JPS6090693A - Industrial robot - 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

【発明の詳細な説明】 本発＃Ａに、第ｌアーム全第２アームに、互にほぼ直角
な第１及び第２ｗＩ芯周りで揺動自社に連結し、作栗蓑
匝ろるいに七の取付台をｄ１１紀第ｌアームＶｃ朋肥Ｍ
Ｓ　２帽芯と平行な第８帽芯周りで侶即Ｊ自在に連結し
、ｇｌＪ記作業製ｗあるいは七の取付台を前記第２アー
ムに対して回前きせる駆動蓑隨全設け、作栗装置？、人
間の手首と同林な十字方向に、かつ、アーム４．端側を
余り大きく横切させないで大きく向き友丈できるように
した産業用ロボットに関する。DETAILED DESCRIPTION OF THE INVENTION In the present invention #A, the l-th arm and all the second arms are connected to the swinging body around the first and second wI cores that are substantially perpendicular to each other. The mounting base of d11th L arm Vc Hohi M
S2 It is connected freely around the 8th cap core parallel to the 2nd cap core, and is fully equipped with a driving arm that allows the mounting base made by GlJ or 7 to be rotated with respect to the second arm. Device? , arm 4. in the same direction as the human wrist, and in the same direction as the human wrist. This invention relates to an industrial robot that can face and stand together without having its end side cross too much.

従来、上記産業用ロボットＶＣおいて、作業装置あるい
にその取付台を第２アームに対して回！ＩＩＩＪさせる
駆ｗＪ装置を構成するに、第２アーム側Ｋｉｆｌｔけた
駆動アクチューエータと、第１アーム及び、取付台ある
いはｆ′Ｆ栗表厘と全、４１！奴本のワイヤや多関節の
押引ロッドで犬々連動連結し、ワイヤのｆｉｆＫ的な引
張シ肱削、あるいに、ロッドの通板的な理引き駆削で、
取付台めるいに作業装置を所泣の方向に回動量き震叉さ
せるよりに構成していたのであるが、ワイヤや多関節ロ
ッド自体の剛性が低いものでるるために、アーム金体と
しての剛性が低下すると共に、作業装置に対する回ｗＪ
躯助力が小さなものとなシ、強度凹、並びに、ｗ、！Ｉ
ｆＪ力而にお面て禾た改善の余地かあった。Conventionally, in the above-mentioned industrial robot VC, the working device or its mounting base was rotated with respect to the second arm! The drive wJ device for the IIIJ consists of the drive actuator on the second arm side, the first arm, the mounting base or the f'F chestnut table, and the total number of 41! By interlocking the wires and multi-jointed push-pull rods, and by cutting the wires by pulling and pulling them like a fifK, or by pulling and pulling the rods like threading,
The mount was constructed so that the working device could be rotated and shaken in the desired direction, but since the rigidity of the wire and articulated rod itself was low, it was difficult to use it as an arm metal body. As the rigidity decreases, the rotation wJ for the working equipment
The support for the body is small, the strength is low, and lol! I
There was room for improvement in the face of fJ power.

不発（７）の目的は、作業装置の回動駆動構成に改良？
刃口えて、アーム全剛性の大＠ｌものにすると共に１大
きな回動駆動力を備えさせるようＫする点にある。Is the purpose of misfire (7) to improve the rotational drive configuration of the working device?
The main point of the blade is to increase the overall rigidity of the arm and provide it with a large rotational driving force.

