JPH068183A - Articulated robot - Google Patents
Articulated robotInfo
- Publication number
- JPH068183A JPH068183A JP5126992A JP5126992A JPH068183A JP H068183 A JPH068183 A JP H068183A JP 5126992 A JP5126992 A JP 5126992A JP 5126992 A JP5126992 A JP 5126992A JP H068183 A JPH068183 A JP H068183A
- Authority
- JP
- Japan
- Prior art keywords
- shaft
- spur gear
- gear
- speed reducer
- transmission
- 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
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- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、多関節形ロボットの手
首部の動力伝達機構に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power transmission mechanism for a wrist of an articulated robot.
【０００２】[0002]
【従来の技術】図４は、特開昭６０−１９７９０号公報
に開示された従来装置の断面図で、６０、６１、６２は
３軸各々の伝達軸で、６３ａ、６３ｂ、６３ｃ、６３ｄ
はベベルギヤ、６４は曲げ軸の伝達軸、６５、６６は各
々曲げ軸、回転軸の減速機、６７は捻り軸の減速機、６
８は手首のケ−シング、６９は回転軸出力部材、７０は
曲げ軸の出力部材、７１は捻り軸伝達軸である。2. Description of the Related Art FIG. 4 is a sectional view of a conventional device disclosed in Japanese Patent Laid-Open No. 60-19790. Reference numerals 60, 61 and 62 denote transmission shafts of three axes, and 63a, 63b, 63c and 63d.
Is a bevel gear, 64 is a bending shaft transmission shaft, 65 and 66 are bending shafts and rotary shaft reduction gears respectively, 67 is a torsion shaft reduction gear, 6
Reference numeral 8 is a wrist casing, 69 is a rotary shaft output member, 70 is a bending shaft output member, and 71 is a torsion shaft transmission shaft.
【０００３】各伝達軸は駆動モ−タ直結あるいは動力伝
達機構により回転し、曲げ軸については伝達軸６１の手
首側軸端に嵌合したベベルギヤ６３ａと該ベベルギヤ６
３ａと噛み合うベベルギヤ６３ｂを介し、曲げ軸伝達軸
６４に動力を伝達し、該伝達軸６４の軸端に嵌合した高
減速比の減速機６５により所定の回転数に減速し、出力
部材７０へ伝達し、手首ケ−シング６８を回動する。Each transmission shaft is rotated by a direct connection of a drive motor or a power transmission mechanism. As for the bending shaft, a bevel gear 63a fitted to the wrist side shaft end of the transmission shaft 61 and the bevel gear 6 are provided.
Power is transmitted to the bending shaft transmission shaft 64 via a bevel gear 63b that meshes with 3a, and the speed is reduced to a predetermined number of revolutions by a reduction gear 65 with a high reduction ratio fitted to the shaft end of the transmission shaft 64, and then output to the output member 70. Then, the wrist casing 68 is rotated.
【０００４】回転軸についても同様に入力軸６０の手首
側軸端に嵌合したベベルギヤ６３ｃと該ベベルギヤ６３
ｃと噛み合うベベルギヤ６３ｄ、そして、該ベベルギヤ
６３ｄと噛み合うベベルギヤ６３ｅを介し、該ベベルギ
ヤ６３ｅ軸端に嵌合した高減速比の減速機６６へ回転を
伝達し出力部材６９で所定の回転数となり出力する。Similarly, regarding the rotary shaft, a bevel gear 63c fitted to the wrist-side shaft end of the input shaft 60 and the bevel gear 63.
Through a bevel gear 63d that meshes with c, and a bevel gear 63e that meshes with the bevel gear 63d, the rotation is transmitted to a reduction gear 66 with a high reduction ratio fitted to the shaft end of the bevel gear 63e, and a predetermined rotation speed is output by an output member 69. .
【０００５】捻り軸は入力軸６２の手首側軸端に嵌合し
た高減速比の減速機６７を介し、出力軸７１へ伝達し、
手首全体が回動する。The torsion shaft is transmitted to the output shaft 71 through a reduction gear 67 with a high reduction ratio fitted to the wrist side shaft end of the input shaft 62,
The entire wrist rotates.
