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:
Dec. 21, 1993
Filed:
Nov. 26, 1991
Yasuhiro Sawada, Chofu, JP;
Takeo Tanita, Yokohama, JP;
Yusaku Azuma, Yokohama, JP;
Yasuo Karube, Ibaraki, JP;
Canon Kabushiki Kaisha, Tokyo, JP;
Abstract
An industrial robot is provided with a body, a horizontal arm pivotally supported on the body, and a vertical arm mounted on the tip end portion of the horizontal arm for rotation about its own center axis. The robot includes a drive motor for rotatively driving the vertical arm, speed reduction means for speed-reducing and transmitting the drive force of the drive motor through a first output pulley to a second output pulley, and first and second detected portions mounted on the first and second output pulleys, respectively, with respective predetermined ranges of extension and indicating the original point position of the vertical arm by the difference between the respective phases. In addition, first and second detectors are fixed to the horizontal arm and output first and second detection signals, respectively, as long as they are detecting the first and second detected portions, respectively, and a controller is provided for judging the original point position of the vertical arm on the basis of the output modes of the first and second detection signals from the first and second detectors respectively.