本発鴫の特伎僧戚は、首６己座莱用ａホ゛ットにおいて
、作業装置ろるいはその取付台を第２アームにヌ寸して
回！ｌＤＪさせる１払すｊ装置？構成するに、ＩＪｌ」
自己スろ２アームＶ？−）以助回転目社に収付けた第ｌ
ギアと目ＩＪ６己第１アームとｌｉσ記第１申出芯周り
で一俸回払目社な連結部材に収付けた第２ギアとを収合
さぜ、前記第２アームＶＣ前記第１軸芯周りで産制回帖
目在に敢付けた第ｌベベルギアと、１ｊｌＪ紀第１アー
ムと前記第２輔芯周りで一体回松自社な第２ベベルギア
とｔ咬合させ、前記第２軸芯と同芯状に乳配運栢部材に
固着した第８ギアと、Ｆｍ肥第８帽芯と同芯状に前記作
業装置あるいに七の取付台に同右した第４ギアと金灰合
させであることＫあり、その作用・効果に次のＪＩＭり
でろる。Honhatsu's Tokugi-sou-kei is to rotate the working device or its mounting base to the second arm in the a-hot for the neck 6-member seat! Is it a 1-pay device that lets you DJ? To compose, IJl”
Self slot 2 arm V? −) No. 1 acquired at Isuke Rotamesha
The gear, the first arm, and the second gear, which is attached to a connecting member around the first axis, are assembled, and the second arm VC is connected to the first axis. The lth bevel gear attached to the industrial rotation eye around the periphery, the 1jlJ first arm and the second bevel gear integrated around the second shaft core, are interlocked with the second bevel gear made by the manufacturer, and are coaxial with the second axis core. The 8th gear fixed to the milk distribution shaft member in the shape of a metal shaft, and the 4th gear attached to the working device or the mounting base 7 concentrically with the Fm fertilizer No. 8 cap core and the metal ash. There is K, and its action and effect will be discussed next in JIM.

つまり、第１１ないし弗８区ＶＣ下丁ように、第ｌギア
（２）を産制回転させると、第２ギア（ハ）の回転に１
半なって連結部材（９）、及び、第ｌアーム（２）が−
外的に第２アーム（３）に対して第ｌ軸芯（Ｐｌ）周り
で揺動され、又、第１ベベルギアｔｉ’９＋　ｋ紘薊回
伝させると、Ａ５２ベベルギア弧の回転に件なって第ｌ
アーム（２）が第２アーム（３）　Ｖｃ対して第ｇ１山
芯〔２２９周りで揺動さ？Ｌると共に、七の第１アーム
（２）の第２軸芯（Ｐ２）周りでの揺動に伴なってＳ４
ギアＣηが第８ギア暖に対して転削されて、作業装置（
６）あるいに取付台（６）が第８軸芯（Ｐ３］ｉ１）で
第１アーム（２）に対して七の揺動方向と１−万同Ｖｃ
侶硬ｊされ、全体として、作業装置（６）が十字１回い
ずれにも回動量き変史されると共に、七の十字方向のう
ち一方向に、おいてに、第１アーム（２）の第２アーム
１３）に対する揺助角（θりよりも大きな口製角（θ２
）で作業装置（６）が第２アーム（３）に対して１回動
量き質更されるのである。In other words, when the 1st gear (2) is rotated in production mode like the 11th to 8th VC lowers, the rotation of the 2nd gear (c) is 1
The connecting member (9) and the l-th arm (2) are -
It is externally oscillated around the l-th axis (Pl) with respect to the second arm (3), and when transmitted to the first bevel gear ti'9+k, due to the rotation of the A52 bevel gear arc. No.l
The arm (2) swings around the g1 mountain center [229] with respect to the second arm (3) Vc? S4 along with the swinging of the first arm (2) about the second axis (P2).
The gear Cη is milled against the 8th gear, and the working device (
6) Alternatively, the mounting base (6) is in the 8th axis (P3] i1) with respect to the 1st arm (2) in the 7th swing direction and 1-1000s Vc.
The working device (6) as a whole is rotated once in each direction, and the first arm (2) is rotated in one of the seven directions. The opening angle (θ2) is larger than the oscillation angle (θ
), the working device (6) is moved once relative to the second arm (3) and massed.

