Fanuc Corporation

Tooru Nagai

Toshihiko Inoue

Tomoyuki Motokado

Shunsuke Abiko

A robot includes: a base; a swivel body supported rotatable about a first axis; a first arm supported rotatable about a second axis perpendicular to the first axis; a second arm supported rotatable about a third axis parallel to the second axis; and a first wrist element supported rotatable about a fourth axis perpendicular to the third axis and disposed in a same plane as the first axis. A first hollow section penetrating along the first axis is provided in the base and the swivel body; a second hollow section penetrating along the fourth axis is provided in the first wrist element; the first and second arms have shapes allowing a linear object having passed through the first hollow section to be guided to the second hollow section via a space extending along a line connecting intersections of the first and second axes and the third and fourth axes.

Robot

A workpiece support device including a base; a conducting rotary table that supports a workpiece and that is rotatable about a horizontal rotation axis; a motor that rotationally drives the rotary table; a collecting brush disposed on the base slidable on the outer circumferential surface of a conducting shaft fixed to the rotary table and extending along the rotation axis; a connection terminal that is electrically connected to the collecting brush and to which an external cable is connected; and a liquid-proof cover surrounding the collecting brush and the outer circumferential surface of the shaft. The liquid-proof cover includes an upper back-plate portion that is disposed at the same position as the rear end of the motor, and a lower back-plate portion located below the upper back-plate portion and forming a recess. The connection terminal penetrates through the lower back-plate portion and projects into the recess.

Workpiece support device

A work table support device capable of adapting to a plurality of applications. The workpiece support device includes a base; a conductive work table rotatably supported on the base; a current-collecting brush that is fixed to the base, slidably contacts an end face of the work table, and supplies electric power to work table, and a cover that is removably attached to the base, surrounds the current-collecting brush and the end face, and includes cover segments that can be assembled and disassembled one another.

Workpiece support device including rotatable work table

Provided is an industrial robot that includes: a second arm that is provided, at the distal end of a first arm pivotable about a first axis, in a pivotable manner about a second axis parallel to the first axis; and a wrist that is disposed at the distal end of the second arm and that has a plurality of wrist elements, and including the first wrist element provided in a rotatable manner about a longitudinal axis of the second arm. Motors and that drive the wrist elements, are accommodated in a space inside the first wrist element. The second arm is provided with a hollow portion that communicates with the space. A cable to be wired to the motors is wired into the hollow portion from the outside of the second arm and is relayed by a connector fixed to the wall section at the position of the through-hole.

Industrial robot

A robot wrist structure includes a first wrist element, a second wrist element, and a third wrist element which are respectively rotatable about a first axis to a third axis; drive motors for the second and third wrist elements; and gear sets that reduce speeds of rotation of the drive motors. The gear sets respectively include a driven-side large-diameter gear that rotates the second wrist element and a driven-side small-diameter gear that rotates the third wrist element, where the driven-side large-diameter gear and the driven-side small-diameter gear are coaxially arranged so as to be rotatable about the second axis. The small-diameter gear is fixed to a drive-side bevel gear that meshes with a driven-side bevel gear fixed to the third wrist element. The second wrist element includes a first housing that is fixed to the large-diameter gear; and a second housing rotatably supports the third wrist element.

Robot wrist structure

Provided is a robot arm including an upper arm, a forearm installed at the distal end of the upper arm, a wrist element installed at the distal end of the forearm to be rotatable around an axis line and having a hollow part through which the axis line penetrates, a motor installed in the forearm and rotating the element around the axis line, and a mechanism transmitting rotation of the motor to the element while reducing speed of rotation. The motor includes a rotation center axis extending obliquely downward on the opposite side of the upper arm. The mechanism includes a hypoid gear set including an output hypoid gear fixed to the element coaxially with the axis line and an input hypoid gear, and a gear set including a gear wheel fixed to the input hypoid gear and a pinion fixed to the motor.

Growing community of inventors

Yamanashi, Japan

Tooru Nagai