JPS6029485U

JPS6029485U - articulated robot

Info

Publication number: JPS6029485U
Application number: JP12262183U
Authority: JP
Inventors: 津田　五郎; 村上　集; 那須　昭司; 正直村田; 宇田川　茂
Original assignee: 株式会社神戸製鋼所; 神鋼電機株式会社
Priority date: 1983-08-05
Filing date: 1983-08-05
Publication date: 1985-02-27

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図は本考案の一実施例にかかる多関節形ロボットの
一部断面を含む側面図、第２図は同条関節形ロボットの
手首部分の機構を示す第１図におけるＡ−Ａ矢視断面図
、第３図は第１図におけるＢ−Ｂ矢視断面図、第４図は
第３図に示した伝導モータを含むクラッチ部分の側断面
図、第５図はティーチングハンドルや操縦桿の手首部分
における実際の取付状態を示す側面図、第６図は上記多
関節形ロボットの制御回路図である。（符号の説明）、２・・・・・・旋回台、３・・・・・
、・垂直アーム、９・・・・・・水平アーム、Ｍ□、１
３・・・・・・モータ、３９・・・・・・クラッチ、１
２・・・・・・手首部。１１　　　９　　　　１５（１５’）　　　８　１４ａ
（１４ａ’）！FIG. 1 is a side view including a partial cross section of an articulated robot according to an embodiment of the present invention, and FIG. 2 is a view taken along arrow A-A in FIG. 1 showing the mechanism of the wrist portion of the articulated robot. 3 is a sectional view taken along the line B-B in FIG. 1, FIG. 4 is a side sectional view of the clutch portion including the transmission motor shown in FIG. 3, and FIG. 5 is a sectional view of the teaching handle and control stick. FIG. 6 is a side view showing the actual attachment state at the wrist portion, and is a control circuit diagram of the articulated robot. (Explanation of symbols), 2... Swivel base, 3...
,・Vertical arm, 9...Horizontal arm, M□, 1
3...Motor, 39...Clutch, 1
2...Wrist part. 11 9 15 (15') 8 14a
(14a')!

Claims

[Scope of claim for utility model registration] A wrist part with multiple degrees of freedom is attached to the tip of the arm,
An articulated robot in which an arm drive source and a wrist drive source are provided at the base of the arm, and the wrist drive source and the wrist are connected by a rotation transmission mechanism disposed along the arm. By interposing a clutch mechanism that is released during teaching work between the arm and the drive source for the arm, direct teaching of the arm is made possible, and the wrist part is directly connected to the drive source to the rotation transmission mechanism. An articulated robot characterized by being capable of performing teaching work while actually driving the wrist part using the wrist drive source during teaching.