JPS6292179U

JPS6292179U -

Info

Publication number: JPS6292179U
Application number: JP17406286U
Authority: JP
Priority date: 1986-11-14
Filing date: 1986-11-14
Publication date: 1987-06-12

Description

[Brief explanation of the drawing]

第１図は本考案に係る関節ユニツトの斜視図、
第２図は本考案に係る関節ユニツトの別の例の斜
視図である。第３図は本考案に係る関節ユニツト
の分解斜視図、第４図は本考案の別の実施例の側
面図、第５図は第４図の―断面図、第６図は
第４図の関節ユニツトを用いたロボツトアームの
斜視図である。第７図は本考案に係る関節ユニツ
トの別の例の斜視図、第８図は本考案に係る関節
ユニツトのさらに別の例の斜視図、第９図は第８
図の関節ユニツトの分解図、第１０図は本考案に
係る関節ユニツトのさらに別の例の斜視図、第１
１図は第１０図の関節ユニツトの分解図、第１２
図は本考案に係る関節ユニツトを用いたロボツト
アームの一例の斜視図、第１３図は本考案に係る
関節ユニツトを用いたロボツトアームの別の例の
斜視図、第１４図および第１５図は第１３図のロ
ボツトアームのハンド部の機構を説明するための
構成説明図、第１６図、第１７図および第１８図
は各々、本考案に係る関節ユニツトを用いたロボ
ツトアームのさらに別の例を示す斜視図である。１……関節ユニツト、２……本体、３……接続
部材、５……接合面、９，１１……コネクタ、１
２……シヨートプラグ、１５，１０２，２１３，
２３０……モータ、１４，１０３，２０８，２１
４……ネジ棒。 FIG. 1 is a perspective view of the joint unit according to the present invention;
FIG. 2 is a perspective view of another example of the joint unit according to the present invention. Fig. 3 is an exploded perspective view of the joint unit according to the present invention, Fig. 4 is a side view of another embodiment of the invention, Fig. 5 is a sectional view of Fig. 4, and Fig. 6 is a cross-sectional view of Fig. 4. FIG. 2 is a perspective view of a robot arm using a joint unit. 7 is a perspective view of another example of the joint unit according to the present invention, FIG. 8 is a perspective view of still another example of the joint unit according to the present invention, and FIG. 9 is a perspective view of still another example of the joint unit according to the present invention.
FIG. 10 is a perspective view of still another example of the joint unit according to the present invention;
Figure 1 is an exploded view of the joint unit in Figure 10, and Figure 12 is an exploded view of the joint unit in Figure 10.
The figure is a perspective view of an example of a robot arm using the joint unit according to the present invention, FIG. 13 is a perspective view of another example of a robot arm using the joint unit according to the present invention, and FIGS. 14 and 15 are The configuration explanatory diagram for explaining the mechanism of the hand portion of the robot arm in FIG. 13, and FIGS. 16, 17, and 18 are still other examples of the robot arm using the joint unit according to the present invention. FIG. DESCRIPTION OF SYMBOLS 1... Joint unit, 2... Main body, 3... Connection member, 5... Joint surface, 9, 11... Connector, 1
2...Shot plug, 15, 102, 213,
230...Motor, 14, 103, 208, 21
4...Threaded rod.

Claims

[Claims for Utility Model Registration] 1. A multi-jointed robot having a plurality of joint mechanisms, each of which is provided with a drive section for independently operating, and a connecting section at both ends. a plurality of joint mechanisms are connected by the two connecting parts, and the driving part includes a motor, a threaded rod rotated by the motor, and a movable body that is threaded onto the threaded rod and reciprocates along the threaded rod; The movable body is connected via belt means to a rotating body for rotating the connecting part, and the connecting means between the joint mechanisms includes a mechanical connecting means and an electrical connecting means, and both connecting means are connected during the connecting operation. An articulated robot characterized in that the robot is arranged so that the direction in which force is applied is parallel to the connection surface. 2 Claim No. 1 for Utility Model Registration characterized in that the belt is provided with a force sensor or a position sensor
The articulated robot described in Section 1.