B - Operations – Transporting – 25 – J
Patent
B - Operations, Transporting
25
J
294/9
B25J 18/00 (2006.01) B25J 9/04 (2006.01) B25J 9/10 (2006.01)
Patent
CA 2033283
ABSTRACT Therefore, in the case of the robot according to the present invention, the moment M generated about the horizontal pivotal axis at the lower end of the lower arm 6 due to the load W applied to the upper end of the upper arm 11 is not subjected to the influence of the length ?2 and the pivotal angle of the upper arm 11, as indicated by the above formula (4). In other words, the moment of the upper arm 11 is not transmitted to the lower arms 6 and 7 as moment to pivot these lower arms, but transmitted to the lower ends of these lower arms 6 and 7 as gravity load. It should be noted that the above- mentioned feature is not obtained in the prior-art vertical multijoint robot (as shown in Fig. 2), because the horizontal distance between the load action point of the upper arm and the pivotal axis of the driving portion at the lower end of the lower arm becomes an arm (or lever) length of moment generated about the pivotal axis of the base in relation to the lengths of the upper and lower arms. In the present invention, however, since a parallelogrammic link mechanism is adopted, it is possible to provide the above-mentioned effect for the robot. therefore, the driving motor power can be reduced markedly and therefore the robot is suitable for use as industrial heavy load robots, in particular.
Fetherstonhaugh & Co.
Kawasaki Jukogyo Kabushiki Kaisha
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