JPH0470491U

JPH0470491U -

Info

Publication number: JPH0470491U
Application number: JP11314290U
Authority: JP
Priority date: 1990-10-30
Filing date: 1990-10-30
Publication date: 1992-06-22

Description

[Brief explanation of drawings]

第１図及び第２図は本考案の実施例産業用ロボ
ツトの要部側面図及び正面図をそれぞれ示し、第
３図は従来のハンド保持部の姿勢を一定に保つた
めの保持リンクを有する産業用ロボツトのリンク
機構を示す要部斜視図である。１……第１アーム、２……第２アーム、３……
第３アーム、４，４１，４２……第１平行４辺形
リンク部材、５，５１，５２……第２平行４辺形
リンク部材、６，６１，６２……第３平行４辺形
リンク部材、７……固定軸、８，９……モータ、
１２，１３，１４……軸支軸、１２１……固定軸
中心。 1 and 2 show a side view and a front view of main parts of an industrial robot according to an embodiment of the present invention, respectively, and FIG. 3 shows a conventional industrial robot having a holding link for keeping the posture of a hand holding part constant. FIG. 3 is a perspective view of the main parts of the link mechanism of the robot. 1...First arm, 2...Second arm, 3...
Third arm, 4, 41, 42...First parallelogram link member, 5,51,52...Second parallelogram link member, 6,61,62...Third parallelogram link Member, 7... fixed shaft, 8, 9... motor,
12, 13, 14... Pivot support shaft, 121... Fixed shaft center.

Claims

[Claims for Utility Model Registration] (1) A fixed shaft, a first arm pivotally supported by the fixed shaft, a second arm pivotally supported by the first arm, and a second arm pivotally supported by the first arm.
a third arm that is pivotally supported by the arm; and a third arm that is parallel to the first arm and that is pivotally supported by each of the supporting shafts of the fixed shaft and the first arm so as to keep the posture of the third arm constant with respect to the fixed shaft. a first parallelogram link member forming a quadrilateral link; and a third arm connected to the first parallelogram link member and pivotally supported by each of the pivot shafts of the first arm and the second arm; and a second parallelogram link member connected to the second arm to form a parallelogram link, the industrial robot being driven by a motor fixed to the fixed shaft to drive the third arm. a third parallelogram link that is pivotally supported by the fixed shaft and each of the supporting shafts of the first arm and pivotally supported by the intermediate portion of the second arm to form a parallelogram link with the first arm; a second motor that drives the motor and the first arm symmetrically with respect to the fixed shaft center, and a third parallelogram link member and a first parallelogram link member that drive the first arm. An industrial robot characterized by having each arm arranged symmetrically. (2) The industrial robot according to claim 1, wherein the third arm and the second parallelogram link member are connected via a shear pin element.