JPS60134591U - Drive device with reducer in the working arm joint of automatic machinery - Google Patents
Drive device with reducer in the working arm joint of automatic machineryInfo
- Publication number
- JPS60134591U JPS60134591U JP2031484U JP2031484U JPS60134591U JP S60134591 U JPS60134591 U JP S60134591U JP 2031484 U JP2031484 U JP 2031484U JP 2031484 U JP2031484 U JP 2031484U JP S60134591 U JPS60134591 U JP S60134591U
- Authority
- JP
- Japan
- Prior art keywords
- spline
- stator
- outer periphery
- bearing
- circular
- 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.)
- Pending
Links
Landscapes
- Retarders (AREA)
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
第１図はマニピュレータの外形側面図、第２図はこの種
従来装置の側断面図、第３図は本考案の一実施例におけ
る軸方向の半分を断面に表わした側面図、第４図は第３
図のｘ−ｘ’線に沿う正断面図、第５図は本考案になる
多関節マニピュレータの各関節を各配線が経過する状態
を示す説明図、第６図は本考案の他の実施例の軸方向半
分を表わす側断面図である。
１・・・・・・マニピュレータ、２・・・・・・ハンド
リング部、３，４，５・・・・・・アーム、６，７，８
・・・・・・関節部、９・・・・・・フランジ、１０・
・・・・・指示台、１１・・・・・・取付台、１２・・
・・・・関節部ａ１１３・・・・・・関節部ｂ１１４・
・・・・・減速機、１５・・・・・・伝達部、１６・・
・・・・軸受、１７・・・・・・回転軸、１８・・・・
・・回転子、１９・・・・・・固定子、２０・・・・・
・軸受、２１・・・・・・検出器、２２・・・・・・関
節部、２３・・・・・・駆動機構、２４・・・・・・駆
動モータ、３０・・・・・・ステータヨーク、３１・・
・・・・関節ａ１３２・・・・・・関節ｂ１３３・・・
・・・関節外装ａ１３４・・・・・・関節外装す、３５
，３６・・・・・・アクチュエータ取付ボルト、３７・
・・・・・軸受、３８．３９・・・・・・関節部取付ボ
ルト、４０・・・・・・フレクスプライン、４１，４２
・・・・・・軸受、４３・・・・・・ステータ、４４・
・・・・・サーキュラスプライン、４５・・・・・・ア
クチュエー゛夕外装取付ホルト、４６・・・・・田−タ
ヨーク、４７・・・・・田−タ、４８・・・・・・検出
器固定子、４９・・・・・・検出器回転子、５０・・・
・・・アクチュエータ外装、５１・・・・・・検出器回
転子取付カップで５２はその取付ボルト、−５−３・・
・・・・軸受、５４・・・・・・ウエイブジエネレニタ
、５５・・・・・・検出器給電線、５６・・・・・・ス
テータ給電線、５７・・・・・・検出器検出線、３００
・・・・・・一体形アクチュエータユニット、５０１〜
５０４・・・・・・関節駆動機構部一体形アクチュエー
タ、５０５・・・・・・中空部、５０６・・・・・・配
線群。Fig. 1 is an external side view of the manipulator, Fig. 2 is a side sectional view of a conventional device of this type, Fig. 3 is a side view showing an axial half of an embodiment of the present invention in cross section, and Fig. 4 is a side view of the manipulator. Third
5 is an explanatory diagram showing how each wiring passes through each joint of the multi-joint manipulator according to the present invention, and FIG. 6 is another embodiment of the present invention. It is a side sectional view showing the axial direction half. 1... Manipulator, 2... Handling section, 3, 4, 5... Arm, 6, 7, 8
...Joint part, 9...Flange, 10.
...Instruction stand, 11...Mounting stand, 12...
...Joint part a113...Joint part b114.
...Reducer, 15...Transmission section, 16...
... Bearing, 17 ... Rotating shaft, 18 ...
...Rotor, 19...Stator, 20...
・Bearing, 21...Detector, 22...Joint part, 23...Drive mechanism, 24...Drive motor, 30... Stator yoke, 31...
...Joint a132...Joint b133...
...Joint exterior a134...Joint exterior, 35
, 36...Actuator mounting bolt, 37.
...Bearing, 38.39...Joint mounting bolt, 40...Flex spline, 41,42
... Bearing, 43 ... Stator, 44.
...Circular spline, 45... Actuator exterior mounting hole, 46... Data yoke, 47... Data, 48... Detection Instrument stator, 49...Detector rotor, 50...
...Actuator exterior, 51...Detector rotor mounting cup, 52 is its mounting bolt, -5-3...
... Bearing, 54 ... Wave generator, 55 ... Detector power supply line, 56 ... Stator power supply line, 57 ... Detector Detection line, 300
...Integrated actuator unit, 501~
504...Joint drive mechanism integrated actuator, 505...Hollow portion, 506...Wiring group.
