Hitachi, Ltd.

Hitoshi Kusakawa

Toyohide Hamada

Tatenori Jinriki

Kiyohide Koizumi

Kouichi Sugimoto

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.

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Chiba, Japan

Hitoshi Kusakawa