JPS60157196U

JPS60157196U - Articulated robot

Info

Publication number: JPS60157196U
Application number: JP4567484U
Authority: JP
Inventors: 員仁安川
Original assignee: 株式会社三協精機製作所
Priority date: 1984-03-29
Filing date: 1984-03-29
Publication date: 1985-10-19

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 drawings]

第１図は本考案の多関節型ロボットの一部破断側面図、
第２図は駆動部分の要部の断面図、第３図は本考案の他
の実施例での多関節型ロボットの一部の断面図、第４図
は駆動部分の他の実施例の断面図である。 ”１ａｔｅ多関節型ロボット、２・・・機台、３・・・
旋回フレーム、４・・・第１のアーム、５・・・第２の
アーム、′６・・・ヘッド、７，１７，２７，３７，４
７・・・取付は部、８．　１Ｂ、　２８．３８．４８・
・・貫通孔、９．１９，２９，３９，４９・・・ハウジ
ング、１０．２０．３０．４Ｇ、５０・・・取付っは蔀
、１１．２１，３１，４１．５１・・・減速機、１２．
２′２．３２，４２．ｊ２・・・駆動モータ、１３，２
　　′３．３３，４３，５３・・・出力軸、１４，２４
，３４、４４．５４・・・軸受、１５，２５，３５，４
゛５．５５・・・固着部、１６．２６．３６．４６．５
６・・・被固着部、５７・・・チャック、５８・・・モ
ータ軸、５９−・・ウェブジェネレータ、６０・・・ベ
アリン　　−グ、６１・・・フレクスプライン、６２．
６３・・・サーキュラスプライン、６４・・・取付板、
６５・・・軸受、６６・・・回転屋、６７・・・位置セ
ンサー、６８・・・リード線、６９・・・ハウジング、
７０・・・減速機、７１・・・駆動モータ、７２・・・
出力軸。Figure 1 is a partially cutaway side view of the articulated robot of the present invention.
Fig. 2 is a sectional view of the main part of the driving part, Fig. 3 is a sectional view of a part of an articulated robot according to another embodiment of the present invention, and Fig. 4 is a sectional view of another embodiment of the driving part. It is a diagram. ``1ate articulated robot, 2... machine base, 3...
Rotating frame, 4... First arm, 5... Second arm,'6... Head, 7, 17, 27, 37, 4
7...Installation is part,8. 1B, 28.38.48・
...Through hole, 9.19,29,39,49...Housing, 10.20.30.4G, 50...Mounting door, 11.21,31,41.51...Reducer , 12.
2'2.32,42. j2... Drive motor, 13,2
'3.33,43,53...Output shaft, 14,24
, 34, 44.54... Bearing, 15, 25, 35, 4
゛5.55...Fixed part, 16.26.36.46.5
6... Fixed part, 57... Chuck, 58... Motor shaft, 59... Web generator, 60... Bearing, 61... Flex spline, 62.
63...Circular spline, 64...Mounting plate,
65...Bearing, 66...Rotator, 67...Position sensor, 68...Lead wire, 69...Housing,
70...Reducer, 71...Drive motor, 72...
output shaft.

Claims

[Scope of utility model registration request]

In an articulated robot that is equipped with a motor at a joint position and whose arm is rotated by the output of this motor, a drive motor, a harmonic drive type reducer, a position sensor, a mounting collar part on the drive side that is integrated with the housing, The fixing part to the driven side arm that is integrated with the output shaft of the reducer is integrated into a unit, and the housing is cylindrical and surrounds the reducer, position sensor, and output shaft, and the arm has a through hole into which the housing fits and the above-mentioned housing. An articulated robot characterized in that a unit for fixing a collar part is attached, and a fixed part is fixed to the fixed part.