Importance

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Abstract

A vertical non-parallel link type robot having a robot arm construction with which it is possible to increase a movement range easily and cheaply without making the moving arm longer, and to make the driving motor for an upper arm lighter. The robot has a base, a revolving table mounted on the base and rotatable with respect to the base about a vertical axis thereof, a vertical lower arm mounted on the revolving table and pivotable with respect to a first horizontal axis thereof, and a mounting structure whose upper portion is pivotably supported on one side of the tip or upper end of the lower arm with respect to a second horizontal axis thereof and whose lower portion depends from and extends at a right angle to the upper portion. A normally horizontal upper arm having a wrist at its front end is mounted on and extends in a forward direction from the lower portion of the pivotable mounting structure with the upper arm being supported on the mounting structure so that its longitudinal axis is spaced from the second horizontal axis in a direction toward the first horizontal axis. A wrist drive motor is mounted on the side of the lower portion of the mounting structure opposite that on which the upper arm is mounted.

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First Claim