The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 22, 1986
Filed:
May. 03, 1983
Teruyuki Ito, Nagoya, JP;
Osamu Toyama, Kariya, JP;
Toyoda Koki Kabushiki Kaisha, Kariya, JP;
Abstract
A multilink-type robot includes an arm support pivotably mounted on a base for angular movement about a vertical axis, the arm support having a pair of side support ledges extending upwardly with a U-shaped recess defined therebetween and extending substantially the entire length of the arm support, a first shaft extending across the recess and having opposite ends rotatably supported on the support ledges, a second shaft rotatably supported on the arm support in coaxial relation to the first shaft for relative rotation with respect to the first shaft, a first arm having one end fixed to the first shaft, a third shaft rotatably supported on an opposite end of the first arm in parallel relation to a first shaft, first rotation transmission for transmitting rotation of the second shaft to the third shaft, a second arm having one end fixed to the third shaft, a fourth shaft rotatably supported on an opposite end of the second arm in parallel relation to the third shaft, a wrist unit fixed to the fourth shaft, and a first and second arm driving mechanism for driving the first and second shafts, respectively, the first and second arm driving mechanism including first and second servomotors, respectively, having output shafts extending in mutually opposite directions and positioned downwardly of a bottom of the recess in the arm support in parallel relation to the first shaft, the output shafts being connected to the first and second shafts, respectively.