JPH0270988U

JPH0270988U -

Info

Publication number: JPH0270988U
Application number: JP15071188U
Authority: JP
Priority date: 1988-11-21
Filing date: 1988-11-21
Publication date: 1990-05-30
Anticipated expiration: 2003-01-20
Also published as: JPH052311Y2

Description

[Brief explanation of drawings]

第１図は本案装置を具備するロボツトの１例の
側面図、第２図はこのロボツトの手首部分の斜視
図、第３図は手首部分の正面図、第４図は第３図
の―線截断側面図、第５図は第４図の―
線截断平面図、第６図は第３図の―線截断側
面図、第７図は第４図の―線截断平面図であ
る。５……昇降枠（支持枠）、９……手首本体（ベ
ース枠）、１０……第１揺動枠、１１……第２揺
動枠、１２……第１ナツト部材、１３……第１駆
動源、１４……第１ボールねじ、１５……第２ナ
ツト部材、１６……第２駆動源、１７……第２ボ
ールねじ、１８……第３ナツト部材、１９……第
３駆動源、２０……第３ボールねじ。 Fig. 1 is a side view of an example of a robot equipped with the device of the present invention, Fig. 2 is a perspective view of the wrist portion of this robot, Fig. 3 is a front view of the wrist portion, and Fig. 4 is a line taken along the line shown in Fig. 3. Cutaway side view, Figure 5 is the same as Figure 4.
6 is a side view taken along the line ``-'' in FIG. 3, and FIG. 7 is a plan view taken along the line ``--'' in FIG. 4. 5... Lifting frame (support frame), 9... Wrist body (base frame), 10... First swing frame, 11... Second swing frame, 12... First nut member, 13... Third 1 drive source, 14...first ball screw, 15...second nut member, 16...second drive source, 17...second ball screw, 18...third nut member, 19...third drive Source, 20...Third ball screw.

Claims

[Claims for Utility Model Registration] 1. A first swinging frame pivotably supported on a base frame, and the first swinging frame is swingable in a direction perpendicular to the swinging direction of the first swinging frame. In the rocking device, the pivot of the first rocking frame and the pivot of the second rocking frame are arranged so that the axes of the two shafts are perpendicular to each other on the same plane. A first nut member is mounted on one of the base frame and the first swing frame, and a first drive source for forward and reverse rotation of a first ball screw screwed into the first nut member is mounted on the other of the base frame and the first swing frame, respectively. A second ball screw is mounted to be swingable about an axis parallel to the pivot of the first swing frame, and a second ball screw is screwed into one of the first swing frame and the second swing frame, and a second ball screw is screwed into the second nut member on the other. The second to reverse the
A rocking device characterized in that a drive source is mounted to be swingable about an axis parallel to a pivot of a second rocking frame. 2. The base frame is rotatably supported on a support frame of a rocking device, and the axis of the base frame is aligned with the axis of the first rocking frame and the axis of the second rocking frame. A third nut member is arranged to be orthogonal to each other at the intersection with the axis of the pivot, and a third nut member is screwed into one of the support frame and the base frame, and a third nut member is screwed into the third nut member on the other side.
2. The rocking device according to claim 1, wherein the third driving sources for driving the ball screw in forward and reverse directions are respectively attached to be swingable about axes parallel to the pivot of the base frame.