Claims (1)
の作動アームの関節部において、中実もしくは中空のス
テータヨークと、このステータヨークの外周にとりつけ
たステータと、 前記ステータヨークに軸受を介して回転自在にとりつけ
たカップ状のロータヨークと、このロータヨークの内周
面に前記ステータと径方向の空隙を介して対向してとり
つけたアウターロータと、 前記ロータヨークの外周にとりつけられた外周に楕円状
の軸受を有する楕円状のウェーブジェネレータと、 このウェーブジェネレータの軸受の外周に嵌合され外周
にｎ個のスプライン状の歯をリング状に有する可撓性の
円形のフレクスプラインと、楕円状にたわんだ前記フレ
クスプラインの外周に前記歯の長軸側の２箇個所とかみ
合わせて嵌合し、内周にｎより複数個多いスプライン状
の歯をリング状に有する円状のサーキュスプラインとを
そなえ、 前記フレクスプラインもしくはサーキュラスプラインの
いずれか一方を前記ステータヨークに軸受を介して回転
自在にとりつけ、かつ他方を前記ステータヨークに連結
し、さらに固定支持された前記サーキュラスプラインも
しくはフレクスプラ 。 インの一方に検出器固定子を連結支持し、かつ他方に前
記検出器固定子と空隙を介して対向する検出器回転子を
連結支持して構成し、固定側のスプ −。 ラインに一方のアームを連結接続し、かつ可動側のスプ
ラインを他方のアームに連結接続したこと −を
特徴とする自動機械の作動アーム関節部における減速機
付駆動装置。[Scope of Claim for Utility Model Registration] A solid or hollow stator yoke and a stator attached to the outer periphery of the stator yoke at the joint of an operating arm of an automatic machine constructed by rotatably connecting a plurality of arms. a cup-shaped rotor yoke rotatably attached to the stator yoke via a bearing; an outer rotor attached to the inner peripheral surface of the rotor yoke to face the stator with a radial gap therebetween; an elliptical wave generator with an elliptical bearing attached to the outer periphery; and a flexible circular wave generator fitted with the outer periphery of the bearing of the wave generator and having n spline-shaped teeth in a ring shape on the outer periphery. The flexspline is fitted into the outer periphery of the elliptically bent flexspline with two locations on the long axis side of the teeth, and the inner periphery has a plurality of spline-shaped teeth in a ring shape, the number being more than n. a circular circular spline, one of the flex spline and the circular spline is rotatably attached to the stator yoke via a bearing, the other is connected to the stator yoke, and the circular spline is fixedly supported. Spline or flex pla. A detector stator is connected and supported on one side of the inlet, and a detector rotor facing the detector stator with a gap is connected and supported on the other side. What is claimed is: 1. A drive device with a speed reducer for a working arm joint of an automatic machine, characterized in that one arm is connected to a line, and a spline on a movable side is connected to the other arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2031484U JPS60134591U (en) | 1984-02-15 | 1984-02-15 | Drive device with reducer in the working arm joint of automatic machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2031484U JPS60134591U (en) | 1984-02-15 | 1984-02-15 | Drive device with reducer in the working arm joint of automatic machinery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60134591U true JPS60134591U (en) | 1985-09-07 |
Family
ID=30510679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2031484U Pending JPS60134591U (en) | 1984-02-15 | 1984-02-15 | Drive device with reducer in the working arm joint of automatic machinery |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60134591U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004078423A1 (en) * | 2003-03-05 | 2004-09-16 | Mitsubishi Denki Kabushiki Kaisha | Swing device of industrial robot |
| JP2007118175A (en) * | 2005-09-27 | 2007-05-17 | Yaskawa Electric Corp | Conveyance system |
| JP2016029877A (en) * | 2014-07-24 | 2016-03-03 | 日本電産シンポ株式会社 | Motor-equipped reduction gear |
| EP3197026A4 (en) * | 2014-08-12 | 2018-04-04 | Harmonic Drive Systems Inc. | Rotary actuator |
-
1984
- 1984-02-15 JP JP2031484U patent/JPS60134591U/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004078423A1 (en) * | 2003-03-05 | 2004-09-16 | Mitsubishi Denki Kabushiki Kaisha | Swing device of industrial robot |
| JP2007118175A (en) * | 2005-09-27 | 2007-05-17 | Yaskawa Electric Corp | Conveyance system |
| JP2016029877A (en) * | 2014-07-24 | 2016-03-03 | 日本電産シンポ株式会社 | Motor-equipped reduction gear |
| EP3197026A4 (en) * | 2014-08-12 | 2018-04-04 | Harmonic Drive Systems Inc. | Rotary actuator |
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