Kawasaki Jukogyo Kabushiki Kaisha

Yuji Maeguchi

Takahiro Inada

Takashi Harada

Hiroyuki Takayama

Tadashi Isomura

The present invention provides an industrial robot which can reduce torque required for driving an object to be moved. By providing a third reduction device and a third driving device separately, the dimension in the third axial direction of the third reduction device can be reduced, thus the distance from a second axis to an end effecter can be decreased. As such, the torque required for a first driving device and a second driving device to rotate and drive the end effecter can be reduced. Accordingly, even when the weight of the end effecter is increased, an increase of the torque required for the first driving device and the second driving device can be suppressed. Therefore, a higher speed operation can be achieved as compared with the conventional industrial robot.

Industrial robot

In a deformable structure, connecting parts each of which has a base part are arranged longitudinally so that adjacent connecting parts are connected to each other. Respective first axes of the adjacent connecting parts are inclined to each other in a state that a spacer on one of the two adjacent base parts comes into contact with the other base part. When an external force is exerted on the deformable structure, the spacers restrain the deformable structure from being further curved into a radius of curvature smaller than a predetermined allowable radius of curvature. Most of the external force exerted on the deformable structure is born by the base parts and the spacers so that only a low force acts on the connecting parts. Thus the connecting parts do not break easily so that the deformable structure has a high strength.

Deformable structure and cable support system

Provided is a robot arm mechanism that conveys and supports a work, which requires neither a traveling axis that demand a high installation accuracy nor a jig for fixedly supporting a work. A robotincludes: a parallel link mechanismhaving a lower linkand an upper link, in which the lower linkand the upper linkare coupled with an armand an auxiliary link; a driving portion for driving one jointof the lower linkin the parallel link mechanism; a parallel link mechanismhaving a lower linkand an upper linkfixed on the upper linkin the parallel link mechanism, in which the lower linkand the upper linkare coupled with an armand an auxiliary link; a driving portion for driving one jointof the upper linkin the parallel link mechanism; and an armfixed on the lower linkin the parallel link mechanismand holding up an object for support.

Robot arm mechanism

A robot is disclosed in which load torque imposed on motors is reduced and therefore small-sized motors can be used. In the robot, an arm member, a first link, a second link and a third link constitute a parallel linkage, and the first link and the third link are coaxially pivotally supported on a base. With a pivotal shaft for pivotally connecting the second link and the third link, one end of a fourth link having shorter link length than the link length of the third link is pivotally connected to the second and third links and one end of a fifth link having the same link length as that of the fourth link is pivotally connected to the other end of the fourth link. The other end of the fifth link is pivotally supported on the base with a pivotal shaft to which the rotary shaft of the motor is coupled, so that the fifth link can move according to the rotation of the motor.

Growing community of inventors

Kobe, Japan

Yuji Maeguchi