US Patent No. 10,913,147

HORIZONTAL ARTICULATED ROBOT AND REVERSE INSTALLATION METHOD THEREOF


Patent No. 10,913,147
Issue Date February 09, 2021
Title Horizontal Articulated Robot And Reverse Installation Method Thereof
Inventorship Satoshi Adachi, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 10,913,147

1. A horizontal articulated robot comprising:a base;
one or more arms attached to the base so as to be capable of rotating horizontally;
a ball screw spline shaft that is disposed so as to be capable of rotating about a longitudinal axis extending in a vertical direction at an end of the one or more arms and capable of linearly moving along the longitudinal axis that supports a workpiece at one end of the ball screw spline shaft;
a ball screw nut through which the ball screw spline shaft passes, the ball screw nut being driven in a direction along the longitudinal axis with respect to the one or more arms; and
two ball spline nuts configured to support the ball screw spline shaft so as to be capable of rotating about the longitudinal axis, the ball screw spline shaft passing through the ball spline nuts, respectively, on both sides of the ball screw nut interposed therebetween in a longitudinal axis direction,
wherein the ball screw spline shaft passing through at least one of the ball spline nuts is driven about the longitudinal axis with respect to the one or more arms,
wherein at least one pulley is fixed to the ball screw nut and a main ball spline nut of the two ball spline nuts so that the ball screw spline shaft is moved about the longitudinal axis via the ball screw nut and the main ball spline nut,
wherein the at least one pulley includes a first pulley and a second pulley, the first pulley is fixed to the ball screw nut, the second pulley is fixed to the main ball spline nut, and the first pulley and the second pulley are located between the ball screw nut and the main ball spline nut.