1, a revolution portion 4 on a base 3 fixed to an installation surface 2 such as a floor is revolutionarily driven about a vertical revolutionary axis 5, a base end portion of a lower arm 7 is provided so as to be rotatably driven about a horizontal fore-and-aft axis 6 in the revolution portion 4, and an upper arm9 is provided so as to be rotatably driven about a horizontal up-and-down axis 8 at a free end portion of the lower arm 7. A longitudinal axis 10 of the upper arm 9 lies within a plane passing through the revolutionary axis 5, and thus the upper arm 9 has no offset with respect to the revolutionary axis 5.
Problems associated with the use of the conventional industrial robot 1 shown in Figures 4 and 5 when it is working on an automobile body 11 are described below with reference to Figures 6A to 6C. As shown in the plan views of Figures 6A to 6C, the automobile body 11 is moved in the direction of an arrow 12 by a conveyor. The industrial robot 1 is provided to one side of the path of the automobile body 11 as it is moved by the conveyor, and it performs a painting or sealing operation thereon.
As shown in Figure 6A, when the industrial robot 1 - works on the interiors of an engine compartment 13 of the automobile body 11 and a hood 15 that covers the engine compartment 13 and is openable about a hinge 14 having a horizontal axis, a side edge 15a of the hood 15 or a side portion 13a of the engine compartment 13 can easily ~~~ impede the upper arm 9 of the industrial robot 1. To prevent this interference, the upper arm 9 must enter the engine compartment 13 from the front thereof (the left in Figure 6A), but if the installation position of the industrial robot 1 is moved in the direction of an arrow 17 to enable this entry, the automobile body 11 will interfere with the revolution portion 4 of the automobile body 11 as the automobile body 11 is conveyed in the direction of the arrow 12.
If the industrial robot 1 is moved in the direction 10 of an arrow 18 and set thereat, a portion of the automobile body ~1 indicated by 19 will be outside the operating range of the industrial robot 1. Therefore, it is difficult for a single unit of the conventional type of industrial robot 1 to work on the front portion of an 15 automobile body 11, so there is no alternative but to position two industrial robots 1 symmetrically to the left and right (top and bottom in Figure 6A) of the automobile body 11, and divide the work therebetween.
In order to work on a front floor 20 and a dashboard 21 within the passenger compartment when an industrial robot 1 is positioned to one side of the automobile body 11, as shown in Figure 6B, a front door 24 is opened and the upper arm 9 of the industrial robot 1 is inserted through the opening 25 of the front door 24. When the industrial robot 1 is operating in a region 22 within the rear compartment, a door pillar 23 of the automobile body 11 may impede the upper arm 9 of the industrial robot 1 and thus make work impossible. A two-door automobile body 11 causes particular problems because there is no rear door opening and thus the industrial robot 1 cannot work in the rear compartment. Note that within the rear compartment of a four-door automobile body 11, one more industrial robot 1 for rear compartment work can be newly provided, and it works through the rear door opening.
When the industrial robot 1 works in the interiors of a trunk compartment 26, a luggage hatch 27, and a wheel arch 28, as shown in Figure 6C, part of the work can be done by inserting the upper arm 9 of the industrial robot 1 with the luggage hatch 27 opened about a hinge 29 that has a horizontal axis, but, for the same reason as that illustrated in Figure 6A, it is difficult for the industrial robot 1 to work on all the regions of the rear of the automobile body 11.
SUMMARY OF THE INVENTION
The present invention provides an industrial robot that can work within a wide operating range.
According to the present invention, there is provided an industrial robot comprising a base; a revolution portion mounted on the base in such a manner as to be revolutionarily drivable about a revolutionary axis; a lower arm rotatably drivable about a fore-and-aft axis perpendicular to the revolutionary axis, a base end portion of the lower arm being mounted in the revolution portion in such a manner as to be offset a specific distance from the revolutionary axis; and an upper arm rotatably drivable about an up-and-down axis perpendicular to the revolutionary axis and parallel to the fore-and-aft axis, on the opposite side of the lower arm from the revolutionary axis, a base end portion of the upper arm being mounted in a free end portion of the lower arm.
