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2. 发明授权

US4610598A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US4610598A
公开(公告)日：1986-09-09
申请号：US527863
申请日：1983-08-30
申请人： Toyohide Hamada , Kouichi Sugimoto , Hitoshi Kusakawa , Tatenori Jinriki , Kiyohide Koizumi
发明人： Toyohide Hamada , Kouichi Sugimoto , Hitoshi Kusakawa , Tatenori Jinriki , Kiyohide Koizumi
IPC分类号： B25J9/04 , B25J9/10 , B25J19/00 , B25J18/00
CPC分类号： B25J9/044 , B25J19/0029 , B25J9/042 , B25J9/1045
摘要： An industrial robot comprising: a base; a stand rigidly erected on the base; a shoulder securely mounted on the stand; a first arm consisting of upper and lower levers with the base portion pivoted to the shoulder so that the arm can be turned about a first vertical axis; a second arm having its one end pivoted to the other end of the first arm between the upper and lower levers so that the second arm can be turned about a second vertical axis; a vertically movable shaft so supported by the second arm as to allow the linear movement of the shaft along a third vertical axis; a rack parallel to the vertically movable shaft; a guide means for guiding the rack relative to the second arm in only the vertical direction; a coupling means for connecting the vertically movable shaft and the rack at their both ends; a first drive means secured to the shoulder to rotate, through a first power transmission means, the first arm about the first vertical axis; a second drive means secured to the shoulder to rotate, through a second power transmission means, the second arm about the second vertical axis; and a third drive means secured to the second arm to drive the rack in vertical direction through a third power transmission means.
摘要翻译：一种工业机器人，包括：基座; 在基地上竖立的立场; 一个牢固地安装在支架上的肩膀; 第一臂由上下杆构成，其中基部枢转到肩部，使得臂能够围绕第一垂直轴线转动; 第二臂，其一端枢转到第一臂的另一端在上下杆之间，使得第二臂能绕第二垂直轴转动; 一个由第二臂支撑的可垂直移动的轴，以允许轴沿着第三垂直轴的直线运动; 平行于垂直移动轴的齿条; 用于仅在垂直方向上相对于第二臂引导齿条的引导装置; 用于在其两端连接可垂直移动的轴和齿条的联接装置; 第一驱动装置，其通过第一动力传递装置固定到所述肩部以使所述第一臂围绕所述第一竖直轴线旋转; 通过第二动力传递装置固定到肩部以使第二臂围绕第二垂直轴线旋转的第二驱动装置; 以及第三驱动装置，其固定到所述第二臂，以通过第三动力传递装置在垂直方向上驱动所述齿条。

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