JPH0164390U - - Google Patents
Info
- Publication number
- JPH0164390U JPH0164390U JP1987159571U JP15957187U JPH0164390U JP H0164390 U JPH0164390 U JP H0164390U JP 1987159571 U JP1987159571 U JP 1987159571U JP 15957187 U JP15957187 U JP 15957187U JP H0164390 U JPH0164390 U JP H0164390U
- Authority
- JP
- Japan
- Prior art keywords
- gear
- speed
- increasing
- small
- arm
- 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.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 1
Description
第１図は本考案の実施例のロボツトの駆動機構
における伝達装置の平面図、第２図は従来のロボ
ツトの駆動機構を示す構成図、第３図は第２図の
側面図、及び第４図は第１図の縦断面図である。
３１……第２アーム、３２ａ……増速用大歯車
、３２ｂ……増速用小歯車、３４，４１，４５―
２……レバー、３５，４２，４５―１……ピン、
３７，４３……スプロケツト、３８ａ……減速用
大歯車、３８ｂ……減速用小歯車、４４……チエ
イン、４５……荷重装置、４５―４……テンシヨ
ンスプロケツト、４５―６……ばね。
FIG. 1 is a plan view of a transmission device in a robot drive mechanism according to an embodiment of the present invention, FIG. 2 is a configuration diagram showing a conventional robot drive mechanism, FIG. 3 is a side view of FIG. 2, and FIG. The figure is a longitudinal sectional view of FIG. 1. 31...Second arm, 32a...Big gear for speed increase, 32b...Small gear for speed increase, 34, 41, 45-
2... Lever, 35, 42, 45-1... Pin,
37, 43...Sprocket, 38a...Large gear for reduction, 38b...Small gear for reduction, 44...Chain, 45...Load device, 45-4...Tension sprocket, 45-6...Spring .
Claims (1)
との間に設けられたアームと、前記アームの前記
ハンド駆動装置側の端部付近に互いに咬合して設
けられ前記ハンド駆動装置の回転力を増速して伝
達する増速用大歯車及び増速用小歯車と、前記ア
ームの前記ハンド部側の端部付近に互いに咬合し
て設けられ前記増速された回転力を減速して前記
ハンド部に伝達する減速用大歯車及び減速用小歯
車と、前記増速用小歯車及び前記減速用小歯車の
支軸にそれぞれ固定され巻掛伝動体により互いに
連結された伝動車とを備えたロボツトの駆動機構
において、 前記増速用小歯車を前記増速用大歯車の前記ア
ーム端部側に移動可能に設け、前記減速用小歯車
を前記減速用大歯車の前記アーム端部側に移動可
能に設けると共に、 前記巻掛伝動体に張力を加えるための荷重装置
を前記アームに設けたことを特徴とするロボツト
の駆動機構。[Claims for Utility Model Registration] An arm provided between a hand portion and a hand drive device that rotationally controls the hand portion; A large speed-increasing gear and a small speed-increasing gear that speed up and transmit the rotational force of the hand drive device, and a speed-increasing small gear provided in the vicinity of an end of the arm on the side of the hand section so as to interlock with each other to increase the speed of the rotation. A large deceleration gear and a small deceleration gear that decelerate and transmit force to the hand portion, and a small speed-increasing gear and a small deceleration gear each fixed to a support shaft and connected to each other by a wrapped transmission body. In a robot drive mechanism comprising a transmission wheel, the speed-increasing small gear is movably provided on the arm end side of the speed-increasing large gear, and the decelerating small gear is movably provided on the arm end side of the speed-increasing large gear. What is claimed is: 1. A robot drive mechanism, characterized in that the arm is provided with a load device movably provided at an end of the arm and for applying tension to the wrapped transmission body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1987159571U JPH0164390U (en) | 1987-10-19 | 1987-10-19 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1987159571U JPH0164390U (en) | 1987-10-19 | 1987-10-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0164390U true JPH0164390U (en) | 1989-04-25 |
Family
ID=31440901
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1987159571U Pending JPH0164390U (en) | 1987-10-19 | 1987-10-19 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0164390U (en) |
-
1987
- 1987-10-19 JP JP1987159571U patent/JPH0164390U/ja active Pending