In accordance with the present invention, a revolution portion is provided on a base, a base end portion of a lower arm is provided in the revolution portion, a base end portion of an upper arm is provided in a free end portion of the lower arm, and the upper arm can be rotatably driven on a side of the lower arm opposite to the revolutionary axis of the revolution portion. Therefore, the axis of the upper arm is offset from the plane containing the revolutionary axis.
Consequently, if the upper arm is extended forward while it is positioned on the left side of the lower arm, so-called left-handed operation is enabled, whereas if the upper arm is extended forward while it is positioned on the right side of the lower arm, so-called right-handed operation is enabled. This can increase the operating range of the robot.
Furthermore, in accordance with the present invention, when operation is switched from the above left-handed operation to right-handed operation, the upper arm can be rotated so that the free end portion of the upper arm can pass close to the mounting surface on which the base is fixed. Therefore, there is no need for 10 the free end portion of the upper arm to move further than the mounting surface to switch between left-handed operation and right-handed operation, and thus the installation space of the industrial robot can be made smaller.
BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 is a side view of the industrial robot 30 of an embodiment of the present invention;
Figure 2 is a rear view of the industrial robot 30;
Figures 3A to 3C are plan views illustrating the 20 work status of the embodiment of Figures 1 and 2;
Figure 4 is a side view of a industrial robot 1 of conventional technology;
Figure 5 is a rear view of the conventional technology shown in Figure 4; and Figures 6A to 6C are plan views illustrating the work status of the conventional technology of Figures 4 and 5.
DESCRIPTION OF THE PREFERRED EMBODIMENT
The industrial robot 30 of an embodiment of the 30 present invention is shown in Figure 1, with Figure 2 showing a back view thereof as seen from the right of Figure 1. With reference to these figures, a base 33 is fixed to an installation surface 32 such as a floor 31 in the workplace, and a revolution portion 35 is provided so 35 as to be revolutionarily driven about a vertical revolutionary axis 34 in the base 33. A base end portion 38 of a lower arm 37 is provided in the revolution 20~3919 portion 35 so as to be rotatably driven about a horizontal fore-and-aft axis 36 that is perpendicular to the revolutionary axis 34. A base end portion 41 of an upper arm 40 is provided at a free end portion 39 of the 5 lower arm 37, in such a manner that it is rotatably driven about a horizontal up-and-down axis 42. The up-and-down axis 42 is perpendicular to the revolutionary axis 34 and parallel to the fore-and-aft axis 36. A
longitudinal axis of the upper arm 40 is illustrated by reference number 43. A wrist 45 with three axes is provided in a free end portion 44 of the upper arm 40, and an operating means for painting or sealing is mounted thereon. The revolution portion 35 can swivel though 360 about the revolutionary axis 34, the lower arm 37 15 can revolve through an angle ~1 = 180 about the fore-and-aft axis 36, and the upper arm 40 can rotate through 360 about the up-and-down axis 42. A case where an axis 46 of the lower arm 37 is parallel to the revolutionary axis 34, namely, the lower arm is in the vertial 20 direction is shown in Figures 1 and 2. When the lower arm 37 is erect, the height of the up-and-down axis 42 of the upper arm 40 above the installation surface 32 is indicated by reference Hl, and the relationship between this height and the length Ll of the upper arm is such that Hl > Ll. This ensures that rotation of the upper arm 40 about the up-and-down axis 42 in the counterclockwise direction as seen in Figure 1 enables a switch from left-handed operation to right-handed operation as seen in Figure 1, and the reverse switch is 30 also possible. Since the switch between left-handed operation and right-handed operation can be done by moving the free end portion 44 of the upper arm 40 close to the installation surface 32, this industrial robot 30 requires a smaller installation space than if the upper 35 arm 40 had to be moved clockwise in Figure 1 to switch from left-handed operation to right-handed operation, or vice versa.
BACKGROUND OF THE INVENTION
The present invention relates to an industrial robot particularly suitable, for example, for painting or sealing the body of an automobile.
An industrial robot of typical conventional technology is shown in Figure 4, with Figure 5 showing a back view thereof as seen from the right of Figure 4.
