JPS63797U - - Google Patents
Info
- Publication number
- JPS63797U JPS63797U JP9378686U JP9378686U JPS63797U JP S63797 U JPS63797 U JP S63797U JP 9378686 U JP9378686 U JP 9378686U JP 9378686 U JP9378686 U JP 9378686U JP S63797 U JPS63797 U JP S63797U
- Authority
- JP
- Japan
- Prior art keywords
- motor
- arm
- screw member
- chain
- industrial robot
- 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
- 210000000707 wrist Anatomy 0.000 claims description 7
- 238000003466 welding Methods 0.000 description 1
Description
第１図ａは本考案の一実施例にかかる手首機構
の平断面図、第１図ｂは同側面図、第１図ｃは第
１図ｂにおけるＤ―Ｄ矢視断面図、第２図は従来
の６軸型溶接ロボツトの側面図である。
（符号の説明）、１７，１８……アーム、１９
，２０……手首要素、２２……本体、２５，５５
……軸、２６，２８，５２，５９……スプロケツ
ト、２９，３０，３４，３５……歯付プーリ、３
１，３２……モータ、３６，３７……ボールネジ
、４２，４３……歯付ベルト、４４，４５……ガ
イドバー、４６，４７……スライダー、４８，４
９……ガイド孔、５０，５１……ボールネジナツ
ト、５４，６１……スプロケツト取付部材、５６
，６９……傘歯車、６８，７０……ロツド、７２
，７３……チエーン、Ｅ……手首機構、Ｆ，Ｇ…
…ナツト部材。
FIG. 1a is a plan sectional view of a wrist mechanism according to an embodiment of the present invention, FIG. 1b is a side view of the same, FIG. 1c is a sectional view taken along line D-D in FIG. 1 is a side view of a conventional 6-axis welding robot. (Explanation of symbols), 17, 18... Arm, 19
, 20... Wrist element, 22... Body, 25, 55
... shaft, 26, 28, 52, 59 ... sprocket, 29, 30, 34, 35 ... toothed pulley, 3
1, 32... Motor, 36, 37... Ball screw, 42, 43... Toothed belt, 44, 45... Guide bar, 46, 47... Slider, 48, 4
9... Guide hole, 50, 51... Ball screw nut, 54, 61... Sprocket mounting member, 56
, 69...Bevel gear, 68, 70... Rod, 72
, 73...Chain, E...Wrist mechanism, F, G...
...Natsuto parts.
Claims (1)
介して駆動する工業用ロボツト等の手首機構にお
いて、 上記アーム内部に、モータ軸芯がアーム長手方
向を向くようにモータを配置すると共に、 上記アーム内部に上記モータ軸芯方向のネジ部
材を配置してこのネジ部材と上記モータの駆動軸
とを連結し、 更に、上記ネジ部材に回転不能にナツト部材を
螺合し、 上記ナツト部材に上記チエーンの一部を連結し
たことを特徴とする工業用ロボツト等の手首機構
。 (2) 前記アームが根本部分と、この根本部分に
対して回動駆動される先端部分とに分割され、前
記モータ、ネジ部材、ナツト部材、チエーンがこ
の先端部分に内蔵されてなる実用新案登録請求の
範囲第１項記載の工業用ロボツト等の手首機構。[Scope of Claim for Utility Model Registration] (1) In a wrist mechanism for an industrial robot, etc., in which a wrist element provided at the tip of the arm is driven via a chain, a motor axis is provided inside the arm so that the axis of the motor is oriented in the longitudinal direction of the arm. At the same time as arranging the motor, arranging a screw member in the direction of the motor axis inside the arm to connect the screw member to the drive shaft of the motor, and further screwing a nut member into the screw member in a non-rotatable manner. A wrist mechanism for an industrial robot or the like, characterized in that a part of the chain is connected to the nut member. (2) Registration of a utility model in which the arm is divided into a base portion and a tip portion that is rotatably driven with respect to the root portion, and the motor, screw member, nut member, and chain are built in the tip portion. A wrist mechanism for an industrial robot or the like according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9378686U JPS63797U (en) | 1986-06-19 | 1986-06-19 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9378686U JPS63797U (en) | 1986-06-19 | 1986-06-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63797U true JPS63797U (en) | 1988-01-06 |
Family
ID=30956658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9378686U Pending JPS63797U (en) | 1986-06-19 | 1986-06-19 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63797U (en) |
-
1986
- 1986-06-19 JP JP9378686U patent/JPS63797U/ja active Pending
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