【０００６】[0006]
【発明が解決しようとする課題】減速機が出力端直前に
あるため、伝達機構部材、例えば入力軸やベベルギヤ、
スパ−ギヤ等は高回転数で動力を伝達しなければならな
い。そのため、伝達機構部の慣性力が大きくなり、駆動
モ−タの容量を著しく増大しなければ高精度な位置決め
が出来なかった。また、ベベルギヤ及びスパ−ギヤの噛
み合い時の回転数が高いため、ギヤ自体の寿命も短くメ
ンテナンスを頻繁に必要とした。Since the speed reducer is located immediately before the output end, a transmission mechanism member such as an input shaft or a bevel gear,
Spur gears, etc. must transmit power at high speeds. Therefore, the inertial force of the transmission mechanism portion becomes large, and highly accurate positioning cannot be performed unless the capacity of the drive motor is significantly increased. In addition, since the rotation speed of the bevel gear and the spur gear when meshing is high, the life of the gear itself is short and frequent maintenance is required.
【０００７】[0007]
【課題を解決するための手段】多関節形ロボットにおい
て、３軸を有する手首機構を持ち、該３軸のうち回転
軸、曲げ軸の動力伝達機構として、駆動モ−タ直結の１
段目の減速機と該減速機出力軸にボルトで締結した２枚
のスパ−ギヤを嵌合し、該スパ−ギヤと噛み合うスパ−
ギヤを手首部分に動力を伝達する伝達軸に嵌合し、手首
機構内の伝達軸軸端に皿バネを設けたベベルギヤと、噛
み合う１対のスパ−ギヤのうち、一方をボルトで締結し
た２枚のスパ−ギヤをとし、伝達軸に嵌合し最終出力端
の直前に２段目の減速機を設け、バックラッシ調整機構
と２段階減速方法の動力伝達機構を有する多関節形ロボ
ットを提供する。In an articulated robot, a wrist mechanism having three axes is provided, and as a power transmission mechanism for a rotary axis and a bending axis of the three axes, a drive motor directly connected is used.
A spur gear that is fitted with a second speed reducer and two spur gears fastened to the output shaft of the speed reducer with bolts and meshes with the spur gear.
A gear is fitted to a transmission shaft that transmits power to the wrist, and a bevel gear having a disc spring at the transmission shaft end in the wrist mechanism and one of a pair of meshing spur gears are fastened with a bolt. Provided is an articulated robot having a backlash adjustment mechanism and a power transmission mechanism of a two-stage deceleration method, which has a pair of spur gears, is fitted to a transmission shaft, and is provided with a second-stage speed reducer immediately before a final output end. .
【０００８】[0008]
【実施例】本発明の実施例を図面に従って説明する。図
１は本発明によるバックラッシ調整機構と２段階減速方
法を適用した多関節形ロボットの手首部分断面図を、図
２は手首３軸の駆動部分詳細図を、図３はロボット全体
図を、図４は従来装置の手首部分断面図を示す。Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a sectional view of a wrist part of an articulated robot to which a backlash adjusting mechanism and a two-step deceleration method according to the present invention are applied, FIG. 2 is a detailed view of a driving part of three axes of a wrist, and FIG. 4 shows a partial sectional view of the wrist of the conventional device.
【０００９】図３において多関節形ロボット１は旋回軸
を有するベ−ス２上に取付け、ベ−ス２内部に設置した
駆動用モ−タ及び減速機により旋回動作を行う。ベ−ス
２上に取付けた平行リンク機構を介し、駆動用モ−タ５
により前後ア−ム４及び上下ア−ム９の前後、上下動作
を行う。In FIG. 3, the articulated robot 1 is mounted on a base 2 having a turning shaft, and a turning operation is performed by a drive motor and a speed reducer installed inside the base 2. A driving motor 5 is mounted through a parallel link mechanism mounted on the base 2.