With this industrial robot 1, a revolution portion 4 on a base 3 fixed to an installation surface 2 such as a floor is revolutionarily driven about a vertical revolutionary axis 5, a base end portion of a lower arm 7 is provided so as to be rotatably driven about a horizontal fore-and-aft axis 6 in the revolution portion 4, and an upper arm9 is provided so as to be rotatably driven about a horizontal up-and-down axis 8 at a free end portion of the lower arm 7. A longitudinal axis 10 of the upper arm 9 lies within a plane passing through the revolutionary axis 5, and thus the upper arm 9 has no offset with respect to the revolutionary axis 5.
Problems associated with the use of the conventional industrial robot 1 shown in Figures 4 and 5 when it is working on an automobile body 11 are described below with reference to Figures 6A to 6C. As shown in the plan views of Figures 6A to 6C, the automobile body 11 is moved in the direction of an arrow 12 by a conveyor. The industrial robot 1 is provided to one side of the path of the automobile body 11 as it is moved by the conveyor, and it performs a painting or sealing operation thereon.
As shown in Figure 6A, when the industrial robot 1 - works on the interiors of an engine compartment 13 of the automobile body 11 and a hood 15 that covers the engine compartment 13 and is openable about a hinge 14 having a horizontal axis, a side edge 15a of the hood 15 or a side portion 13a of the engine compartment 13 can easily ~~~ impede the upper arm 9 of the industrial robot 1. To prevent this interference, the upper arm 9 must enter the engine compartment 13 from the front thereof (the left in Figure 6A), but if the installation position of the industrial robot 1 is moved in the direction of an arrow 17 to enable this entry, the automobile body 11 will interfere with the revolution portion 4 of the automobile body 11 as the automobile body 11 is conveyed in the direction of the arrow 12.
If the industrial robot 1 is moved in the direction 10 of an arrow 18 and set thereat, a portion of the automobile body ~1 indicated by 19 will be outside the operating range of the industrial robot 1. Therefore, it is difficult for a single unit of the conventional type of industrial robot 1 to work on the front portion of an 15 automobile body 11, so there is no alternative but to position two industrial robots 1 symmetrically to the left and right (top and bottom in Figure 6A) of the automobile body 11, and divide the work therebetween.
In order to work on a front floor 20 and a dashboard 21 within the passenger compartment when an industrial robot 1 is positioned to one side of the automobile body 11, as shown in Figure 6B, a front door 24 is opened and the upper arm 9 of the industrial robot 1 is inserted through the opening 25 of the front door 24. When the industrial robot 1 is operating in a region 22 within the rear compartment, a door pillar 23 of the automobile body 11 may impede the upper arm 9 of the industrial robot 1 and thus make work impossible. A two-door automobile body 11 causes particular problems because there is no rear door opening and thus the industrial robot 1 cannot work in the rear compartment. Note that within the rear compartment of a four-door automobile body 11, one more industrial robot 1 for rear compartment work can be newly provided, and it works through the rear door opening.
When the industrial robot 1 works in the interiors of a trunk compartment 26, a luggage hatch 27, and a wheel arch 28, as shown in Figure 6C, part of the work can be done by inserting the upper arm 9 of the industrial robot 1 with the luggage hatch 27 opened about a hinge 29 that has a horizontal axis, but, for the same reason as that illustrated in Figure 6A, it is difficult for the industrial robot 1 to work on all the regions of the rear of the automobile body 11.
SUMMARY OF THE INVENTION
The present invention provides an industrial robot that can work within a wide operating range.
According to the present invention, there is provided an industrial robot comprising a base; a revolution portion mounted on the base in such a manner as to be revolutionarily drivable about a revolutionary axis; a lower arm rotatably drivable about a fore-and-aft axis perpendicular to the revolutionary axis, a base end portion of the lower arm being mounted in the revolution portion in such a manner as to be offset a specific distance from the revolutionary axis; and an upper arm rotatably drivable about an up-and-down axis perpendicular to the revolutionary axis and parallel to the fore-and-aft axis, on the opposite side of the lower arm from the revolutionary axis, a base end portion of the upper arm being mounted in a free end portion of the lower arm.
