JPS58154086U

JPS58154086U - Industrial articulated robot

Info

Publication number: JPS58154086U
Application number: JP5238182U
Authority: JP
Inventors: 修水口; 恭秀永浜
Original assignee: 株式会社神戸製鋼所
Priority date: 1982-04-09
Filing date: 1982-04-09
Publication date: 1983-10-14

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Brief explanation of drawings]

第１図は従来の５自由度多関節型工業用ロボットの概略
を示し同図ａは右側面図、同図すは左側面図である。第
２図は本考案の一実施例の概略を示し同図ａ（ｊ右側面
図、同図すは左側面図である。第３図は本考案の他の実施例の概略を示し同図ａは右側
面図、同図すは左側面図である。第４図は本考案の具体
例の斜視図である。１・・・・・・旋回台、２・・・・・・支柱、３・・・
・・・上腕、４・・・・・・前腕、５・・・・・・上腕
リンク、６・・・・・・手首部、７・・・・・・上部リ
ンク、８・・・・・・下部レバー−９・・・・・・リン
ク体、１２．１３・・・・・・第３の軟質リンク機構、
Ｍ３・・・・・・上腕用電動機、Ｍ４・・・・・・前腕
用電動機、Ｍ５Ａ、Ｍ５Ｂ、Ｍ５Ｃ・・・・・・手首部
駆動用の電動機。FIG. 1 schematically shows a conventional five-degree-of-freedom articulated industrial robot, and FIG. 1A is a right side view, and FIG. 1A is a left side view. Figure 2 shows an outline of one embodiment of the present invention, and Figure 3 is a right side view and Figure 3 is a left side view. Figure 3 shows an outline of another embodiment of the invention. A is a right side view, and the same figure is a left side view. Fig. 4 is a perspective view of a specific example of the present invention. 1... Swivel base, 2... Support column, 3...
...Bicep, 4...Forearm, 5...Bicep link, 6...Wrist, 7...Upper link, 8...・Lower lever-9...Link body, 12.13...Third soft link mechanism,
M3... Electric motor for the upper arm, M4... Electric motor for the forearm, M5A, M5B, M5C... Electric motor for driving the wrist.

Claims

[Scope of utility model registration request]

A swivel table that can be rotated around a vertical axis by an electric motor, a column vertically provided on the swivel table, an upper arm rotatably supported at the upper end of the column, and A first four-section parallel link mechanism that is one link element and is composed of a parallel link that is parallel to the support body, and an upper link and a lower link that connect the support body and the parallel link; an upper arm link rotatably supported and parallel to the upper arm; - a force end is rotatably supported on the upper end of the upper arm link and rotatably shafted with the upper end of the upper arm; an electric motor for the upper arm, which comprises a supported forearm and a wrist portion attached to the other end of the forearm, and is installed on the upper part of the support body to drive the upper arm; The forearm is moved by transmitting driving force through a first four-bar parallel link mechanism and a second four-bar parallel link mechanism that includes the upper link, the upper arm, the upper arm link, and a portion of the forearm. a forearm electric motor to drive, and a first and second motor for driving the wrist by transmitting a driving force through a soft link mechanism installed in a left and right pair above the parallel link and provided in the upper arm link and the forearm. a second electric motor;
A third electric motor is provided at a connecting portion between the strut body and the upper arm, and transmits a driving force through a soft link mechanism provided in the upper arm and the forearm to drive the wrist portion. An industrial articulated robot.