JPH01129090U - - Google Patents

Info

Publication number
JPH01129090U
JPH01129090U JP2486988U JP2486988U JPH01129090U JP H01129090 U JPH01129090 U JP H01129090U JP 2486988 U JP2486988 U JP 2486988U JP 2486988 U JP2486988 U JP 2486988U JP H01129090 U JPH01129090 U JP H01129090U
Authority
JP
Japan
Prior art keywords
shaft
drive source
drive
differential gear
main body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2486988U
Other languages
Japanese (ja)
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed filed Critical
Priority to JP2486988U priority Critical patent/JPH01129090U/ja
Publication of JPH01129090U publication Critical patent/JPH01129090U/ja
Pending legal-status Critical Current

Links

Description

【図面の簡単な説明】[Brief explanation of the drawing]

第１〜３図は本考案に係るマニプレータの一実
施例を示す図であり、第１図はそのマニプレータ
の断面図、第２図はその偏心揺動型の遊星差動歯
車減速機の断面図、第３図は第２図の―′線
矢視断面図、第４図は従来例を示すそのマニプレ
ータの断面図である。 １１……主アーム（第１部材）、１２……駆動
源、１２ａ……駆動源本体、１２ｂ……駆動軸、
１３……減速機（偏心揺動型の遊星差動歯車減速
機）、１４……入力軸、１５……出力軸、１７…
…伝達機構、２６……副アーム（第２部材）。 1 to 3 are views showing one embodiment of the manipulator according to the present invention, FIG. 1 is a sectional view of the manipulator, and FIG. 2 is a sectional view of the eccentric oscillation type planetary differential gear reducer. 3 is a sectional view taken along the line -' in FIG. 2, and FIG. 4 is a sectional view of a conventional manipulator. 11... Main arm (first member), 12... Drive source, 12a... Drive source main body, 12b... Drive shaft,
13...Reducer (eccentric oscillating type planetary differential gear reducer), 14...Input shaft, 15...Output shaft, 17...
...Transmission mechanism, 26... Sub-arm (second member).

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 第１部材と、第１部材に支持された駆動源本体
および該駆動源本体に軸支された駆動軸を有する
駆動源と、第１部材に装着され、駆動軸の軸線に
対して交差する軸線上に入力軸および出力軸を有
する偏心揺動型の遊星差動歯車減速機と、駆動源
および遊星差動歯車減速機の間に介装され、駆動
軸の回転を入力軸に伝達する伝達機構と、出力軸
と一体回転する第２部材と、を備えたことを特徴
とするマニプレータ。 a first member; a drive source having a drive source main body supported by the first member; and a drive shaft pivotally supported by the drive source main body; and a shaft attached to the first member and intersecting with the axis of the drive shaft. An eccentric oscillating planetary differential gear reducer that has an input shaft and an output shaft on a line, and a transmission mechanism that is interposed between a drive source and the planetary differential gear reducer and transmits the rotation of the drive shaft to the input shaft. and a second member that rotates integrally with the output shaft.
JP2486988U 1988-02-25 1988-02-25 Pending JPH01129090U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2486988U JPH01129090U (en) 1988-02-25 1988-02-25

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2486988U JPH01129090U (en) 1988-02-25 1988-02-25

Publications (1)

Publication Number Publication Date
JPH01129090U true JPH01129090U (en) 1989-09-04

Family

ID=31245094

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2486988U Pending JPH01129090U (en) 1988-02-25 1988-02-25

Country Status (1)

Country Link
JP (1) JPH01129090U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997018928A1 (en) * 1995-11-17 1997-05-29 Kabushiki Kaisha Yaskawa Denki Wrist mechanism for articulated robot

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS591191A (en) * 1982-06-28 1984-01-06 三菱電機株式会社 Operative arm for industrial robot
JPS624586A (en) * 1985-01-18 1987-01-10 帝人製機株式会社 Joint device for industrial robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS591191A (en) * 1982-06-28 1984-01-06 三菱電機株式会社 Operative arm for industrial robot
JPS624586A (en) * 1985-01-18 1987-01-10 帝人製機株式会社 Joint device for industrial robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997018928A1 (en) * 1995-11-17 1997-05-29 Kabushiki Kaisha Yaskawa Denki Wrist mechanism for articulated robot

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