JPS59188186U - industrial robot arm - Google Patents

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) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【図面の簡単な説明】[Brief explanation of drawings]

第１図ａは先行技術の工業用ロボットアームの断面図、
第１図すはその模式的作動説明図、第２図は本考案の実
施例である工業用ロボットアームの断面図、第３図は第
２図の歯車列体の斜視図、第４図はその模式的作動説明
図、第５図は動力計算における模式図、第６図は異なる
実施例の工業用ロボットアームの断面図、第７図ａはさ
らに異なる実施例の工業用ロボットアームの断面図、第
７図ａは同図ａの歯車列体の斜視図である。 １、　１５．　３７・・・駆動軸、５，５Ａ〜５Ｅ・・
・軸体、７・・・第１歯車列体、８．　８Ａ、　８Ｂ・
・・２面歯車、８ａ、　５ｂ・・・円筒歯車面、１０・
・・第２歯車列体、１２，１２Ａ、１２Ｂ−２面歯車、
１２ａ。 １２ｂ・・・円筒歯車面、１３．１３Ａ、１３Ｂ・・・
リンク、２０．３０・・・工業用ロボットアーム、２１
・・・基部軸体、２２・・・屈曲用傘歯車、２３・・・
１面歯車、２５・・・噛合側、２６・・・１面歯車、２
７・・・基部支承体、２９・・・手首。 補正　昭５９．４．１３ 図面の簡単な説明を次のように補正する。 明細書第１８ページ下から第７行目「第７図＆は１とあ
るのを「第７図すはｊと訂正いたします。FIG. 1a is a cross-sectional view of a prior art industrial robot arm;
Fig. 1 is a schematic explanatory diagram of its operation, Fig. 2 is a sectional view of an industrial robot arm that is an embodiment of the present invention, Fig. 3 is a perspective view of the gear train shown in Fig. 2, and Fig. 4 is a A schematic explanatory diagram of its operation, FIG. 5 is a schematic diagram for power calculation, FIG. 6 is a sectional view of an industrial robot arm of a different embodiment, and FIG. 7a is a sectional diagram of an industrial robot arm of a further different embodiment. , FIG. 7a is a perspective view of the gear train shown in FIG. 7a. 1, 15. 37... Drive shaft, 5,5A~5E...
- Shaft body, 7... first gear train body, 8. 8A, 8B・
...Double gear, 8a, 5b...Cylindrical gear surface, 10.
...Second gear train, 12, 12A, 12B-diaphragm gear,
12a. 12b...Cylindrical gear surface, 13.13A, 13B...
Link, 20.30...Industrial robot arm, 21
...Base shaft body, 22...Bending bevel gear, 23...
Single face gear, 25...Meshing side, 26... Single face gear, 2
7... Base support, 29... Wrist. Amendment April 13, 1980 The brief description of the drawing is amended as follows. In the seventh line from the bottom of page 18 of the specification, ``Figure 7 & is 1'' has been corrected to ``Figure 7 is j.

Claims (1)

【実用新案登録請求の範囲】 ２つの円筒歯車面が両側に形成され相互に噛合する複数
の２面歯車を含む第１歯車列体を設け、２つの円筒歯車
面が両側に形成され相互に噛合する複数の２面歯車と、
その端部の２面歯車に噛合する１つの円筒歯車面が形成
された１面歯車とを含む第２歯車列体を、前記第１歯車
列体に並列に設け、 前記第２歯車列体の２面歯車の各円筒歯車面の中心を、
第１歯車列体の噛合側の円筒歯車面のそれぞれの中心と
一致させ、かつ、その中心に軸体１を設け、 前記第２歯車列体の１面歯車が固着された軸体を基部支
承体に固着し、 前記第１歯車列体の端部の２面歯車に、その円筒歯車面
より歯数の少ない１面歯車を噛合させ、この１面歯車に
アーム屈曲動力を伝達するための傘歯車を同心状に一体
化すると共に、その中心を基部支承体に固着された基部
軸体に遊嵌させ、隣り合う前記軸体を、それぞれ左右１
対のリンクで順次接続し、 前記屈曲用傘歯車に噛合する傘歯車および基部支承体を
、それぞれ独立に回転する駆動軸を備え′たことを特徴
とする工業用ロボットアーム。[Claims for Utility Model Registration] A first gear train including a plurality of dihedral gears having two cylindrical gear surfaces formed on both sides and meshing with each other is provided, and two cylindrical gear surfaces are formed on both sides and meshing with each other. multiple dihedral gears,
a second gear train including a single face gear formed with one cylindrical gear surface that meshes with a two face gear at an end of the second gear train; provided in parallel with the first gear train; The center of each cylindrical gear surface of the dihedral gear is
A shaft body 1 is provided at the center of each of the cylindrical gear surfaces on the meshing side of the first gear train, and the shaft body to which the single face gear of the second gear train is fixed is supported at the base. an umbrella fixed to the body, a single-face gear having a smaller number of teeth than the cylindrical gear surface meshing with the two-face gear at the end of the first gear train, and transmitting arm bending power to the single-face gear; The gears are concentrically integrated, and their centers are loosely fitted into the base shaft fixed to the base support, and the adjacent shafts are separated into left and right positions, respectively.
An industrial robot arm comprising a drive shaft that rotates independently a bevel gear and a base support that are sequentially connected by a pair of links and mesh with the bending bevel gear.