Komatsu Corporation

Tatsunori Suwa

Kazuhiro Hatake

Kazuya Imamura

Shunsuke Sugimura

Kikuo Ejima

Kenji Nishikawa

Kazuhisa Suzuki

Shigeki Iwasaki

A handling robot comprises a first and a second robotic link mechanism (B B ) so configured as to be jointly rotatable. Each mechanism has a transfer table ( ) at its forward end and is adapted to operatively be projected and retracted in a radial direction with respect to the transfer table when operatively extended and contracted. The first and second robotic mechanisms are arranged so that the two transfer tables may located within a narrow angular range.

Robot for handling

A handling robot prevents a positioning in a motor unit power transmission system from becoming inaccurate and can eliminate occurrence of vibrations due to a twisting deformation and so forth in the system. The handling robot has an arm fastened to an outside of each of a plurality of ring bosses that are arranged coaxially and turnably. Each of such arms is connected via a link to a carrier table so that turning the ring bosses in mutally opposite directions may cause the carrier table to reciprocate in a perpendicular direction to a turning axis; and turning them in a same direction may cause the carrier table to turn. A plurality of motor units corresponding to the ring bosses are arranged coaxially with each other and at positions that are insides of the ring bosses and lower than a position where the carrier table may operate. A connecting member is further arranged and is shaped in the form of a cup in cross section and fastened to the output member of each of the motor units, such connecting members being connected to the ring bosses, respectively.

A handling robot includes at least four bosses (20a, 20b, 20c, 20d) disposed in a transfer chamber so as to be coaxial with one another and rotatable independently of one another. The bosses are deviated (staggered) in their positions along the axis of a center of rotation. Each of the bosses is provided with an arm (21a, 21b, 21c, 21d), respectively. A link (22a, 22b, 22c, 22d) is coupled to each of the arms, respectively. Two of the bosses which are adjacent to each other in an axial direction constitute a pair. A transfer table (8a, 8b) is coupled via a transfer table attitude regulating mechanism (B) to the respective leading ends of each pair of links. The links are, in turn, coupled to an arm of the pair of bosses to provide a plurality of transfer tables which are arranged so as to be deviated in their positions towards the axis of the center of rotation. An independent drive source (27a, 27b, 27c, 27d) is coupled to each of the bosses, respectively.

Handling robot

Breakthrough buffer for presses and control method therefor

Growing community of inventors

Hiratsuka, Japan

Tatsunori Suwa