Title:
INDUSTRIAL ROBOT
Document Type and Number:
Japanese Patent JP2016153146
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide an industrial robot capable of ensuring high mechanical stiffness, over a wide action range, under a high load condition.SOLUTION: Arm means 5 of a robot 1 has a lower arm mechanism 6 and an upper arm mechanism 7 which have a parallel link structure. The lower arm mechanism 6 has a front link 8 and a rear link 9 having lower ends rotatably connected to a base portion 3. A lower arm driving mechanism 19 has a lower ball screw 21, and a lower bearing portion 22 supporting a shaft 21B so as to rotate about an axis of that. An extending portion 24 extending from a lower end of the rear link 9 is connected to a nut 21A so as to rotate about a nut side rotary axis B2. The lower bearing portion 22 is connected to the base portion 3 so as to rotate about a bearing portion side rotary axis B1.SELECTED DRAWING: Figure 6
Inventors:
KITAMURA SHINJI
YAMAMOTO MASATO
YOSHINO KOJI
YAMAMOTO MASATO
YOSHINO KOJI
Application Number:
JP2015031499A
Publication Date:
August 25, 2016
Filing Date:
February 20, 2015
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD
International Classes:
B25J9/06
Attorney, Agent or Firm:
Satoshi Nazuka
Mitsuru Inoue
Mitsuru Inoue