したがって、従来構成の如くワイヤや多関節押引ロッド
で連動するに比して、ギアどうしの睨合によシ座ｄ”＋
構成に檀めて大きな剛性を漏えざぜることができ、七の
結果、アーム金体としてのｌｌ１１１Ｉ任全大中に大き
くすることができてアームの耐久性全同上し得ると共に
、作業長直に対する回鯛駆蛎力全檀めて大きくすること
ができて、アームの作采性叱全回上し得るに至り次口次
に第１１．１ｔＪ−ＩＬ第３図によジ夫施例を示す。Therefore, compared to the conventional configuration in which the gears are interlocked using wires or multi-jointed push/pull rods, the
As a result, the role of the arm metal body can be increased to a large extent, which increases the durability of the arm and improves the working length. I was able to fully increase my ability to drive the sea bream against the sea bream, and I was able to completely improve the skill of the arm. show.

左右駆動回転やＣＩ］後座切揺切自在な叉持アーム等金
介して基台に連設される上下部ｖＪ播鯛自社な基端アー
ム＋１１に、第１１第２７−ム＋２＋　＋　ｔ３１及び
、取付台（６）から成る町切アーム（４）？連設し、取
付台（６）に塗象毅直や浴接放電等の適宜作業表ｉｔ　
ｔ６１を収付けると共に、９切アーム（鴫）及び作業装
置（６）全駆薊するＭ圧式や電制式の第ｌないし第８　
モータ（Ｍｌ）　、（Ｍｌ）　、（Ｍｓ）　ｋ　Ｕけ、
もって、プログラム式の自ｗＪ制御や遠隔？１ｉｌｊ御
等により各種ｆ′Ｉｉ東を行なわせる庄条用ロボットを
構成しである０ ９切アームＩ４）會樽成するに、先端線どうしを第ｌ叉
ｍ　（７）で、かつ、中間部どうし全第１文軸（７）と
平行な中継支軸（８）で連結した一対のアーム都（８ａ
）　、　（８ｂ）　ｋ、　備える第２１−ム（３）の基
端ヲ、基端アーム（１）の先端に連結１正し、「口」の
字状の連結部材（９）？、第１叉帽（７）にベアリング
Ｃｌ０Ａ）　、　Ｃｌ０Ｂ）を介して第ｌ叉軸（７）の
第ｌ軸芯（Ｐ、）周りで回転自社に連結すると共に、七
の連結部材（９）の円横倒都に一対の第２叉＄［ｌ］　
ＣＩＩＡ）、ＣＩＩＢ）を、第ｌ軸芯（Ｐ□）と直交Ｔ
る第２細芯ＣＰ、）上に配置して支承しである。Left and right drive rotation and CI] The upper and lower parts of the base end arm +11, which are connected to the base via metals such as a gripping arm that can freely swing the rear seat, are connected to the 11th 27th arm +2+ + t31 and , a cutout arm (4) consisting of a mounting base (6)? Install it in series and attach it to the mounting base (6) as appropriate work table for painting, bathing, discharge, etc.
In addition to accommodating the t61, the 9-cutting arm (shaft) and working device (6) are equipped with M-pressure type or electrically controlled type No. 1 to No. 8.
Motor (Ml), (Ml), (Ms) kUke,
Is it programmable self-control or remote control? 1ilj etc. have constructed a robot for Shojo that performs various f'Ii east. 09-cut arm I4) When the assembly is completed, the tip lines should be connected at the lth fork (7), and the middle part A pair of arm capitals (8a) connected by a relay spindle (8) parallel to the first axis (7)
), (8b) k, The proximal end of the 21st arm (3) is connected to the tip of the proximal arm (1), and the connecting member (9) is shaped like a "mouth". , is connected to the first fork shaft (7) through bearings Cl0A) and Cl0B) to rotate around the first axis (P,) of the first fork shaft (7), and also connects to the seventh connecting member (9). A pair of second forks $ [l]
CIIA), CIIB) are perpendicular to the l-th axis (P□)
It is disposed and supported on the second fine core CP.

セして、第ｌアーム（幻全構成する一対のア−へ部材Ｃ
２ａ）　、　Ｃ２ｂ）のＩＩ！、Ｉ’ｆＷｋ、第２文軸
（ＩＩＡ）。and the lth arm (member C
2a), C2b) II! , I'fWk, second sentence axis (IIA).

