公开(公告)号：US06199444B1

公开(公告)日：2001-03-13

申请号：US09353733

申请日：1999-07-14

申请人： Kiyoshi Wakaizumi ,  Shinji Suzuki ,  Yoshihito Sakashita ,  Katsuaki Nozawa

发明人： Kiyoshi Wakaizumi ,  Shinji Suzuki ,  Yoshihito Sakashita ,  Katsuaki Nozawa

IPC分类号： B25J1800

CPC分类号： B25J9/042 ,  Y10T74/20317

摘要： Disclosed is a robot having multi-joint arms movable in a horizontal plane, which is mechanically compact as well as small sized and operated with high precision and a minimum output of drive sources, substantially comprising a robot body (1), a cylindrical mount (2) movable vertically of the robot body through a guide means (3) and a slider means (4), a vertical threaded shaft (6) rotatably journaled in the robot body and operatively connected to the cylindrical mount, the vertical threaded shaft being rotated by a first drive motor (5) to vertically move the cylindrical mount therealong, a first arm (9) having one end operatively connected to the cylindrical mount so as to be turningly moved in a horizontal plane by a second drive motor (12), a second arm (10) having one end operatively connected to the opposite end of the first arm so as to be turningly moved in a horizontal plane by a third drive motor (17), and a control R shaft (11) rotatably mounted on a free end of the second arm so as to be rotated by a fourth drive motor (18).

摘要翻译： 公开了一种机器人，其具有可在水平面中移动的多关节臂，其机械紧凑以及小尺寸并且以高精度和最小输出的驱动源运行，基本上包括机器人主体（1），圆柱形安装件 2）通过引导装置（3）和滑动装置（4）垂直移动机器人本体的垂直方向，垂直螺纹轴（6）可旋转地轴向安装在机器人主体中并且可操作地连接到圆柱形安装件，垂直螺纹轴旋转 通过第一驱动马达（5）垂直移动其圆筒形安装件，第一臂（9）的一端可操作地连接到圆柱形安装件，以便通过第二驱动马达（12）在水平平面中转动地移动， 第二臂（10），其一端可操作地连接到第一臂的相对端，以便通过第三驱动马达（17）在水平面中转动地移动;以及控制R轴（11），其可旋转地安装在 第二个的自由结束a 以便由第四驱动马达（18）旋转。

公开(公告)号：US06324444B1

公开(公告)日：2001-11-27

申请号：US09353732

申请日：1999-07-14

申请人： Kiyoshi Wakaizumi ,  Katsuaki Nozawa

发明人： Kiyoshi Wakaizumi ,  Katsuaki Nozawa

IPC分类号： G06F1900

CPC分类号： B25J9/1635 ,  G05B2219/40375

摘要： A robot with multi-joint arms, wherein articulated first and second arms 9, 10 are movable in a horizontal plane as well as in a vertical direction, the second arm having a free end to which a supplementary unit A is removably connected, the supplementary unit A including a joint member 17 adjustably connected to the free end of the second arm 10 and a working member 18 removable connected to the joint member 17. The working member 18 has a predetermined length Lx which determines the effective length L2 of the second arm 10, and wherein the data representing the effective length L2 of the second arm is entered to renew the existing effective length of the second arm to produce new data representing the value of the newly entered effective length L2 of the second arm 10, the new data being employed to calculate out the value to control the operations of the first and second arms 9, 10.

摘要翻译： 具有多关节臂的机器人，其中铰接的第一和第二臂9,10可在水平平面和垂直方向上移动，第二臂具有可移除地连接有辅助单元A的自由端，补充 单元A包括可调节地连接到第二臂10的自由端的接合构件17和可拆卸地连接到接头构件17的工作构件18.工作构件18具有预定长度Lx，其确定第二臂的有效长度L2 10，其中表示第二臂的有效长度L2的数据被输入以更新第二臂的现有有效长度，以产生表示第二臂10的新进入的有效长度L2的值的新数据，新数据 被用来计算该值以控制第一和第二臂9,10的操作。