JPS60100186U - Articulated robot arm drive device - 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) [Abstract] 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図から第３図は従来例を示す構成説明図、第４図以
下は本考案の実施例を示すもので、第４図は本考案を適
用したロボットの正面図、第５図は本考案の要部を示す
縦断正面図、第６図は横断平面図、第７図は第５図の■
−■線に沿う断面図、第８図は支軸の支持方法の他側図
、第９図は具体的な実施例図、第１０図は下腕、上腕を
有するロボットの例を示す正面図である。 １は基台、２は支軸、３は回動腕、４，５はスプロケッ
ト、７はチェノ、９はナツト部材、１゜はボールねじ、
１１はモータ。 ／　　　　　　　　　　　１／ 第７図　　　　−− 庸３Figures 1 to 3 are configuration explanatory diagrams showing a conventional example, Figure 4 and the following diagrams show embodiments of the present invention, Figure 4 is a front view of a robot to which the present invention is applied, and Figure 5 is a Figure 6 is a vertical cross-sectional front view showing the main parts of the invention, Figure 7 is a cross-sectional plan view, and Figure 7 is the same as Figure 5.
- A sectional view taken along line ■, Fig. 8 is a view from the other side of the supporting shaft support method, Fig. 9 is a diagram of a specific embodiment, and Fig. 10 is a front view showing an example of a robot having lower and upper arms. It is. 1 is the base, 2 is the support shaft, 3 is the rotating arm, 4 and 5 are the sprockets, 7 is the chino, 9 is the nut member, 1° is the ball screw,
11 is a motor. / 1/ Figure 7 -- Yen 3

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 基台１等の支持側部材に回動腕３を回動自在に支持し、
この回動腕３の長手方向基端に、回動腕３の回動支点と
同心にして固定側のスプロケット４を固着し、また他端
側に回動側のスプロケット５を回転自在に設けると共に
、両スプロケット４．５にチェノ７を巻掛け、またこの
チェノ７と平行にボールねじ１０等のねじ杆を設け、こ
のねじ杆の基部を回動腕３に支持されたモータ１１に連
結し、またその中間部を、上記チェノ７に連結したナツ
ト部材９に螺合したことを特徴とする関節型ロボットの
腕の駆動装置。The rotating arm 3 is rotatably supported on a support side member such as a base 1,
A fixed side sprocket 4 is fixed to the base end of the rotating arm 3 in the longitudinal direction concentrically with the rotational fulcrum of the rotating arm 3, and a rotating side sprocket 5 is rotatably provided at the other end. , a chain 7 is wound around both sprockets 4.5, and a threaded rod such as a ball screw 10 is provided in parallel with the chain 7, and the base of the threaded rod is connected to a motor 11 supported by the rotating arm 3. A drive device for an arm of an articulated robot is characterized in that its intermediate portion is screwed into a nut member 9 connected to the chino 7.