Industrial robot

• US 4,668,155 A
• Filed: 09/23/1985
• Issued: 05/26/1987
• Est. Priority Date: 09/24/1984
• Status: Expired due to Fees

• Current Assignee: Asea Aktiebolag (ABB Limited)
• Original Assignee: Asea Aktiebolag (ABB Limited)
• Inventors: Kaufmann, Herbert, Forss, Torbj/o/ rn
• Primary Examiner(s): Spar, Robert J.
• Assistant Examiner(s): Alexander, Jay I.
• Application Number:
  US06/778,662
• Time in Patent Office: 610 Days
• Field of Search: 414/917, 414/680, 414/735, 901/15, 901/18, 901/19, 901/22-24
• US Class Current: 414/680
• CPC Class Codes: B25J 9/0018 Bases fixed on ceiling, i.e. upside down manipulators
• CPC Class Codes: B25J 9/046 Revolute coordinate type
• CPC Class Codes: Y10S 414/13 Handlers utilizing parallel links

Abstract

The invention relates to an industrial robot of the kind comprising a body and an arm system pivotally journalled thereon. In order to achieve an improved and extended working range in a vertical space underneath or above the robot, the arm system is supported in the body via a substantially fork-shaped bearing bracket. Linear actuators intended for the operation of the arms are pivotally journalled in the bearing bracket so that, when the arm system assumes its neutral position, the actuators will be oriented primarily transversely to the longitudinal axis of a body and substantially parallel with the first arm pivotally journalled in the bearing bracket. Both actuators are disposed between the body and the first arm in all positions of the arm system.

Claims

1. Industrial robot comprising a body arranged to be rotatably mounted about a longitudinal axis thereof in a support structure, a first arm which is pivotally journalled at one end thereof relative to the body from a neutral position oriented substantially at right angles to the longitudinal axis of the body, a second arm which is pivotally journalled at the other end of the first arm, a first linear drive means for turning the first arm relative to the body and a second linear drive means for turning the second arm relative to the first arm, said one end of the first arm being pivotally journalled in the body via a substantially fork-shaped bearing bracket, wherein both said linear drive means are pivotally journalled in the bearing bracket so that, when the first arm assumes its neutral position, both said drive means will be oriented primarily transversely to the longitudinal axis of the body and substantially parallel with the first arm, and wherein both said linear drive means are disposed between the body and the first arm in all positions of the arms.

2. Industrial robot as claimed in claim 1, wherein the second arm, when in its neutral position, is oriented substantially perpendicularly to the first arm and extending from the first arm in a direction away from the body.