（ＩＩＢ）にベアリング（１２Ａ）、（１２Ｂ）　′（
ｉ−介して第２利芯（Ｐ２）周りで揺薊自在に各別連結
すると共に、作業装置風切用モータ（Ｍｌ）　？Ｉ−収
付けた取付台（５）の基喘に岡芯状に支承した一対の第
８支軸（１３Ａ）。Bearing (12A), (12B) ′(
They are connected separately around the second profit center (P2) through the I-, and the wind blowing motor (Ml) of the working device is connected separately. I- A pair of eighth support shafts (13A) supported in a hollow core shape on the base of the installed mounting base (5).

（１８Ｂ）　ｉ、アーム部材（２ａ）、（２ｂ）の先Ｉ
ｆｉｌＶｃベアリング（１４Ａ）、（１４Ｂ）を介して
第２４Ｉ！ｌｌ芯（Ｐ、）と平行な第８１１ｉ［［１芯
〔Ｐ、）周りで回転自社に各別枢叉迎Ｍし、モッテ、１
ＴｖＪアーＡ　（４１（ｚ　、％２、第８軸芯（Ｐ２）
　、　（Ｐｓ）周りでの揺薊で屈曲自在に、かつ、第ｌ
軸芯（Ｐｌ）周りでの揺姻で屈曲方向とは直交する方向
に屈折目＆ＥＶｃ構成してるる。(18B) i, tip of arm member (2a), (2b) I
24th I! via filVc bearings (14A) and (14B). Rotating around the 811i [[1 core [P,] parallel to the ll core (P,), each separate pivot point is
TvJA (41(z, %2, 8th axis (P2)
, (Ps) can be bent freely with a rocker around it, and the lth
By oscillating around the axis (Pl), the bent eye & EVc are formed in a direction perpendicular to the bending direction.

丙申１）５）に、可動アーム１４）の全周をその全受に
わたってカバーするジャバラ状体である。In 1) and 5), it is a bellows-shaped body that covers the entire circumference of the movable arm 14).

０ｆすｊアーム（４）の風切構造を構成するに、中継叉
則（８）の第４輔＋ａ’：（Ｐ４）、及び第１軸芯（Ｐ
ｌ）の内方Ｖｃ直交するｎｉｌ恢１萌き１咄芯ｔＱｌ上
に配置して筒軸ｕ６１に４Ｑ７−Ａ（ＩＩＫ−ヘア　ヶ
＞グ（１７Ａ）、（１７Ｂ）　Ｋより回転自社に支承す
ると共に、筒軸ＯＱの奉唱と恭嗣アーム１ｌｌｌｃ丙装
固定した第２モータ（Ｍ工）と全咬合ギア（１８Ａ）　
、　（１８Ｂ）によｐ連１ノ連結してるる。To configure the wind structure of the arm (4), the fourth leg + a' of the relay fork (8): (P4) and the first axis (P
Place it on the inner Vc orthogonal to the inner Vc of 4Q7-A (IIK-Hair 17A, 17B) on the cylindrical axis u61 and support it in rotation. At the same time, the second motor (M engineering) and full occlusion gear (18A) were installed with the support of the cylinder axis OQ and the Kyoshi arm 1llc.
, one p series is connected by (18B).