In accordance with the present invention, a revolution portion is provided on a base, a base end portion of a lower arm is provided in the revolution portion, a base end portion of an upper arm is provided in a free end portion of the lower arm, and the upper arm can be rotatably driven on a side of the lower arm opposite to the revolutionary axis of the revolution portion. Therefore, the axis of the upper arm is offset from the plane containing the revolutionary axis.
Consequently, if the upper arm is extended forward while it is positioned on the left side of the lower arm, so-called left-handed operation is enabled, whereas if the upper arm is extended forward while it is positioned on the right side of the lower arm, so-called right-handed operation is enabled. This can increase the operating range of the robot.
Furthermore, in accordance with the present invention, when operation is switched from the above left-handed operation to right-handed operation, the upper arm can be rotated so that the free end portion of the upper arm can pass close to the mounting surface on which the base is fixed. Therefore, there is no need for 10 the free end portion of the upper arm to move further than the mounting surface to switch between left-handed operation and right-handed operation, and thus the installation space of the industrial robot can be made smaller.
BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 is a side view of the industrial robot 30 of an embodiment of the present invention;
Figure 2 is a rear view of the industrial robot 30;
Figures 3A to 3C are plan views illustrating the 20 work status of the embodiment of Figures 1 and 2;
Figure 4 is a side view of a industrial robot 1 of conventional technology;
Figure 5 is a rear view of the conventional technology shown in Figure 4; and Figures 6A to 6C are plan views illustrating the work status of the conventional technology of Figures 4 and 5.
DESCRIPTION OF THE PREFERRED EMBODIMENT
The industrial robot 30 of an embodiment of the 30 present invention is shown in Figure 1, with Figure 2 showing a back view thereof as seen from the right of Figure 1. With reference to these figures, a base 33 is fixed to an installation surface 32 such as a floor 31 in the workplace, and a revolution portion 35 is provided so 35 as to be revolutionarily driven about a vertical revolutionary axis 34 in the base 33. A base end portion 38 of a lower arm 37 is provided in the revolution 20~3919 portion 35 so as to be rotatably driven about a horizontal fore-and-aft axis 36 that is perpendicular to the revolutionary axis 34. A base end portion 41 of an upper arm 40 is provided at a free end portion 39 of the 5 lower arm 37, in such a manner that it is rotatably driven about a horizontal up-and-down axis 42. The up-and-down axis 42 is perpendicular to the revolutionary axis 34 and parallel to the fore-and-aft axis 36. A
longitudinal axis of the upper arm 40 is illustrated by reference number 43. A wrist 45 with three axes is provided in a free end portion 44 of the upper arm 40, and an operating means for painting or sealing is mounted thereon. The revolution portion 35 can swivel though 360 about the revolutionary axis 34, the lower arm 37 15 can revolve through an angle ~1 = 180 about the fore-and-aft axis 36, and the upper arm 40 can rotate through 360 about the up-and-down axis 42. A case where an axis 46 of the lower arm 37 is parallel to the revolutionary axis 34, namely, the lower arm is in the vertial 20 direction is shown in Figures 1 and 2. When the lower arm 37 is erect, the height of the up-and-down axis 42 of the upper arm 40 above the installation surface 32 is indicated by reference Hl, and the relationship between this height and the length Ll of the upper arm is such that Hl > Ll. This ensures that rotation of the upper arm 40 about the up-and-down axis 42 in the counterclockwise direction as seen in Figure 1 enables a switch from left-handed operation to right-handed operation as seen in Figure 1, and the reverse switch is 30 also possible. Since the switch between left-handed operation and right-handed operation can be done by moving the free end portion 44 of the upper arm 40 close to the installation surface 32, this industrial robot 30 requires a smaller installation space than if the upper 35 arm 40 had to be moved clockwise in Figure 1 to switch from left-handed operation to right-handed operation, or vice versa.
