JPS6235793U

JPS6235793U -

Info

Publication number: JPS6235793U
Application number: JP12569685U
Authority: JP
Priority date: 1985-08-19
Filing date: 1985-08-19
Publication date: 1987-03-03

Description

[Brief explanation of the drawing]

第１図〜第６図は何れもこの考案の一実施例を
示すもので、第１図は産業用ロボツトの正面図、
第２図は平面図、第３図は第１図の―線にお
ける断面図、第４図は第２図の―線における
断面図、第５図および第６図は第１と第２のスイ
ツチ装置の正面図である。第７図は２軸手首装置
を備えた従来の産業用ロボツトの斜視図、第８図
は３軸手首装置を備えた従来の産業用ロボツトの
斜視図である。図において、１はロボツト本体、１Ａ，１Ｂは
支柱、２Ａは第１ロボツトアーム、２Ｂは第２ロ
ボツトアーム、５は曲げ運動用サーボモータ、９
は曲げ運動出力軸、６，１３，２４は減速機、１
２はひねり運動用サーボモータ、２３は振り運動
用サーボモータ、７，９ａ，１４，１６はスプロ
ケツトホイル、１０，１７はチエーン、２０はひ
ねり運動出力軸、２６，２９，３３はスイツチ装
置、２５，２７はアイドルスプロケツトホイル、
２５ａ，２７ａ，３２は操作カムである。なお、
図中同一符号は同一または相当部分を示す。 Figures 1 to 6 all show one embodiment of this invention; Figure 1 is a front view of an industrial robot;
Fig. 2 is a plan view, Fig. 3 is a sectional view taken along the - line in Fig. 1, Fig. 4 is a sectional view taken along the - line in Fig. 2, and Figs. 5 and 6 show the first and second switches. FIG. 3 is a front view of the device. FIG. 7 is a perspective view of a conventional industrial robot equipped with a two-axis wrist device, and FIG. 8 is a perspective view of a conventional industrial robot equipped with a three-axis wrist device. In the figure, 1 is a robot body, 1A and 1B are columns, 2A is a first robot arm, 2B is a second robot arm, 5 is a servo motor for bending motion, and 9
is a bending motion output shaft, 6, 13, 24 are reducers, 1
2 is a servo motor for twisting motion, 23 is a servo motor for swinging motion, 7, 9a, 14, 16 are sprocket wheels, 10, 17 are chains, 20 is a twisting motion output shaft, 26, 29, 33 are switch devices, 25 and 27 are idle sprocket foils,
25a, 27a, and 32 are operating cams. In addition,
The same reference numerals in the figures indicate the same or corresponding parts.

Claims

[Claims for Utility Model Registration] (1) A servo motor for bending movement attached to the rear end of the first robot arm rotatably supported within the second robot arm attached to the support of the robot body; The rotation of the twisting motion servo motor is transmitted to the bending motion output shaft and the twisting motion output shaft attached to the tip of the first robot arm by a chain wrapped around a sprocket foil. A switch device for an industrial robot, characterized in that the switch device for controlling the robot is operated by a plurality of operation cams that rotate together with a plurality of idle sprocket wheels meshed with the chain. (2) Utility model registration claim 1, which is characterized in that a switch for controlling a robot is operated by an operation cam that is integrated with a gear that is constantly meshed with a pinion formed on one idle sprocket wheel. A switch device for an industrial robot as described in Section 1.