JPS6092U

JPS6092U - Multi-joint arm drive device

Info

Publication number: JPS6092U
Application number: JP9022683U
Authority: JP
Inventors: 兼光文東
Original assignee: Individual
Current assignee: Individual
Priority date: 1983-06-13
Filing date: 1983-06-13
Publication date: 1985-01-05

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Brief explanation of drawings]

第１図は本考案の多関節アームの駆動装置の一実施例を
示す側面図、第２図は同部分断面底面図、第３図は同拡
大断面図、第４図は駆動力伝達系のみを示す斜視図、第
５図は第１アームを示す断面図、第６図乃至第８図はそ
れぞれ第５図中のＡ−Ａ、Ｂ−Ｂ、Ｃ−Ｃ線断面拡大図
、第９図は第１アームの作用図である。１・・・第１アーム、２・・・第２アーム、３・・・第
１関節軸、４・・・第２関節軸、１７・・・ラック、２
０・・・第１ピニオン、２１・・・ウオームギア、２２
・・・ウオーム、３０・・・第１ベベルギア、３２・・
・第２ピニオン、４３・・・連結軸、４６・・・第２ベ
ベルギア、４７・・・第３ベベルギア、５２・・・第３
関節軸、５３・・・第４ベベルギア、５６・・・アタッ
チメントホルダ。Fig. 1 is a side view showing one embodiment of the multi-joint arm drive device of the present invention, Fig. 2 is a partial sectional bottom view of the same, Fig. 3 is an enlarged sectional view of the same, and Fig. 4 is only a driving force transmission system. FIG. 5 is a cross-sectional view showing the first arm, FIGS. 6 to 8 are enlarged cross-sectional views taken along lines AA, B-B, and C-C in FIG. 5, and FIG. 9 is a perspective view showing the first arm. is an action diagram of the first arm. DESCRIPTION OF SYMBOLS 1... First arm, 2... Second arm, 3... First joint axis, 4... Second joint axis, 17... Rack, 2
0... 1st pinion, 21... Worm gear, 22
...Worm, 30...First bevel gear, 32...
・Second pinion, 43...Connection shaft, 46...Second bevel gear, 47...Third bevel gear, 52...Third
Joint axis, 53... Fourth bevel gear, 56... Attachment holder.

Claims

[Claims for Utility Model Registration] A fixed first joint shaft; a first pinion fixed to the first joint shaft; a first arm rotatably supported at one end by the first joint shaft; a drive wheel that rotates about the same axis as the first joint shaft and is fixed to the base end of the first arm; a second joint shaft that is rotatably supported on the other end of the first arm; a drive source that selectively rotates the drive wheel in forward and reverse directions; a second pinion fixed to the second joint shaft;
a rack that is slidably supported by the arm and connects the first pinion and the second pinion; a first gear for changing the transmission direction; a second arm having one end fixed to the second joint shaft; and a transmission direction gear that is rotatably supported by one end of the second arm and meshes with the first gear. a second gear for conversion; a third gear for changing the transmission direction rotatably supported by the other end of the second arm; a connecting shaft that integrally connects the second gear and the third gear; a third joint shaft rotatably supported on the other end of the second arm; a fourth gear for changing the transmission direction that is fixed to the third joint shaft and meshes with the third gear; A driving device for a multi-joint arm, comprising an attachment holder fixed to a joint shaft.