JPS5844197U

JPS5844197U - industrial robot

Info

Publication number: JPS5844197U
Application number: JP13669281U
Authority: JP
Inventors: 土谷　良明; 秀雄大野
Original assignee: 株式会社クボタ
Priority date: 1981-09-14
Filing date: 1981-09-14
Publication date: 1983-03-24

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) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Brief explanation of the drawing]

図面は本考案の一実施例を示し、第１図は全体側面図、
第２図は枢支部の断面図、第３図は手首駆動モータ配置
部の断面図である。１・・・旋回台、２・・・枢支部、３・・・揺動主腕、
４・・・揺動杆、５・・・副腕、６・・・可動腕、７・
・・手首、８．−９・・・駆動モータ、１０ａ、１０ｂ
・・・手首駆動モータ、１１・・・回転部材、１３・・
・Ｌ字状リンク、１３ａ、　　１３ｂ−・・腕杆、１４
．１５−４節平行リンク機構、１７・・・延出杆。The drawings show an embodiment of the present invention, and FIG. 1 is an overall side view;
FIG. 2 is a sectional view of the pivot portion, and FIG. 3 is a sectional view of the wrist drive motor arrangement portion. 1... Swivel base, 2... Pivotal part, 3... Swinging main arm,
4. Swinging rod, 5. Secondary arm, 6. Movable arm, 7.
...Wrist, 8. -9... Drive motor, 10a, 10b
... Wrist drive motor, 11... Rotating member, 13...
・L-shaped link, 13a, 13b--arm rod, 14
．． 15-4 section parallel link mechanism, 17...extending rod.

Claims

[Scope of utility model registration request]

A swinging main arm and a swinging rod are provided to be able to swing freely around a horizontal axis provided on a rotating base, and one end of a sub-arm extending parallel to the swinging main arm and having the same length is pivoted to the swinging base. A wrist is provided at the free end of a movable arm that is connected to the free end of the rod and whose base end is connected to the free end of the swinging main arm and the other end of the secondary arm, and A drive motor for the main arm and a drive motor for the swinging rod are disposed, a wrist drive motor is arranged between the subarms, and the stator side of the wrist drive motor is connected to the swinging rod and the subarm. The secondary arm and the movable arm are fixed to the swivel table via a pair of four-bar parallel link mechanisms, each of which has an L-shaped link arm rod that is rotatable about the connecting axis of the arm. An industrial robot characterized in that the wrist drive motor and the wrist are interlocked via a rotating member disposed at the axis of connection between the wrist drive motor and the wrist.