JPH042586U

JPH042586U -

Info

Publication number: JPH042586U
Application number: JP4269590U
Authority: JP
Priority date: 1990-04-20
Filing date: 1990-04-20
Publication date: 1992-01-10
Anticipated expiration: 2005-04-20
Also published as: JP2513588Y2

Description

[Brief explanation of the drawing]

第１図は本考案の実施例を示す正断面図、第２
図は第１図に示す−矢視からの側面図、第３
図は他の実施例を示す側面図、第４図は他の実施
例を示す正断面図、第５図は従来例を示す側面図
である。１……ベース、２……第１アーム、２１……第
１回動軸、２６……駆動モータ、３……第２アー
ム、３１……第２回動軸、４，５……平行リンク
、４１，５１……従動バー、４２，５２……連結
バー、４３，５３……駆動バー、４４，５４……
平行リンク回動軸、４５，５５……プーリ、４８
……駆動モータ、６，６′……減速機。 Fig. 1 is a front sectional view showing an embodiment of the present invention, Fig. 2 is a front sectional view showing an embodiment of the present invention;
The figure is shown in Fig. 1 - side view from the direction of the arrow, 3rd
The figure is a side view showing another embodiment, FIG. 4 is a front sectional view showing another embodiment, and FIG. 5 is a side view showing a conventional example. 1... Base, 2... First arm, 21... First rotation axis, 26... Drive motor, 3... Second arm, 31... Second rotation axis, 4, 5... Parallel link , 41, 51... Driven bar, 42, 52... Connection bar, 43, 53... Drive bar, 44, 54...
Parallel link rotation axis, 45, 55...Pulley, 48
...Drive motor, 6,6'...Reducer.

Claims

[Claims for Utility Model Registration] 1. A first rotating shaft rotatably supported by a base, a first arm having one end fixed to the first rotating shaft, and the other end of the first arm. a second rotation shaft rotatably supported by the second rotation shaft; a second arm having one end fixed to the second rotation shaft; and a parallel link rotation shaft provided concentrically with the first rotation shaft. and a parallel link connecting the second rotating shaft, the arm driving device for an industrial robot comprising two driven bars of the parallel link at both ends of the second rotating shaft with the first arm in between. An industrial robot characterized in that two connecting bars connecting the driving bar fixed to the parallel link rotating shaft and the driven bar are offset to the outside of the driving bar and the driven bar, respectively. arm drive device. 2. The arm drive device for an industrial robot according to claim 1, wherein the drive bar and the driven bar of the two parallel links are fixed to the parallel link rotation shaft and the second rotation shaft, respectively, with a phase difference between them. 3. When the load on the second arm is at its maximum, the driving bar and the driven bar of the two parallel links are moved in opposite directions to a perpendicular line from the second rotation axis to the ground within a range that is not on a straight line. The arm drive device for an industrial robot according to claim 2, wherein the arm drive device is tilted by the same angle. 4. From claim 1, wherein each of the two parallel links is provided with an independent parallel link rotation shaft, a reduction gear is coupled to each of the two parallel link rotation shafts, and the reduction gear is rotated synchronously. 3. The arm drive device for an industrial robot according to any one of items 3 to 3.