七して、ベアリング（１９）全弁して第４１１ＩＩＩ芯
（Ｐ、）ＩＩ！ｉＩりで回転自社に中継叉＋１１１１１
１８１に支承した第１中継ベベルギア（ハ）と、同１１
ｉ１１］０６１の先＠に一体形成し２’Ｃ第ｌ駆助ベベ
ルギアｕ刀とｔ灰分させると共に、第１中継ベベルギア
四に一体連結した扇状の第ｌギア＠と、第１ＩＩＩ］芯
（Ｐｌ）？回転軸芯とするようＶＣ配組直て連結部材（
９）に一体連結した扇状の第２ギア（ハ）とｋ１Ｍ合さ
せ、もって、処２モータ（Ｍ２）の座前ＶＣより第１ア
ーム（２）勿連結部材ｔ９１と共ＶＣ第１４ｉ１ｉ１芯
ＣＰ、）周Ｑで揺動扇動するように構成しである〇 基端アーム（１）　ｉｃ内装固定した第８モータ（Ｍ３
）の駆！１１７ＪＩＪｌ田（至）を、前記同町（１６）
に、ベア、す・ング（２５Ａ）　。7, then complete the bearing (19) and 411th III core (P,) II! iI relays to our company +11111
The first relay bevel gear (c) supported on 181 and 11
i11] 061 is integrally formed with the tip of the 2'C l drive bevel gear u sword and t ash, and the fan-shaped l gear @ is integrally connected to the first relay bevel gear 4, and the 1 III] core (Pl) ? VC arrangement straight connection member (
9) and the fan-shaped second gear (c) integrally connected to k1M, so that from the seat front VC of the second motor (M2), the first arm (2) is of course connected to the connecting member t91 and the VC 14i1i1 core CP, ) Base end arm (1) The 8th motor fixed inside the IC (M3
) No Kakeru! 117 JIJl field (to), the same town (16)
Bear, S. Ng (25A).

（２５Ｂ）　ｋ介して＋１１　＝　同き１ｌｌｌｉｌ芯
ＩＱＩ　Ｍりで相対！２１転目在Ｖｃｘ辿叉承すると共
に、ベアリング（至）？介して弗４軸芯（Ｐ４）周りで
回転自社に中継支軸（８）に叉水した第２中継ベベルギ
ア啼と駆＃Ｊ軸（至）の元咽に一体形成した第２躯助ベ
ベルギア（至）と全咬合きせである。(25B) +11 through k = relative with the same 1llil core IQI M! At the 21st turn, the Vcx is traced and accepted, and is the bearing (toward)? Rotates around the 4th axis (P4) through the 2nd relay bevel gear which is attached to the relay support shaft (8) and the 2nd support bevel gear (which is integrally formed at the base of the drive #J axis) (to) and full occlusion.

そして、果ｌベベルギア端、及び、扇状の第２中継ギア
霞？一体形成し友ギア部材Ｋｌｌ？、連槽部材（９）及
び第ｌ叉刺ｊ（７）の内方に対してベアリング（１０Ａ
　）　、１．Ｉ２Ｊ、１３３１金介して第ｌ軸芯（Ｐｌ
）周りで回転自社に支承し、ｌ記第２中継ベベルギア４
ｊに一体３！！！結した扇状の第ｌ中継ギア図と＃＋２
中継ギア団と？咬合避ぜると共に、第２帽ｒｅ、ｓ（Ｐ
ｇ）全回転軸芯とするようにＩ！ｅ瀘して第ｌアーム（
２）の−万のアーム部材（２ａ）Ｋ一体連結した第２ベ
ベルギア史と目１］記躬ｌベベルギア四と？咬合させ、
もって、第８モータ（Ｍ３）の風波ｊＶｃよシ第１アー
ム（２〕全迎結部材（９）に対して第２輔芯（２２９周
りで播＃ｌ妃切するように構成してろる。And the bevel gear end and the fan-shaped second relay gear haze? Integrally formed friend gear member Kll? , the bearing (10A
), 1. I2J, 1st axis (Pl) via 1331 gold
) rotates around the second relay bevel gear 4
3 on j! ! ! Connected fan-shaped 1st relay gear diagram and #+2
With the relay gear group? While avoiding occlusion, the second cap re,s(P
g) I! so that it is the center of all rotations! e filter and the lth arm (
2) -10,000 arm member (2a) History and history of the second bevel gear that is integrally connected with K 1] Record l Bevel gear 4? occlusion,
Therefore, the wind wave jVc of the eighth motor (M3) is configured to spread around the second arm (229) with respect to the first arm (2) and the entire connecting member (9).