The longitudinal axis 43 of the upper arm 40 is offset by an amount Dl from the revolutionary axis 34, as is clearly shown in Figure 2, and when the upper arm 40 is in the position shown in Figures 1 and 2 and is moved 5 forward in the extension direction (to the left in Figure 1), the upper arm 40 is provided on the left side of the lower arm 37 and so-called left-handed operation is enabled thereby. Conversely, when the upper arm 40 is extended to the right in Figure 1 and is moved forward in 10 the extension direction (to the right in Figure 1), the upper arm 40 is provided on the right side of the lower arm 37 and so-called right-handed operation is enabled thereby.
The operation when the industrial robot 30 of the 15 present invention is used in painting or sealing an automobile body 48 is described below with reference to Figures 3A to 3C. The automobile body 48 is moved in the direction of an arrow 49 by a conveyor, and the industrial robot 30 of the present invention is provided 20 to one side of the path of the automobile body 48 as it is moved. Solid lines 71 in Figure 3A indicate left-handed operation of the industrial robot 30 by which the robot can work within an engine compartment 50 with a hood 51 opened about a hinge 52 having a horizontal axis.
25 The upper arm 40 can enter the engine compartment 50 from the front thereof Ithe left in Figure 3A), and the upper arm 40 can work on all parts of the automobile body 48 without being impeded by the hood 51 or a side portion 51a of the engine compartment 50. By switching the 30 operation of the industrial robot 30 to right-handed operation, as indicated by broken lines 72 in Figure 3A, the robot can be made to work within a wheel arch 53.
As shown in Figure 3A, the robot can do almost all work in the engine compartment 50 and the wheel arch 53 35 from one position.
The robot can work on a front floor 54, a dashboard 55, a rear floor 56, and the wheel arch 53 of the automobile body 48 as shown in Figure 3B. With the industrial robot 30 of the present invention set for right-handed operation as shown by solid lines 58 in Figure 3B, it can work on the front floor 54 and the 5 dashboard 55; when it is switched to left-handed operation as shown by broken lines 59 in the figure, it can work on the rear floor 56 in a manner that is not possible with an industrial robot of conventional technology. With a front door 57 closed, the upper arm 10 40 can be extended to work on the wheel arc~i 53 of the front wheel, as indicated by reference number 60.
Finally, the robot can work on a trunk compartment 63, a luggage hatch 65 that can be opened about a horizontal hinge 64, and a wheel arch 66 for a rear wheel 15 of the automobile body 48 as shown in Figure 3C. With the industrial robot 30 of the present invention set for right-handed operation as shown by reference number 67, the upper arm 40 can enter the trunk compartment 63 from the rear thereof (the right in Figure 3C), so that the 20 automobile body 48 does not impede the upper arm 40, and all parts of the rear of the automobile body 48 can be - worked on. When the industrial robot 30 is switched to left-handed operation as shown by reference number 68, the robot can work on the interior of the wheel arch 66.
In this way, work on the entire automobile body can be allocated between a total of six industrial robots on one stage: ~a) one robot for working on the engine compartment, hood, and wheel arches, (b) two robots, one either side of the automobile body, for working on the 30 front floor, the dashboard, the rear floor, wheel arches, and the rear compartment of a two-door vehicle, (c) one robot for working on the trunk compartment, the luggage hatch, and wheel arches, and (d) two robots, one either side of the automobile body, for working on the rear 35 compartment of a four-door vehicle, the front and rear doors, and wheel arches.
The operation when the industrial robot 30 of the 15 present invention is used in painting or sealing an automobile body 48 is described below with reference to Figures 3A to 3C. The automobile body 48 is moved in the direction of an arrow 49 by a conveyor, and the industrial robot 30 of the present invention is provided 20 to one side of the path of the automobile body 48 as it is moved. Solid lines 71 in Figure 3A indicate left-handed operation of the industrial robot 30 by which the robot can work within an engine compartment 50 with a hood 51 opened about a hinge 52 having a horizontal axis.
25 The upper arm 40 can enter the engine compartment 50 from the front thereof Ithe left in Figure 3A), and the upper arm 40 can work on all parts of the automobile body 48 without being impeded by the hood 51 or a side portion 51a of the engine compartment 50. By switching the 30 operation of the industrial robot 30 to right-handed operation, as indicated by broken lines 72 in Figure 3A, the robot can be made to work within a wheel arch 53.