Thus, the front-rear arm 4 and the upper-lower arm 9 are moved back and forth and up and down.
【００１０】前後ア−ム４上に手首３軸を駆動するサ−
ボモ−タ８ａ、８ｂ、８ｃと減速機１１ａ、１１ｂ、１
４及びスパ−ギヤ１８ａ、１８ｂ、１３ａ、１３ｂによ
る動力伝達機構を有するケ−シング７を取付け、手首の
回転軸、曲げ軸の伝達軸は上下ア−ム９の内部を貫通
し、手首ケ−シング１０にあるベベルギヤ及び減速機に
接続し、手首において回転、曲げの動作をする。上下ア
−ム９は手首ケ−シング１０の捻り軸伝達軸で、捻り動
作をする。Servo for driving the three axes of the wrist on the front and rear arms 4.
The motors 8a, 8b, 8c and the speed reducers 11a, 11b, 1
4 and the casing 7 having a power transmission mechanism by the spur gears 18a, 18b, 13a, 13b are attached, and the rotation shafts of the wrist and the transmission shafts of the bending shaft penetrate through the inside of the upper and lower arms 9 and the wrist case. It is connected to the bevel gear and the speed reducer on the thing 10 and rotates and bends on the wrist. The upper and lower arms 9 are torsion shaft transmission shafts of the wrist casing 10 and perform a twisting motion.
【００１１】手首３軸の動力伝達軸は軸心方向に同心に
配置し、図２において手首部分の回転軸及び曲げ軸の駆
動用モ−タ８ａ、８ｂの出力軸には各々、減速比１／１
０の減速機１１ａ、１１ｂを取付け、曲げ軸については
該減速機１１ｂの出力軸１２に動力伝達機構としてスパ
−ギヤ１３ｂを設置し、伝達軸は回転軸の外側に配置
し、更に、その外側に捻り軸伝達軸（上下ア−ム）９を
設置する。捻り軸は駆動用モ−タ８ｃに減速比１／１０
０の減速機１４を接続し、その出力軸１５は外筒１６内
のベアリング１７ａ、１７ｂによって支持し、軸端にボ
ルトで締結した２枚のスパ−ギヤ１８ｂを取付け、該ス
パ−ギヤと噛み合うスパ−ギヤ１８ａが捻り軸伝達軸
（上下ア−ム）９に嵌合する。The power transmission shafts of the three wrist axes are arranged concentrically in the axial direction. In FIG. 2, the output shafts of the rotary shafts of the wrist portion and the drive motors 8a and 8b for the bending shafts have a reduction ratio of 1 respectively. / 1
No. 0 reduction gears 11a and 11b are attached, and for the bending shaft, a spur gear 13b is installed as a power transmission mechanism on the output shaft 12 of the reduction gear 11b, and the transmission shaft is arranged outside the rotary shaft. A twist shaft transmission shaft (upper and lower arms) 9 is installed in the. The torsion shaft has a reduction ratio of 1/10 for the driving motor 8c.
No. 0 reduction gear 14 is connected, its output shaft 15 is supported by bearings 17a and 17b in an outer cylinder 16, two spur gears 18b fastened by bolts are attached to the shaft ends, and mesh with the spur gears. The spur gear 18a is fitted to the torsion shaft transmission shaft (upper and lower arms) 9.
【００１２】図１において回転軸の伝達軸２０には軸端
にベアリング３７と皿バネ４１を設けたベベルギヤ３９
を嵌合し、該ベベルギヤ３９と噛み合うベベルギヤ４０
に動力を伝達し、ベアリング４２ａ、４２ｂによって回
転を支持し、先端に取り付けたスパ−ギヤ４３と該スパ
−ギヤ４３と噛み合う２枚をボルトで締結したスパ−ギ
ヤ４４に接続し、該スパ−ギヤ４４に取付けた伝達軸４
５へ伝達する。該伝達軸４５はクロスロ−ラ−ベアリン
グ４６ａ、４６ｂとベアリング３２の３点にて支持し、
ベベルギヤ４７と該ベベルギヤ４７と噛み合うベベルギ
ヤ４８により動力を伝達軸５４へ伝達し、２段目の減速
比１／１２の減速機５１を介し、出力フランジ５７へ出
力する。該伝達軸５４はベアリング４９ａ、４９ｂ、５
０により支持し、該減速機５１は接続座５２内のクロス
ロ−ラ−ベアリング５３によって支持する。In FIG. 1, the transmission shaft 20 of the rotary shaft has a bevel gear 39 having a bearing 37 and a disc spring 41 at the shaft end.
