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Industrial robot

  • US 5,640,883 A
  • Filed: 04/12/1995
  • Issued: 06/24/1997
  • Est. Priority Date: 04/21/1994
  • Status: Expired due to Fees
First Claim
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1. An industrial robot comprising:

  • a base defining a horizontal plane;

    a first arm supported by said base and rotatable over the horizontal plane with a first end of said first arm in a first longitudinal direction taken as a center of rotation;

    a second arm supported at substantially a longitudinal midpoint of said second arm by a second end of said first arm in a second longitudinal direction;

    a rotating axis set in a vertical direction on a first end of said second arm in a longitudinal direction;

    an arm driving unit for rotating said second arm and installed at approximately the center of rotation of said first arm so that rotation thereof relative to said base is prevented;

    an axis core including a planet shaft for supporting said first and second arms for permitting said first and second arms to rotate relative to each other;

    core shaft angle sustaining means including a planet pulley in said first arm connected to said planet shaft and arranged for sustaining said axis core at a constant angle of rotation relative to said base;

    rotating axis driving means for driving said rotating axis and provided on said second arm; and

    rotating axis driver angle sustaining means including an earth pulley and a Z-axis pulley connected to said earth pulley for sustaining an angle of rotation of said rotating axis driving means to a value equal to said angle of rotation of said axis core.

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