JPS6411776A - Multi-joint robot - Google Patents
Multi-joint robotInfo
- Publication number
- JPS6411776A JPS6411776A JP16540387A JP16540387A JPS6411776A JP S6411776 A JPS6411776 A JP S6411776A JP 16540387 A JP16540387 A JP 16540387A JP 16540387 A JP16540387 A JP 16540387A JP S6411776 A JPS6411776 A JP S6411776A
- Authority
- JP
- Japan
- Prior art keywords
- drive motor
- base
- spline
- maintenance
- circular spline
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
PURPOSE: To facilitate the maintenance and assembling adjustment of a drive motor by fixing a circular spline to a base, and fitting a cross roller bearing and the drive motor to the spline. CONSTITUTION: A drive motor 26 is rotated, this rotating force is transferred from a motor shaft 27 to the wave generator 23 of harmonic drive reduction gears to rotate a flex spline 24 after being reduced by a circular spline 22. A rotary base 21 fixed to the flex pline 24 is rotationally reduced to rotate the arm portion of an articulated robot fitted to the rotary base 21. The circular spline 22 is removed from a base 20 for the maintenance and assembling adjustment of the drive motor 26, and the drive motor 26 fitted to the circular spline 22 together with a cross roller bearing 25 is removed from the base 20 for its maintenance and repair.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62165403A JPH072318B2 (en) | 1987-07-03 | 1987-07-03 | Articulated robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62165403A JPH072318B2 (en) | 1987-07-03 | 1987-07-03 | Articulated robot |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6411776A true JPS6411776A (en) | 1989-01-17 |
JPH072318B2 JPH072318B2 (en) | 1995-01-18 |
Family
ID=15811747
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP62165403A Expired - Lifetime JPH072318B2 (en) | 1987-07-03 | 1987-07-03 | Articulated robot |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH072318B2 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103624797A (en) * | 2013-12-16 | 2014-03-12 | 哈尔滨工业大学 | Rotary-type rigidity- adjustable serial elastic robot joint |
CN105014688A (en) * | 2015-08-26 | 2015-11-04 | 北京航空航天大学 | Multifunctional integrated mechanical arm with variable redundant DOF (degree of freedom) arm length |
JP2017100232A (en) * | 2015-12-01 | 2017-06-08 | 株式会社安川電機 | Robot, robot system and maintenance method for robot |
CN108466287A (en) * | 2018-05-16 | 2018-08-31 | 埃夫特智能装备股份有限公司 | A kind of industrial robot joint direct-connection transmission structure |
JP2019217631A (en) * | 2019-08-30 | 2019-12-26 | 株式会社安川電機 | Robot, robot system and robot maintenance method |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60157196U (en) * | 1984-03-29 | 1985-10-19 | 株式会社三協精機製作所 | Articulated robot |
JPS60249581A (en) * | 1984-05-24 | 1985-12-10 | 日東精工株式会社 | Industrial robot |
JPS60255389A (en) * | 1984-05-30 | 1985-12-17 | 日東精工株式会社 | Industrial robot |
JPS6144591A (en) * | 1984-08-07 | 1986-03-04 | 株式会社不二越 | Robot |
JPS61177243U (en) * | 1985-04-24 | 1986-11-05 | ||
JPS6272088U (en) * | 1985-10-22 | 1987-05-08 |
-
1987
- 1987-07-03 JP JP62165403A patent/JPH072318B2/en not_active Expired - Lifetime
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60157196U (en) * | 1984-03-29 | 1985-10-19 | 株式会社三協精機製作所 | Articulated robot |
JPS60249581A (en) * | 1984-05-24 | 1985-12-10 | 日東精工株式会社 | Industrial robot |
JPS60255389A (en) * | 1984-05-30 | 1985-12-17 | 日東精工株式会社 | Industrial robot |
JPS6144591A (en) * | 1984-08-07 | 1986-03-04 | 株式会社不二越 | Robot |
JPS61177243U (en) * | 1985-04-24 | 1986-11-05 | ||
JPS6272088U (en) * | 1985-10-22 | 1987-05-08 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103624797A (en) * | 2013-12-16 | 2014-03-12 | 哈尔滨工业大学 | Rotary-type rigidity- adjustable serial elastic robot joint |
CN105014688A (en) * | 2015-08-26 | 2015-11-04 | 北京航空航天大学 | Multifunctional integrated mechanical arm with variable redundant DOF (degree of freedom) arm length |
JP2017100232A (en) * | 2015-12-01 | 2017-06-08 | 株式会社安川電機 | Robot, robot system and maintenance method for robot |
CN108466287A (en) * | 2018-05-16 | 2018-08-31 | 埃夫特智能装备股份有限公司 | A kind of industrial robot joint direct-connection transmission structure |
JP2019217631A (en) * | 2019-08-30 | 2019-12-26 | 株式会社安川電機 | Robot, robot system and robot maintenance method |
Also Published As
Publication number | Publication date |
---|---|
JPH072318B2 (en) | 1995-01-18 |
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