Industrial use robot with horizontal multiple articulated arms with means to minimize or eliminate interference among driving portions
US5151007A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Feb 20, 1991 |
| Grant date | Sep 29, 1992 |
| Priority date | — |
| Expiry date | Feb 20, 2011 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/1615
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Robots for industrial use having an arm mechanism of a horizontal multiple articulated type. The load movement mechanism and the arm expansion mechanism, which are provided within the robot arms in advance with respect to the change condition through the catching of the gravity force changes by the force sensor from a case where the weight is moved, placed to a case where nothing is grasped, are properly operated, so that the mutual dynamic interferences of the respective driving portions of the robot may not be caused or may be made minimum, and may be made simple in shape by the comparatively simple control apparatus, with an effect that the superior robot which is capable of stable operations may be realized.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.