JPS6313681U

JPS6313681U -

Info

Publication number: JPS6313681U
Application number: JP10539186U
Authority: JP
Priority date: 1986-07-09
Filing date: 1986-07-09
Publication date: 1988-01-29

Description

[Brief explanation of the drawing]

第１図乃至第４図は本考案の第１実施例を示し
、第１図は垂直断面図、第２図は側面図、第３図
は部分上面図、第４図は旋回ビーム部分の一部破
断ないし省略した下面図である。第５図乃至第７
図は第２実施例を示し、第５図は垂直断面図、第
６図は側面図、第７図は部分上面図である。第８
図乃至第１０図は第３実施例を示し、第８図は垂
直断面図、第９図は側面図、第１０図は部分上面
図である。第１１図乃至第１３図は第４実施例を
示し、第１１図は垂直断面図、第１２図は側面図
、第１３は部分上面図である。第１４図乃至第１
６図は各種ロボツトの動作領域を示す説明図であ
る。２……フレーム、３……第１垂直軸、４……第
２垂直軸、５……第３垂直軸、６……旋回ビーム
、７……ガイドレール、８……送りねじ、９……
スプライン軸、１０……スライダ、１１……ハン
ド部、１４……中心軸、１８……原動ベベル歯車
、１９……従動ベベル歯車、２０……第１伝達軸
、２５……第１回転伝達手段、２６……第１太陽
ベベル歯車、２７……第１遊星ベベル歯車、２１
……第２伝達軸、３１……第２回転伝達手段、３
２……第２太陽ベベル歯車、３３……第２遊星ベ
ベル歯車、３４……第１電動機、３５……第２電
動機、３６……第３電動機。 1 to 4 show a first embodiment of the present invention, in which FIG. 1 is a vertical sectional view, FIG. 2 is a side view, FIG. 3 is a partial top view, and FIG. 4 is a part of a rotating beam. It is a bottom view with a part broken away or omitted. Figures 5 to 7
The figures show a second embodiment, with FIG. 5 being a vertical sectional view, FIG. 6 being a side view, and FIG. 7 being a partial top view. 8th
10 shows a third embodiment, FIG. 8 is a vertical sectional view, FIG. 9 is a side view, and FIG. 10 is a partial top view. 11 to 13 show a fourth embodiment, in which FIG. 11 is a vertical sectional view, FIG. 12 is a side view, and FIG. 13 is a partial top view. Figures 14 to 1
FIG. 6 is an explanatory diagram showing the operating areas of various robots. 2...Frame, 3...First vertical axis, 4...Second vertical axis, 5...Third vertical axis, 6...Swivel beam, 7...Guide rail, 8...Feed screw, 9...
Spline shaft, 10...Slider, 11...Hand portion, 14...Center shaft, 18...Drive bevel gear, 19...Driven bevel gear, 20...First transmission shaft, 25...First rotation transmission means , 26...first sun bevel gear, 27...first planetary bevel gear, 21
...Second transmission shaft, 31...Second rotation transmission means, 3
2... Second sun bevel gear, 33... Second planetary bevel gear, 34... First electric motor, 35... Second electric motor, 36... Third electric motor.

Claims

[Claims for Utility Model Registration] Three vertical shafts arranged concentrically from the outside as first, second, and third and supported by the frame; a swing beam supporting a guide rail, a feed screw, and a spline shaft in the direction; a slider supported by the guide rail and connected to the feed screw; and a rotatable beam rotatably supported by the slider by a vertical central axis; A hand part that is moved along a straight path passing through the center of rotation of the swing beam, and a driven bevel gear that is fitted onto the spline shaft and fixed to the center shaft of the hand part, and the hand part is moved along the spline shaft as the slider moves while maintaining engagement with a driven bevel gear that is fitted onto the spline shaft and fixed to the center shaft of the hand part. a sliding driving bevel gear and a first rotation transmission means connected to the feed screw at one end and a first rotation transmission means fixed to the lower end of the second vertical shaft at the other end;
a first transmission shaft having a first planetary bevel gear meshing with the sun bevel gear, a second rotational transmission means connected to the spline shaft at one end and a second sun fixed to the lower end of the third vertical shaft at the other end; a second transmission shaft having a second planetary bevel gear meshing with the bevel gear; and first, second and third electric motors individually coupled to the first, second and third vertical shafts to impart rotation thereto. industrial robots.