JPH0166994U

JPH0166994U -

Info

Publication number: JPH0166994U
Application number: JP1987162910U
Authority: JP
Priority date: 1987-10-23
Filing date: 1987-10-23
Publication date: 1989-04-28

Description

[Brief explanation of the drawing]

第１図は本考案に係るロボツト装置の概略斜視
図、第２図は本考案に係るロボツト装置の一部省
略断面説明図である。１０……ロボツト装置、１２……支持部材、１
４，１６……アーム、１８……回動部材、２０…
…ハンド、２２，２４，２６，２８……モータ、
３６……アーム用回動軸、４４，４６，４８……
伝達ベルト、６６……ハンド用伝達軸、７６……
回動部材用伝達軸、８４……アーム用伝達軸、８
８……ハーモニツクドライブ機構、１００……伝
達ベルト、１０６……アーム用回動軸、１０８…
…ハンド用伝達軸、１１４……伝達ベルト、１１
８……ハンド用伝達軸、１２６……ハーモニツク
ドライブ機構、１４０……ハンド用伝達軸、１５
２……回動部材用伝達軸、１５８……伝達ベルト
、１６２，１７６……回動部材用伝達軸、１７８
……ハーモニツクドライブ機構。 FIG. 1 is a schematic perspective view of a robotic device according to the present invention, and FIG. 2 is a partially omitted cross-sectional explanatory view of the robotic device according to the present invention. 10... Robot device, 12... Support member, 1
4, 16... Arm, 18... Rotating member, 20...
...Hand, 22, 24, 26, 28...Motor,
36... Arm rotation axis, 44, 46, 48...
Transmission belt, 66...Hand transmission shaft, 76...
Transmission shaft for rotating member, 84...Transmission shaft for arm, 8
8... Harmonic drive mechanism, 100... Transmission belt, 106... Arm rotation axis, 108...
...Transmission shaft for hand, 114...Transmission belt, 11
8... Transmission shaft for hand, 126... Harmonic drive mechanism, 140... Transmission shaft for hand, 15
2...Transmission shaft for rotating member, 158...Transmission belt, 162, 176...Transmission shaft for rotating member, 178
...Harmonic drive mechanism.

Claims

[Claims for Utility Model Registration] (1) A support member, a first arm rotatably supported by the support member, a second arm rotatably supported by the first arm, and a second arm rotatably supported by the first arm; A robot device comprising a rotating member rotatably attached to the tip of a second arm, and a hand attached to the rotating member to perform a predetermined work, the first arm, the second arm , a plurality of drive sources for driving the rotating member and the hand are provided on the supporting member side, and the driving force of the driving source for the first arm is applied via a first arm rotating shaft that rotatably engages the supporting member. and transmits the driving force of the drive source for the second arm to the first arm through a second arm transmission shaft disposed coaxially with the first arm rotation shaft, and a second arm disposed at one end side of the first arm. The transmission is transmitted to the second arm via a second arm transmission system including a deceleration mechanism connected to a second arm rotation shaft that engages with the second arm, and also a drive source for the rotation member and the hand. A first rotation member transmission shaft and a first hand transmission shaft disposed coaxially with the first arm rotation shaft are connected to the respective transmission shafts and rotate the second arm. A second rotary member transmission shaft and a second hand transmission shaft are provided coaxially with the shaft, and are located within the second arm, extend toward one end of the second arm, and are coaxial with each other. The transmission is configured to be transmitted to the rotating member and the hand via a rotating member transmission system and a hand transmission system having a third rotating member transmission shaft and a third hand transmission shaft disposed in the rotating member and the hand, respectively. A robotic device characterized by: (2) Utility Model Registration A robot device according to claim 1, in which a rotating member transmission system and a hand transmission system are each provided with a speed reduction mechanism. (3) Scope of claims for utility model registration, paragraph 1 or 2
3. The robot device according to item 1, wherein the speed reduction mechanism is substantially a harmonic drive mechanism.