JPS6458487A - Power transmission mechanism of robot arm - Google Patents

Abstract

PURPOSE: To reduce moment applied to the arm root by interposing a worm and a worm wheel among a second connecting shaft end part which is connected to a first connecting shaft fitted to an output shaft of a hydraulic motor in such a manner as to freely slide and be immobile in relative to each other, an upper arm and a pulley for a wrist. CONSTITUTION: At the time of driving a wrist 5, a hydraulic motor 14b on a base end arm member 3a is driven. Thus, a first connecting shaft 15b is rotated through a key fixed to an output shaft of the hydraulic motor 14b, subsequently a second connecting shaft 16b is slid to the expansion and contraction of a lower arm 3 and rotated in a body with each other by a square hole provided in the first connecting shaft 15b and a square section shaft of the second connecting shaft 16, and a worm 17b is driven in rotation through the key by rotation. The power transmitted to the worm 17b is transmitted to a worm wheel to drive the wrist 5 through a belt wrapped round a pulley integrated with the worm wheel. Similarly a hydraulic motor 14a is driven to turn an upper arm 4 through the worm 17a and the worm wheel.