And a bevel gear 40 that engages with the bevel gear 39.
Power is transmitted to bearings 42a and 42b to support rotation, and a spur gear 43 attached to the tip and two sheets engaging with the spur gear 43 are connected to a spur gear 44 fastened with a bolt to connect the spur gear 43 to the spur gear 43. Transmission shaft 4 attached to gear 44
Transmit to 5. The transmission shaft 45 is supported by three points of the cross roller bearings 46a and 46b and the bearing 32,
Power is transmitted to the transmission shaft 54 by the bevel gear 47 and the bevel gear 48 that meshes with the bevel gear 47, and is output to the output flange 57 via the reduction gear 51 having the second reduction ratio of 1/12. The transmission shaft 54 has bearings 49a, 49b, 5
0, and the speed reducer 51 is supported by a cross roller bearing 53 in a connecting seat 52.
【００１３】曲げ軸伝達軸１９の軸端にはベベルギヤ２
２を設け、該ベベルギヤ２２と噛み合うベベルギヤ２３
と皿バネ２５を伝達軸２６に設け、該伝達軸１９はケ−
シング５５内のベアリング２１とケ−シング７内のベア
リング（図示なし）により支持し、該伝達軸２６はケ−
シング５５内のベアリング２４とベベルギヤ３９内のベ
アリング２７ａ、２７ｂによって支持する。該伝達軸２
６の軸端にボルトで締結した２枚のスパ−ギヤ２８と該
スパ−ギヤ２８と噛み合うスパ−ギヤ２９に動力を伝達
し、伝達軸３０に接続する。A bevel gear 2 is attached to the shaft end of the bending shaft transmission shaft 19.
2, a bevel gear 23 that meshes with the bevel gear 22.
And a disc spring 25 on the transmission shaft 26, and the transmission shaft 19 is
The transmission shaft 26 is supported by a bearing 21 (not shown) in the casing 55 and a bearing (not shown) in the casing 7.
It is supported by the bearing 24 in the sing 55 and the bearings 27a and 27b in the bevel gear 39. The transmission shaft 2
Power is transmitted to two spur gears 28 fastened to the shaft end of 6 by bolts and a spur gear 29 meshing with the spur gears 28, and is connected to a transmission shaft 30.
【００１４】２段目の減速比１／１１の減速機３５を介
し、ケ−シング５６とボルトで締結した接続座３８へ出
力し、該ケ−シング５６を回転させ手首先端部において
曲げ動作をする。該伝達軸４５内のベアリング３１と該
接続座３８内のベアリング３３と軸端のベアリング３４
によって支持する。捻り軸伝達軸（上下ア−ム）９はケ
−シング５５に接続する。The gear is output to a connecting seat 38 fastened to the casing 56 with a bolt through a speed reducer 35 having a reduction ratio of 1/11 in the second stage, and the casing 56 is rotated to perform a bending operation at the tip of the wrist. To do. The bearing 31 in the transmission shaft 45, the bearing 33 in the connection seat 38, and the shaft end bearing 34
Support by. The torsion shaft transmission shaft (upper and lower arms) 9 is connected to the casing 55.
