JPS5932384U

JPS5932384U - articulated robot

Info

Publication number: JPS5932384U
Application number: JP12808182U
Authority: JP
Inventors: 辰巳　恭夫
Original assignee: 株式会社ダイフク
Priority date: 1982-08-24
Filing date: 1982-08-24
Publication date: 1984-02-28

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]

第１図は全体の斜視図、第２図は旋回基台周りの縦断正
面図、第３図はスプリングバランサー周りの縦断側面図
、第４図は関節アーム手段の側面図、第５図は同一部横
断平面図である。１・・・・・・据え付は基台、２−・・・・・旋回基台
、３・・・・・・旋回中心となる垂直軸心、４・・・・
・・関節アーム手段、５、　７．　９・・・・・・回動
中心となる水平軸心、６・・・・・・第一アーム、８・
・・・・・第二アーム、１０・・・・・・手首アーム、
１２・・・・・・手首本体、１４・・・・・・旋回基台
駆動用モーター、１５，２８．４０・・・・・・歯車減
速機（ハーモニック減速機等）、２０・・・・・・第一
アーム駆動用モーター、２３．　５９．　６３・・間両
付きベルト、２４．６０・・・・・・歯車減速装置、２
４ａ。６０ａ・・・・・・中央入力軸、２４ｂ、６０ｂ・・・
・・・外側固定リング、２４Ｃ，６０Ｃ・・・・・リン
グ状出力回転体、２５．４３・・・・・・左右一対の軸
受部、２６・・・・・・手首アーム駆動用モーター、２
９．　４１．　４７．　５０゜５６・・・・・・回転軸
、３０．　３５．　４２．　４８・・曲無端チェン、３
１・・・・・・中実軸受部、３４・・・・・−第ニア−
ムに固定の筒軸、３８・・・・・・手首アームに固定の
筒軸、５２・・・・・・手首本体駆動軸、５５・・間第
ニア、−ム駆動用モーター、６４・・・・・・スプリン
グバランサー、６６・・・・・・主コイルスプリング、
６７・・・・・・ピストン、６９・・・・・・副コイル
スプリング、７０・・・・・・回転リング、７１・・・
・・・チェンガイド、７２・・曲チェン、７３・・・・
・・長孔、７４・・・・・・第一アームに固定のピン第１図第３図　　′Figure 1 is a perspective view of the entire structure, Figure 2 is a longitudinal sectional front view around the pivot base, Figure 3 is a vertical sectional side view around the spring balancer, Figure 4 is a side view of the articulated arm means, and Figure 5 is the same. FIG. 1... Installation is on the base, 2... Swivel base, 3... Vertical axis that is the center of rotation, 4...
...Articulating arm means, 5, 7. 9...Horizontal axis that is the center of rotation, 6...First arm, 8...
...Second arm, 10...Wrist arm,
12...Wrist body, 14...Swivel base drive motor, 15, 28.40...Gear reducer (harmonic reducer, etc.), 20... ...First arm drive motor, 23. 59. 63...Belt with gap, 24.60...Gear reduction device, 2
4a. 60a... Central input shaft, 24b, 60b...
...Outer fixing ring, 24C, 60C...Ring-shaped output rotating body, 25.43...Pair of left and right bearings, 26...Wrist arm drive motor, 2
9. 41. 47. 50°56...rotation axis, 30. 35. 42. 48... Song Mudan Chen, 3
1...Solid bearing part, 34...-Nearth-
Cylindrical shaft fixed to the arm, 38... Cylindrical shaft fixed to the wrist arm, 52... Wrist body drive shaft, 55... Motor for driving the arm, 64... ... Spring balancer, 66 ... Main coil spring,
67...Piston, 69...Sub-coil spring, 70...Rotating ring, 71...
... Chain guide, 72... Curved chain, 73...
...Long hole, 74...Pin fixed to the first arm Fig. 1 Fig. 3'

Claims

[Scope of utility model registration request]

A rotating base that rotates around a vertical axis 6, and a first arm, a second arm, and a wrist provided on the rotating base and connected to each other so as to be bendable and rotatable about horizontal axes that are parallel to each other. An articulated robot comprising an articulated arm means consisting of an arm, wherein a motor for rotating the first arm with respect to the rotating base is installed at or near the center of rotation within the rotating base. An articulated robot featuring: