Multi-articulated robot
First Claim
Patent Images
1. A multi-articulated robot for providing a plurality of articulations, comprising a plurality of articulation units, wherein:
- each of said articulation units comprises a drive means and has a connecting portion disposed at least at one end of the articulation unit for connection with one of said connecting portions of at least one other respective one of the articulation units;
the respective connecting portions each have a coupling surface at which the respective articulation units are combined together, and are constructed so that the direction of relative movement for connecting said articulation units together is constrained to be substantially parallel to said coupling surfaces of said articulations; and
connection means for interconnecting said articulation units is provided at said connecting portion, said connection means being arranged in a manner such that said articulation units are interconnected by a force having a direction that is substantially parallel to said coupling surfaces.
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Abstract
A multi-articulated robot for providing a plurality of articulations. The robot has a plurality of articulation units, with each unit including a drive and has connecting portions disposed at both ends of the drive for connection with the other articulation units.
153 Citations
11 Claims
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1. A multi-articulated robot for providing a plurality of articulations, comprising a plurality of articulation units, wherein:
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each of said articulation units comprises a drive means and has a connecting portion disposed at least at one end of the articulation unit for connection with one of said connecting portions of at least one other respective one of the articulation units; the respective connecting portions each have a coupling surface at which the respective articulation units are combined together, and are constructed so that the direction of relative movement for connecting said articulation units together is constrained to be substantially parallel to said coupling surfaces of said articulations; and connection means for interconnecting said articulation units is provided at said connecting portion, said connection means being arranged in a manner such that said articulation units are interconnected by a force having a direction that is substantially parallel to said coupling surfaces. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A multi-articulated robot for providing a plurality of articulations, comprising a plurality of articulation units, wherein each of said articulation units comprises a drive means and has a connecting portion disposed at least at one end of the articulation unit for connection with one of said connecting portions of at least one other of the articulation units, wherein at least one of said drive means comprises a motor, a screw bar rotated by said motor and a single movable member screwed onto said screw bar and movable along said screw bar, said single movable member being interconnected to said connecting portion so that said connecting portion moves in response to the movement of said single movable member, wherein said movable member comprises a cylindrical nut which is threaded on its outer surface, and said cylindrical nut is interconnected with said connecting portion through a cylinder member the interior of which is threaded for enaging said threaded outer surface of said nut.
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11. A multi-articulated robot for providing a plurality of articulations, comprising a plurality of articulation units, each said articulation unit having a connecting portion disposed at least at one end of the articulation unit for connection with the connecting portion of another of said articulation units and a magnetic force means for presecuring said connecting portions of the connected articulation units, each said connecting portion of said two connected articulation units having a connecting surface which contacts the connecting surface of the other, said connected articulation units being fastened together by fasteners inserted along an axis in a direction substantially parallel to said connecting surfaces, and means for weakening the magnetic force of said magnetic force means for disassembling said articulation units when said fasteners are not fastening said articulation units.
Specification