３！に、扇状の第８ギア関奮、そのギア中心金弟２ｉＩ
ｌ［Ｉｌ芯（Ｐ２）上ＶＣ配組直て連結部材（９）に同
右すると共に、ギア中心１ｗ５ａ輔芯（Ｐ３）上に組直
する状態で収付８（５）に固有した扇状の第４ギア（３
ηと第８ギア（列と？！−収合咬合、もって、！＠ｌア
ーム（２＋の連結部材（９）に対する第２軸芯（Ｐ２）
周りでの揺薊に伴なう第８ギア茜と第４ギアーカとの１
目対回転によシ、取付台１６＋全第ｌアームｉ２１　Ｖ
Ｃ対して第８＠芯（Ｐ、）周シで第ｌアーム（２ンと１
句じ揺薊万同に揺ｗＪ駆薊させ、金体として、取付台（
６）を第２アーム（３）に対して第ｌアームｆ２＋の揺
ＭｌＯ′ｐ４（θ１）よりも大きな角度（θ２）で回動
量き変臭させるように構成しである。3! , the fan-shaped 8th gear mechanism, the gear center Kintei 2iI
VC arrangement on the core (P2) is the same as the direct connection member (9), and when reassembled on the gear center 1w5a core (P3), a fan-shaped number unique to the housing 8 (5) is attached. 4 gears (3
η and the 8th gear (row and ?! - convex occlusion, with !@l arm (2nd axis (P2) for the 2+ connecting member (9)
1 between 8th Gear Akane and 4th Gear Aka due to the turmoil around them.
For eye-to-rotation, mounting base 16 + total l arm i21 V
For C, the lth arm (2nd and 1st
I made the rock wj drive in the same way as the metal body, and attached the mounting base (
6) is rotated with respect to the second arm (3) by an angle (θ2) larger than the swing MlO'p4 (θ1) of the l-th arm f2+ to cause odor change.

次に別夫施例をボア。Next, bore another husband example.

第１１第２１−ム＋２Ｊ　Ｐ　＋ａ八へ！！Ｍ部材ｔ９
）、及び、取付台（５）の具体的形状、構造、並びに、
それらの具体的連結構造は種々の改良が可能であり、又
、第１アーム（２１Ｋ　Ｉｌｘ付台（５）を連設する；
は代えて、作業装置（６）全直接的に連設しても良い。To the 11th 21st -mu +2J P +a8! ! M member t9
), and the specific shape and structure of the mounting base (5), and
Their specific connection structure can be improved in various ways, and the first arm (21K Ilx attachment base (5)) is connected;
Alternatively, all of the working devices (6) may be directly connected.

第２アーム（３）に支承する駆動ギアとしての第１ギア
Ｃり及び、第１ベベルギアイ９）に対する具体的伝達構
造は種々の改良が可能であり、又、第１ギア（２２と第
２ギア＠、＠１ベベルギア四と第２ベベルギア−（へ）
、並びに、第３ギアａ（２）と第４ギアＧ′７１夫々の
ギア比も適宜変更が可能である。The specific transmission structure for the first gear C as a drive gear supported on the second arm (3) and the first bevel gear eye 9) can be improved in various ways, and the first gear (22 and the second gear @, @1 bevel gear 4 and 2nd bevel gear (to)
, and the gear ratios of the third gear a(2) and the fourth gear G'71 can also be changed as appropriate.

本発明による産業用ロボットは、各種産業分野において
種々の作業に利用されるものである。The industrial robot according to the present invention is used for various tasks in various industrial fields.