【００１５】次に作用について説明する。前述の構成に
よる多関節形ロボットにおいて、駆動用モ−タ８ａの回
転は直結した減速比１／１０の減速機１１ａから伝達軸
２０を通りベベルギヤ３９、４０に噛み合い、伝達軸２
６に取付けたスパ−ギヤ４３と該スパ−ギヤ４３に噛み
合うボルトで２枚を締結しバックラッシ調整機構を設け
たスパ−ギヤ４４へ伝達し、伝達軸４５に勘合した所定
の減速比を持つ１対のベベルギヤ４７、４８へ接続し、
該ベベルギヤ４７、４８の伝達軸５４の軸端に２段目の
減速比１／１２の減速機５１を設置し、出力フランジ５
７へ出力する。Next, the operation will be described. In the articulated robot having the above-described configuration, the rotation of the drive motor 8a is directly connected to the reduction gear 11a having a reduction ratio of 1/10, meshes with the bevel gears 39 and 40 through the transmission shaft 20, and the transmission shaft 2
6 with a spur gear 43 attached to 6 and a bolt meshing with the spur gear 43, and transmitting them to a spur gear 44 provided with a backlash adjusting mechanism, and having a predetermined reduction ratio fitted to a transmission shaft 45. Connect to the pair of bevel gears 47 and 48,
A speed reducer 51 having a second reduction ratio of 1/12 is installed on the shaft ends of the transmission shafts 54 of the bevel gears 47 and 48, and the output flange 5
Output to 7.
【００１６】曲げ軸については駆動用モ−タ８ｂの回転
を直結した減速比１／１０の減速機１１ｂに入力し、そ
の出力軸１２に嵌合したスパ−ギヤ１３ｂと回転軸の伝
達軸２０の外側にある曲げ軸の伝達軸１９に嵌合したス
パ−ギヤ１３ａと噛み合い、軸端のベベルギヤ２２と皿
バネ２５を設けたベベルギヤ２３に伝達し、伝達軸２６
の軸端のボルトで２枚を締結しバックラッシ調整機構を
設けたスパ−ギヤ２８と該スパ−ギヤ２８と噛み合うス
パ−ギヤ２９を介し、伝達軸３０に伝達し、２段目の減
速比１／１１の減速機に接続し、接続座３８へ出力す
る。As for the bending shaft, the rotation of the drive motor 8b is directly input to a speed reducer 11b having a reduction ratio of 1/10, and a spur gear 13b fitted to its output shaft 12 and a transmission shaft 20 of the rotary shaft. Meshes with the spur gear 13a fitted to the transmission shaft 19 of the bending shaft on the outside of the shaft, and transmits to the bevel gear 22 at the shaft end and the bevel gear 23 provided with the disc spring 25, and the transmission shaft 26
2 is fastened with a bolt at the shaft end of the shaft, and is transmitted to a transmission shaft 30 via a spur gear 28 provided with a backlash adjusting mechanism and a spur gear 29 meshing with the spur gear 28. It is connected to a speed reducer of / 11 and outputs to the connection seat 38.
【００１７】捻り軸の回転は駆動用モ−タ８ｃに直結し
た減速比１／１００の減速機１４により減速し、出力軸
１５の軸端にボルトで２枚を締結しバックラッシ調整機
構を設けたスパ−ギヤ１８ｂと該スパ−ギヤ１８ｂに噛
み合うスパ−ギヤ１８ａにより捻り軸伝達軸９に回転を
伝達する。The rotation of the torsion shaft is reduced by a speed reducer 14 having a reduction ratio of 1/100 directly connected to the drive motor 8c, and two shafts are fastened to the shaft end of the output shaft 15 with bolts to provide a backlash adjusting mechanism. The rotation is transmitted to the torsion shaft transmission shaft 9 by the spur gear 18b and the spur gear 18a meshing with the spur gear 18b.
【００１８】以上の説明は本発明による実施例について
述べたが、ベベルギヤ及びスパ−ギヤによる伝達機構を
備え、駆動用モ−タの回転を２つの減速機を利用し２段
階にて減速する機構を持つ装置であれば同様に適用でき
る。Although the above description has been given of the embodiment according to the present invention, it is provided with a transmission mechanism including a bevel gear and a spur gear, and a mechanism for reducing the rotation of the driving motor in two stages by using two speed reducers. The same can be applied to any device having.
