JPH042587U - - Google Patents
Info
- Publication number
- JPH042587U JPH042587U JP4268590U JP4268590U JPH042587U JP H042587 U JPH042587 U JP H042587U JP 4268590 U JP4268590 U JP 4268590U JP 4268590 U JP4268590 U JP 4268590U JP H042587 U JPH042587 U JP H042587U
- Authority
- JP
- Japan
- Prior art keywords
- drive shaft
- shaft
- wrist
- reducer
- arm
- 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.)
- Granted
Links
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 210000000707 wrist Anatomy 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims 1
Description
第１図は本考案の実施例を示す側断面図、第２
図、第３図、第４図はオフセツト手首機構に切替
えたときの側断面図である。
１……アーム、２……曲げ駆動軸、３……ギヤ
ハウジング、４……曲げ軸用減速機、５……手首
部、５１……側面取付け部、５２……前面取付け
部、５３……インロー部、６……ねじり駆動軸、
６８……歯車軸、７……減速機ハウジング、７２
……段付部、７３，７４……インロー部、８……
ねじり軸減速機。
Fig. 1 is a side sectional view showing an embodiment of the present invention;
Figures 3 and 4 are side sectional views when switching to the offset wrist mechanism. DESCRIPTION OF SYMBOLS 1...Arm, 2...Bending drive shaft, 3...Gear housing, 4...Bending shaft reducer, 5...Wrist part, 51...Side mounting part, 52...Front mounting part, 53... Pilot part, 6...Torsional drive shaft,
68...Gear shaft, 7...Reducer housing, 72
...Stepped part, 73, 74... Pilot part, 8...
Torsional shaft reducer.
Claims (1)
回動軸の回りに回動しうる手首部５を前記アーム
１の先端に備え、前記手首部５の前記回動軸に対
して直角の側面取付け部に曲げ軸用減速機４を設
け、前記手首部５の前記回動軸に対して平行な前
面取付け部にねじり軸用減速機８を設けて、少な
くとも二つの自由度を持つようにした産業用ロボ
ツトの手首機構において、 前記アーム１の内側に支持され前記手首部５を
回動させる曲げ駆動軸２の中心からオフセツトし
て前記前面取付け部に設けられたインロー部５３
を備えた手首部５と、 前記インロー部５３に嵌合する段付部７２を備
え、前記段付部７２と同心にねじり駆動軸６によ
つて駆動される歯車軸６８を支持するとともに、
前記曲げ駆動軸２と同心のインロー部７４を設け
て前記ねじり軸用減速機８を固定した減速機ハウ
ジング７と、 前記歯車軸６８と前記ねじり軸用減速機８とを
連結する伝導装置とを設けたことを特徴とする産
業用ロボツトの手首機構。[Claims for Utility Model Registration] A wrist portion 5 that can rotate around a rotation axis perpendicular to the longitudinal direction of the hollow arm 1 is provided at the tip of the arm 1, At least two In the wrist mechanism of an industrial robot having two degrees of freedom, the bending drive shaft 2 is supported on the inside of the arm 1 and is provided on the front mounting portion offset from the center of the bending drive shaft 2 for rotating the wrist portion 5. Pilot part 53
and a stepped portion 72 that fits into the spigot portion 53 and supports a gear shaft 68 driven by the torsion drive shaft 6 concentrically with the stepped portion 72.
A reducer housing 7 in which a spigot part 74 concentric with the bending drive shaft 2 is provided to fix the torsion shaft reducer 8, and a transmission device that connects the gear shaft 68 and the torsion shaft reducer 8. A wrist mechanism for an industrial robot characterized by the following.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4268590U JPH0751268Y2 (en) | 1990-04-21 | 1990-04-21 | Wrist mechanism of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4268590U JPH0751268Y2 (en) | 1990-04-21 | 1990-04-21 | Wrist mechanism of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH042587U true JPH042587U (en) | 1992-01-10 |
| JPH0751268Y2 JPH0751268Y2 (en) | 1995-11-22 |
Family
ID=31554443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4268590U Expired - Fee Related JPH0751268Y2 (en) | 1990-04-21 | 1990-04-21 | Wrist mechanism of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0751268Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5018724Y1 (en) * | 1970-09-22 | 1975-06-07 |
-
1990
- 1990-04-21 JP JP4268590U patent/JPH0751268Y2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5018724Y1 (en) * | 1970-09-22 | 1975-06-07 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0751268Y2 (en) | 1995-11-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4990050A (en) | Wrist mechanism | |
| JP2539796B2 (en) | Articulated robot | |
| JPH042587U (en) | ||
| JPH0192087A (en) | Wrist mechanism for industrial robot | |
| JPH0429990Y2 (en) | ||
| JPH0166994U (en) | ||
| JPS60153791U (en) | Robot drive mechanism | |
| JPS6317670Y2 (en) | ||
| JPS6238702Y2 (en) | ||
| JPS60104690A (en) | Operating device for wrist of manipulator | |
| JPS6235790U (en) | ||
| JPS6272088U (en) | ||
| JPH028713Y2 (en) | ||
| JPH02237788A (en) | Support structure for arm of industrial robot | |
| JPS588464Y2 (en) | manipulator | |
| JPS59175989A (en) | Operating device for wrist of manipulator | |
| JPH03117592A (en) | Industrial robot | |
| JPH0538697A (en) | Industrial robot | |
| JPH02150189U (en) | ||
| JPS62188646U (en) | ||
| JPS5937077A (en) | Driving mechanism of articulated type robot | |
| JPS61141090U (en) | ||
| JPS6168895U (en) | ||
| JPS60238084A (en) | Mechanism for attaching tool in automatic machine | |
| JPS62147010U (en) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |