JPS6150683U

JPS6150683U -

Info

Publication number: JPS6150683U
Application number: JP13081785U
Authority: JP
Priority date: 1985-08-29
Filing date: 1985-08-29
Publication date: 1986-04-05
Also published as: JPS6228390Y2

Description

[Brief explanation of the drawing]

第１図ａは本考案を塗装ロボツトに応用した一
実施例の概略形状を表す右側面図、第１図ｂはそ
の平面図、第１図ｃは第１図ａ同様の左側面図で
あり、第２図ａは第１図ｃ中の自動平衡装置の拡
大図、第２図ｂはその左側面図である。又、第３
図、第４図はそれぞれ第１図ａ中の−矢視図
、−矢視図であり、第５図は第１図ａ中の垂
直アーム及び水平アーム駆動装置の拡大図、第６
図は第１図ａ中の矢視部の正面断面図、第７図
は第１図ａ中の−矢視図である。図面中、１１は基台、１３は回転台、１９は垂
直アーム、２６は水平アーム、３３はＤ軸、４０
はＤ軸駆動シリンダ、４３はＥ軸、４４はケーシ
ング、４５はＦ軸、５５はケーシング駆動シリン
ダ、５６はＦ軸駆動シリンダである。 Fig. 1a is a right side view showing a schematic shape of an embodiment in which the present invention is applied to a painting robot, Fig. 1b is a plan view thereof, and Fig. 1c is a left side view similar to Fig. 1a. , FIG. 2a is an enlarged view of the self-balancing device in FIG. 1c, and FIG. 2b is a left side view thereof. Also, the third
Figure 4 is a view in the - arrow direction and - arrow direction in Figure 1a, respectively, and Figure 5 is an enlarged view of the vertical arm and horizontal arm drive device in Figure 1a, and Figure 6 is an enlarged view of the vertical arm and horizontal arm drive devices in Figure 1a.
The figure is a front cross-sectional view of a portion taken in the direction of the arrow in FIG. 1a, and FIG. 7 is a view taken in the direction of the - arrow in FIG. 1a. In the drawing, 11 is a base, 13 is a rotating table, 19 is a vertical arm, 26 is a horizontal arm, 33 is a D axis, 40
43 is an E-axis, 44 is a casing, 45 is an F-axis, 55 is a casing drive cylinder, and 56 is an F-axis drive cylinder.

Claims

[Scope of utility model registration request]

Attaching one end of a horizontal arm having a rotatable first rotation axis to the upper end of a vertical arm protruding from a base, and installing a drive device for the first rotation axis on the vertical arm; A casing having a second rotation axis that intersects at right angles to the first rotation axis is attached to the other end of the first rotation axis so as to be rotatable about the second rotation axis. , a driving bevel gear having a third rotation axis that intersects at right angles to the second rotation axis and to which a working tool is attached is rotatable about the third rotation axis; A transmission bevel gear that is attached to the casing and meshes with the drive bevel gear is rotatably fitted to the second rotating shaft, and the driving devices for the casing and the third rotating shaft are respectively attached to one end of the horizontal arm. A work robot characterized by being installed on the side.