【発明の効果】本発明の多関節形ロボットの動力伝達機
構において、ベベルギヤには皿バネを設け、スパ−ギヤ
は２枚重ね合わせることにより、バックラッシの発生を
最小限に抑え、手首の回転軸、曲げ軸は駆動部と軸出力
端にて２段階の減速により、伝達機構部材の慣性力が小
さくなる。また、回転数が低回転であるため、メンテナ
ンスの頻度が半減する。更に最終出力端に累積された回
転誤差を減速比分だけ縮小することができる。以上のよ
うに手首先端部にての位置決めが高精度になったのであ
る。In the power transmission mechanism of the articulated robot of the present invention, the bevel gear is provided with a disc spring and the two spur gears are superposed on each other, whereby the occurrence of backlash is minimized and the rotary shaft of the wrist is rotated. In the bending shaft, the inertial force of the transmission mechanism member is reduced by the two-stage deceleration at the drive unit and the shaft output end. Moreover, since the number of rotations is low, the frequency of maintenance is halved. Further, the rotation error accumulated at the final output end can be reduced by the reduction ratio. As described above, the positioning at the tip of the wrist is highly accurate.
【図１】本発明の手首部分断面図FIG. 1 is a partial sectional view of a wrist according to the present invention.
【図２】本発明のト手首駆動部詳細図FIG. 2 is a detailed view of a wrist driving unit of the present invention.
【図３】本発明の全体図FIG. 3 is an overall view of the present invention
【図４】従来の多関節形ロボット手首部分断面図FIG. 4 is a partial sectional view of a conventional articulated robot wrist.
１ 多関節形ロボット ８ａ 駆動用モ−タ ８ｂ 駆動用モ−タ ８ｃ 駆動用モ−タ １９ 曲げ軸伝達軸 ２０ 回転軸伝達軸 ６０ 回転軸伝達軸 ６１ 曲げ軸伝達軸 ６２ 捻り軸伝達軸 ７１ 捻り軸伝達軸 1 Articulated Robot 8a Driving Motor 8b Driving Motor 8c Driving Motor 19 Bending Shaft Transmission Shaft 20 Rotation Shaft Transmission Shaft 60 Rotation Shaft Transmission Shaft 61 Bending Shaft Transmission Shaft 62 Twisting Shaft Transmission Shaft 71 Twisting Shaft transmission shaft
Claims (2)
速機１１ｂ、１１ａ、１４を設け、減速機１１ｂにスパ
−ギヤ１３ｂを設け、減速機１４にスパ−ギヤ１８ｂを
設け、伝達軸９、２０、１９の順に外側から軸心方向に
同心に設け、その同心延長上に減速機１１ａと駆動モ−
タ８ａを設けるようにし、伝達軸２０にスパ−ギヤ１３
ａを設けて前記スパ−ギヤ１３ｂに噛み合わせ、伝達軸
９にスパ−ギヤ１８ａを設けて前記スパ−ギヤ１８ｂに
噛み合わせ、回転軸となる伝達軸１９の動力は伝達機構
を介し、出力端の減速機５１へ伝達し、出力フランジ５
７を回動し、曲げ軸となる伝達軸２０の動力は伝達機構
を介し、出力端の減速機３５へ伝達し、ケ−シング５６
を回動し、捻り軸となる伝達軸９は手首ケ−シング５５
と連結し、手首全体を回動する手首に３自由度を持つ多
関節形ロボット。1. The drive motors 8a, 8b, 8c are provided with speed reducers 11b, 11a, 14 respectively, the speed reducer 11b is provided with a spur gear 13b, and the speed reducer 14 is provided with a spur gear 18b. The shafts 9, 20, 19 are provided concentrically in the axial direction from the outside in this order, and the reduction gear 11a and the drive motor are provided on the concentric extension.
