JPS6253984U

JPS6253984U -

Info

Publication number: JPS6253984U
Application number: JP14270885U
Authority: JP
Priority date: 1985-09-20
Filing date: 1985-09-20
Publication date: 1987-04-03

Description

[Brief explanation of the drawing]

第１図Ａはこの考案の手首構造を有する垂直多
関節ロボツトの側面図、第１図Ｂはその部分平面
図、第２図Ａはこの考案の一実施例の側断面図、
第２図Ｂはその平断面図、第３図Ａ，Ｂはそれぞ
れ第２図Ａ，Ｂの模式図、第４図Ａ，Ｂは動作説
明図、第５図は従来の遠隔ドライブ方式の垂直多
関節形アーク溶接ロボツトの斜視図である。図において、１１は前腕、１２は曲げ軸駆動用
サーボモータ、１３は曲げ軸の減速機、１４は曲
げ軸の出力軸Ａ、１５，１６，１９，２０，２４
は軸受、１７は曲げ軸の出力軸Ｂ、１８は曲げ軸
伝達部品、２１はひねり軸の駆動用サーボモータ
、２２はひねり軸の減速機、２３はひねり軸の出
力軸である。なお、各図中同一符号は同一または
相当部分を示す。 FIG. 1A is a side view of a vertically articulated robot having a wrist structure of this invention, FIG. 1B is a partial plan view thereof, and FIG. 2A is a side sectional view of an embodiment of this invention.
Fig. 2B is a plan cross-sectional view, Fig. 3A and B are schematic diagrams of Figs. FIG. 2 is a perspective view of an articulated arc welding robot. In the figure, 11 is a forearm, 12 is a servo motor for driving the bending shaft, 13 is a reducer for the bending shaft, 14 is an output shaft A of the bending shaft, 15, 16, 19, 20, 24
1 is a bearing, 17 is an output shaft B of the bending shaft, 18 is a bending shaft transmission component, 21 is a servo motor for driving the twist shaft, 22 is a speed reducer for the twist shaft, and 23 is an output shaft of the twist shaft. Note that the same reference numerals in each figure indicate the same or corresponding parts.

Claims

[Claims for Utility Model Registration] A uniform hollow in the center, a hollow part in the right end part to support the wrist part, and a hollow part in the left end part to support the driving part of the wrist bending shaft. a forearm 11 having a forearm 11; a bending shaft drive servo motor 12, a bending shaft reduction gear 13, a bending shaft output shaft A14, and the forearm 11, which are attached to the hollow part of the left tip of the forearm 11; Bearings 15 and 16 rotatably support the output shaft A14 of the bending shaft; Bending rotation is freely supported in the hollow part of the right tip of the forearm 11; an output shaft B17 of the bending shaft provided with a case portion 17b having a hollow portion that supports a driving portion of the shaft; and a bending shaft transmission component 18 that transmits the rotation of the output shaft A14 of the bending shaft to the output shaft B22 of the bending shaft. ; Bearings 19, 20 for squeezing the output shaft B17 of the bending shaft in the hollow part of the right end of the forearm 11; and a servo motor for driving the twisting shaft attached to the output side of the output shaft B17 of the bending shaft. 21, the twist shaft reducer 22 and the twist shaft output shaft 23; a mounting portion for connecting a peripheral device of the robot attached to the end of the twist shaft output shaft 23; the bend shaft output shaft B17; A wrist structure for a vertical multi-joint robot consisting of: a bearing 24 rotatably supporting an output shaft 23 of a twist shaft with respect to a case portion 17b at an output end of the shaft;