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

第１図は、本発明の実施例を示す側面視断面図、第２図
に、同平面視断面図、第３図に、同概略斜視図である。 （２）・・・・・・第１アーム、（３）・・・・・・第
２アーム、（５）・・・・・・取付台、（６）・・・・
・・作業装置、（９）・・・・・・連結部材、（２２１
・・・・・・第１ギア、（２３）・・・・・・＠２ギア
、伐９）・・・・・・第１ベベルギア、（ト）・・・・
・・第２ベベルギア、（３６１・・・・・・第８ギア、
畔・・・・・・第４ギア。FIG. 1 is a side cross-sectional view showing an embodiment of the present invention, FIG. 2 is a cross-sectional plan view thereof, and FIG. 3 is a schematic perspective view thereof. (2)...First arm, (3)...Second arm, (5)...Mounting base, (6)...
...Working device, (9)...Connecting member, (221
...1st gear, (23) ...@2 gear, cutting 9) ...1st bevel gear, (g) ...
...2nd bevel gear, (361...8th gear,
Tsune...4th gear.

Claims (1)

【特許請求の範囲】[Claims] 第ｌアーＡ　＋２１　（＋−第２アーＡ　（３１Ｖｃ、
互Ｉｔぼ直月なＭｌ及び弔２輔芯ＣＰ１）　、　ＣＦ２
）周りで帰前目狂Ｖｃ運釉し、ｆ′Ｐ粟駿匝（６）るる
いに七の取付台ｉｌｌをｆ１１］己第１アーム（２）に
前記外２軸芯（Ｐ２〕と平行な第３帽芯（Ｐ３Ｊ周りで
揺鯛目壮π理結し、９１ｊ記作采鋏直（６）あるいに七
の取付台（５）を＃Ｊ紀第２アーム＋３）　Ｋ対してＬ
ｇｌ切させる駆助茨直を設けた産業用ロボットであって
、ｕａ記駆鯛装匝において、１］ｌＪ５己第２アーム（
３）に駆鯛回帖自在に数句けた第４ギア６７と、目ｔＪ
紀第ｌアーム（２）と自ａ記第ｌ鴨芯（Ｐｌ）周りで一
体ｌ！！Ｉ粗目在な連結部材（９）に収付けｆｃ第２ギ
ア製とを投合させ、罰記第２アーム（３）Ｉｃ　［］ｌ
Ｊ　８ｅ第１１１　芯ＣＰ、）周りで駆助回帖自在に取
付けたｆｉｌベベルギアｇｅ＋と、自ｉＪ　ｂ６第ｌア
ーム（２）とＢ１１２鴨芯（Ｐ２）周りで一体回転自狂
な第２ベベルギア−旬とを収缶させ、ｆＩＯ記第記動２
軸芯２）♂回芯状ｉＣ朗配連栢部材１９１　Ｋ固有した
第８ギア（暮と、朋紀第＋３１１ｑｌｌ、δ（Ｐ３〕と
同ノロ状に１１ノ紀伊業鋏直（６）あるいにその取付台
ｔａｉｌ　Ｖｃ向有した第４ギア６７）と金吠合させで
ある産業用ロボット。1st A +21 (+-2nd A (31Vc,
Mutual It is Naotsuki Ml and Sou 2 Sukeshin CP1), CF2
) Around the return point Vc unglaze, f'P Awashunsao (6) Ruruini seven mounting base ill f11] self to the first arm (2) parallel to the two outer axes (P2) 3rd cap core (P3J is connected around P3J, and the 91j entry is made by the hook (6) or the 7th mounting base (5) #J period 2nd arm + 3) L for K
It is an industrial robot that is equipped with a driving aid that cuts the gl, and in the UA record, the second arm (
3) The fourth gear 67, which can be used several times at will, and the eye tJ
It's all about the 1st arm (2) and the 1st duck core (Pl)! ! I connect the coarse connecting member (9) with the storage fc second gear, and connect the penalty second arm (3) Ic []l
The fil bevel gear ge+, which is freely attached around the J8e 111th core CP,), and the second bevel gear, which rotates as a unit around the IJ b6 l arm (2) and the B112 duck core (P2). and the fIO record 2nd movement
Shaft core 2) ♂ rotating core iC rotary joint member 191 K-specific 8th gear (Kureto, Tomoki No. +311qll, δ (P3) and the same groove shape as 11th Kii work straight (6) or The industrial robot is fitted with a fourth gear 67) which has its mounting base facing the tail Vc.