The transmission gear 20 is provided on the transmission shaft 20.
a is provided to mesh with the spur gear 13b, and the transmission shaft 9 is provided with a spur gear 18a to mesh with the spur gear 18b. The power of the transmission shaft 19 serving as a rotation shaft is transmitted through the transmission mechanism to the output end. To the speed reducer 51 of the output flange 5
7, the power of the transmission shaft 20 serving as a bending shaft is transmitted to the reduction gear 35 at the output end through the transmission mechanism, and the casing 56
The transmission shaft 9 serving as a torsion shaft is rotated by the wrist casing 55.
A multi-joint robot that has 3 degrees of freedom in the wrist that is connected to and rotates the entire wrist.
設け、スパ−ギヤは噛み合う一方のスパ−ギヤをボルト
で締結した２枚重ねとし、ベベルギヤには皿バネを軸に
はめ合い、各々バックラッシ調整機構を備え、回転軸と
曲げ軸の減速方法は２段階減速方法とする請求項１記載
の多関節形ロボット。2. A transmission mechanism is provided with a spur gear and a bevel gear, and the spur gear is a two-ply structure in which one meshing meshed spur gear is fastened with bolts. The articulated robot according to claim 1, further comprising an adjusting mechanism, wherein a deceleration method for the rotation axis and the bending axis is a two-step deceleration method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5126992A JPH068183A (en) | 1992-03-10 | 1992-03-10 | Articulated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5126992A JPH068183A (en) | 1992-03-10 | 1992-03-10 | Articulated robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH068183A true JPH068183A (en) | 1994-01-18 |
Family
ID=12882231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5126992A Pending JPH068183A (en) | 1992-03-10 | 1992-03-10 | Articulated robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH068183A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH063591U (en) * | 1992-06-19 | 1994-01-18 | トキコ株式会社 | Driving force transmission device |
| CN103522302A (en) * | 2013-11-12 | 2014-01-22 | 哈尔滨工业大学 | Large-output-force robot flexible energy-storing joint based on gravity energy storing |
| IT201700025766A1 (en) * | 2017-03-08 | 2018-09-08 | Epistolio S R L | PAINTING ROBOT |
| CN109730817A (en) * | 2019-01-22 | 2019-05-10 | 唐山康义合纵科技有限公司 | It is placed in the worm-gear self-locking formula artificial limb elbow joint of forearm cavity |
| CN110345223A (en) * | 2019-08-05 | 2019-10-18 | 中国工程物理研究院机械制造工艺研究所 | A kind of motorized light mirror holder retarder and regulating member |
| CN113635341A (en) * | 2021-05-14 | 2021-11-12 | 成都卡诺普机器人技术股份有限公司 | End transmission structure of industrial robot wrist transmission structure |
-
1992
- 1992-03-10 JP JP5126992A patent/JPH068183A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH063591U (en) * | 1992-06-19 | 1994-01-18 | トキコ株式会社 | Driving force transmission device |
| CN103522302A (en) * | 2013-11-12 | 2014-01-22 | 哈尔滨工业大学 | Large-output-force robot flexible energy-storing joint based on gravity energy storing |
| IT201700025766A1 (en) * | 2017-03-08 | 2018-09-08 | Epistolio S R L | PAINTING ROBOT |
| CN109730817A (en) * | 2019-01-22 | 2019-05-10 | 唐山康义合纵科技有限公司 | It is placed in the worm-gear self-locking formula artificial limb elbow joint of forearm cavity |
| CN109730817B (en) * | 2019-01-22 | 2024-02-23 | 温岭市大翰弘知智能科技有限公司 | Worm wheel self-locking artificial limb elbow joint arranged in forearm cavity |
| CN110345223A (en) * | 2019-08-05 | 2019-10-18 | 中国工程物理研究院机械制造工艺研究所 | A kind of motorized light mirror holder retarder and regulating member |
| CN110345223B (en) * | 2019-08-05 | 2024-05-31 | 中国工程物理研究院机械制造工艺研究所 | Electric optical lens frame speed reducer and adjusting part |
| CN113635341A (en) * | 2021-05-14 | 2021-11-12 | 成都卡诺普机器人技术股份有限公司 | End transmission structure of industrial robot wrist transmission structure |
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