As shown in Figure 3A, the robot can do almost all work in the engine compartment 50 and the wheel arch 53 35 from one position.
The robot can work on a front floor 54, a dashboard 55, a rear floor 56, and the wheel arch 53 of the automobile body 48 as shown in Figure 3B. With the industrial robot 30 of the present invention set for right-handed operation as shown by solid lines 58 in Figure 3B, it can work on the front floor 54 and the 5 dashboard 55; when it is switched to left-handed operation as shown by broken lines 59 in the figure, it can work on the rear floor 56 in a manner that is not possible with an industrial robot of conventional technology. With a front door 57 closed, the upper arm 10 40 can be extended to work on the wheel arc~i 53 of the front wheel, as indicated by reference number 60.
Finally, the robot can work on a trunk compartment 63, a luggage hatch 65 that can be opened about a horizontal hinge 64, and a wheel arch 66 for a rear wheel 15 of the automobile body 48 as shown in Figure 3C. With the industrial robot 30 of the present invention set for right-handed operation as shown by reference number 67, the upper arm 40 can enter the trunk compartment 63 from the rear thereof (the right in Figure 3C), so that the 20 automobile body 48 does not impede the upper arm 40, and all parts of the rear of the automobile body 48 can be - worked on. When the industrial robot 30 is switched to left-handed operation as shown by reference number 68, the robot can work on the interior of the wheel arch 66.
In this way, work on the entire automobile body can be allocated between a total of six industrial robots on one stage: ~a) one robot for working on the engine compartment, hood, and wheel arches, (b) two robots, one either side of the automobile body, for working on the 30 front floor, the dashboard, the rear floor, wheel arches, and the rear compartment of a two-door vehicle, (c) one robot for working on the trunk compartment, the luggage hatch, and wheel arches, and (d) two robots, one either side of the automobile body, for working on the rear 35 compartment of a four-door vehicle, the front and rear doors, and wheel arches.
The present invention should not be taken as limited to an embodiment relating to painting or sealing; other embodiments thereof relating to other applications should be obvious to those skilled in the art.
Claims (3)
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;
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 in said revolution portion in such a manner as to be offset a specific distance from said revolutionary axis; and an upper arm rotatably drivable about an up-and-down axis perpendicular to said revolutionary axis and parallel to said fore-and-aft axis, on the opposite side of said lower arm from said revolutionary axis, a base end portion of said upper arm being mounted in a free end portion of said lower arm.
a revolution portion mounted on said base in such a manner as to be revolutionarily drivable about a revolutionary axis;
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 in said revolution portion in such a manner as to be offset a specific distance from said revolutionary axis; and an upper arm rotatably drivable about an up-and-down axis perpendicular to said revolutionary axis and parallel to said fore-and-aft axis, on the opposite side of said lower arm from said revolutionary axis, a base end portion of said upper arm being mounted in a free end portion of said lower arm.
2. An industrial robot according to claim 1, wherein said revolution portion can revolve through 360°.
3. An industrial robot according to claim 1, wherein the length of said upper arm is selected to be less than the height of said free end of said lower arm when said lower arm is vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA 2043919 CA2043919C (en) | 1991-06-05 | 1991-06-05 | Industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA 2043919 CA2043919C (en) | 1991-06-05 | 1991-06-05 | Industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2043919A1 CA2043919A1 (en) | 1992-12-06 |
| CA2043919C true CA2043919C (en) | 1997-02-11 |
Family
ID=4147738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA 2043919 Expired - Fee Related CA2043919C (en) | 1991-06-05 | 1991-06-05 | Industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2043919C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2025261755A1 (en) * | 2024-06-19 | 2025-12-26 | Dürr Systems Ag | Robot with offset axis planes |
-
1991
- 1991-06-05 CA CA 2043919 patent/CA2043919C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2025261755A1 (en) * | 2024-06-19 | 2025-12-26 | Dürr Systems Ag | Robot with offset axis planes |
Also Published As
| Publication number | Publication date |
|---|---|
| CA2043919A1 (en) | 1992-12-06 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request | ||
| MKLA | Lapsed |