JPS6017981U

JPS6017981U - industrial robot

Info

Publication number: JPS6017981U
Application number: JP10979383U
Authority: JP
Inventors: 實田中; 雅之山本; 坂本　研一郎
Original assignee: 三菱電機株式会社
Priority date: 1983-07-14
Filing date: 1983-07-14
Publication date: 1985-02-06

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図は従来の手首駆動装置を示す部分断面平面図、第
２図は第１図をＡ久方向の部分断面側面図、第３図は全
体側面図、第４図はこの考案の一実施例による部分断面
平面図である。図において１・・・・・・第１のサーボモードル、２・
・・・・・第２のサーボモードル、３・・・・・・第３
のサーボモードル、６ａ・・・・・・軸、２６，２７．
２８・・・・・・ドライブシャフト、３３・・・・・・
第２」リンク、３５・・・・・・第１の箱体、３６・・
・・・・第２の箱体、３７・・・・・・出力軸、５０・
・・・・・減速機、５１・・・・・・弾性継手、５２・
・・・・・位　　−置検出器である。なお図中同一符号
は同−又は相当部分を示す。　・Fig. 1 is a partial cross-sectional plan view showing a conventional wrist drive device, Fig. 2 is a partial cross-sectional side view of Fig. 1 in the direction A, Fig. 3 is an overall side view, and Fig. 4 is an implementation of this invention. FIG. 3 is a partially cross-sectional plan view according to an example; In the figure, 1...first servo mode, 2...
...Second servo mode, 3...Third
servo mode, 6a...axis, 26, 27.
28... Drive shaft, 33...
2nd link, 35... 1st box, 36...
...Second box body, 37...Output shaft, 50.
...Reducer, 51...Elastic joint, 52.
...It is a position detector. Note that the same reference numerals in the figures indicate the same or equivalent parts.・

Claims

[Scope of utility model registration request]

a plurality of models disposed at one end of the cylindrical link; a transmission element disposed on the link so as to be able to individually transmit the rotation of the plurality of models; a transmission element disposed at the other end of the link; In an industrial robot equipped with a device that is connected to a transmission element and performs a plurality of independent rotational movements corresponding to each of the modes, the rotation is located at one end of the link and rotates parallel to the output axis of the mode. a shaft, a deceleration means connected to this rotational shaft and having an output shaft that rotates in correspondence with the rotational speed of any one of the devices for performing rotational motion, and a rotational position of the output shaft connected to the output shaft of this deceleration means. The mode, the rotary shaft, the deceleration means, and the rotary position detector are connected as a unit to one end of the link so as to be removably attached to one end of the link. An industrial robot characterized by: