JPS6084282U

JPS6084282U - industrial robot

Info

Publication number: JPS6084282U
Application number: JP17730583U
Authority: JP
Inventors: 恭秀永浜
Original assignee: 株式会社神戸製鋼所
Priority date: 1983-11-15
Filing date: 1983-11-15
Publication date: 1985-06-11

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図は従来の溶接用ロボットの一例を示す斜視図、第
２図、第３図及び第４図は本考案の一実施例に係る溶接
用ロボットの斜視図、側面図及び平面図、第５図は第２
のアームの駆動機構の一例を示す縦断面図、第６図は本
考案の第２の実施例に係る溶接用ロボットの側面図、第
７図は第２図に示した実施例の変形例の側面図、第８図
及び第９図は夫々本考案に係る工業用ロボットの装着例
を示す斜視図である。（符号の説明）、１・・・基台、４ａ・・・腕先部、５
・・・手首機構、６・・・第１のアーム、６ａ・・・第
１のアームの先端部、７・・・第２のアーム（回転軸）
、７ａ・・・吊設部材、８・・・トーチ、９・・・壁面
、１０・・・平　　　゛行すンク機構、１１．１５・・
・走行レール、１２゜１２′・・・移動台車、１３．１
３’・・・来者案ρ一実施例である工業用ロボット、１
４・・・第３のアーム（揺動アーム）、１７ａ・・・門
型台車、２０・・・モータ出力軸、２１・・・タコジェ
ネレータ、２２・・・パルスエンコーダ、２４・・・ブ
レーキ、２５・・・同芯型の減速機、２６．２７・・・
ベアリング、Ｍ３９　Ｍ４−　Ｍ５９鳩、　Ｍ７・・・
モータ、ａ、　ｂ、　ｃ・・・回転線、ｄ・・・回転軸
すと回転軸Ｃの交点、ｅ・・・第３のアームの先端、Ｅ
・・・ｅ点の移動可能範囲（ロボットの動作範囲を示す
面域）、ｂ′〜ｂ″・・・ｄ点の移動範囲（第１のアー
ムの旋回範囲）、Ｓ３・・・第３のアームの揺動方向、
Ｓ４・・・第３のアームの腕先の回転方向、％□、Ｓ５
２・・・手首機構の揺動方向１．Ｓ６・・・第１のアー
ムの旅回方向、Ｓ７，８７′・・・第２のアームの回転
方向。￥４２Ｍ５ −　　■ぜ竺≦夕ａ１２１ｉ１モ・Ｆ＼い −７，ン ”−ｙ第６図１、／　　ｌ）ノFIG. 1 is a perspective view showing an example of a conventional welding robot, and FIGS. 2, 3, and 4 are perspective views, side views, and plan views of a welding robot according to an embodiment of the present invention. Figure 5 is the second
FIG. 6 is a side view of a welding robot according to a second embodiment of the present invention, and FIG. 7 is a modification of the embodiment shown in FIG. 2. The side view, FIG. 8, and FIG. 9 are perspective views showing an example of how the industrial robot according to the present invention is installed. (Explanation of symbols), 1... Base, 4a... Arm tip, 5
... wrist mechanism, 6 ... first arm, 6a ... tip of first arm, 7 ... second arm (rotation shaft)
, 7a... Hanging member, 8... Torch, 9... Wall surface, 10... Parallel mechanism, 11.15...
・Traveling rail, 12゜12'...Moving trolley, 13.1
3'...Industrial robot which is an example of the visitor's plan ρ, 1
4...Third arm (swinging arm), 17a...Gallet type truck, 20...Motor output shaft, 21...Tachogenerator, 22...Pulse encoder, 24...Brake, 25...Concentric reducer, 26.27...
Bearing, M39 M4- M59 pigeon, M7...
Motor, a, b, c...rotation line, d...intersection of rotation axis and rotation axis C, e...tip of third arm, E
... movable range of point e (area indicating the robot's motion range), b' to b''... movable range of point d (rotation range of the first arm), S3... third arm swing direction,
S4... Rotation direction of the arm tip of the third arm, %□, S5
2... Swinging direction of wrist mechanism 1. S6... travel direction of the first arm, S7,87'... rotation direction of the second arm. ¥42M5 - ■zejiku≦evening a 1 2 1i1 Mo・F \i-7,n”-y Fig. 6 1 , / l) ノ

Claims

[Scope of utility model registration request]

a base fixed to a vertical wall or ceiling; a first arm pivoted on the base and pivoting in the horizontal direction; and a first arm supported vertically on the tip of the first arm and forming a rotating shaft. An industrial device comprising a second arm, a third arm that is pivoted at the tip of the second arm and swings in the vertical direction, and a wrist mechanism attached to the tip of the third arm. robot.