JPS62188383U - - Google Patents

Description

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

第１図および第２図は本考案の実施例の構成を
示す図であつて、第１図はその正断面図、第２図
は第１図に示す手首機構の部材が相対回転した状
態を示す正面図、第３図〜第５図は従来の手首機
構を示す図であつて、第３図はその正面図、第４
図は第３図に示す手首機構の部材が相対回転した
状態を示す正面図、第５図は手首機構の問題点を
説明するための図である。 ３０……第１端部材、３０ａ……開口部、３２
……中央部材、３２ａ，３２ｂ……開口部、３４
……第２端部材、３４ｂ……開口部、３０Ａ，３
２Ａ，３４Ａ……軸線。 1 and 2 are views showing the configuration of an embodiment of the present invention, in which FIG. 1 is a front sectional view thereof, and FIG. 2 is a state in which the members of the wrist mechanism shown in FIG. 1 are relatively rotated. 3 to 5 are views showing a conventional wrist mechanism, and FIG. 3 is a front view thereof, and FIG.
This figure is a front view showing a state in which the members of the wrist mechanism shown in FIG. 3 are relatively rotated, and FIG. 5 is a diagram for explaining the problem of the wrist mechanism. 30...first end member, 30a...opening, 32
...Central member, 32a, 32b...Opening, 34
...Second end member, 34b...Opening, 30A, 3
2A, 34A...axis line.

Claims (1)

【実用新案登録請求の範囲】 中央部材とその両端側の第１、第２端部材とか
らなる筒状の３部材を直列に相対回転するように
設けてなり、 前記中央部材および第１、第２端部材は、軸線
が円弧の一部をなすようにそれぞれ湾曲した形状
に形成され、かつ、前記第１端部材と中央部材と
の対向する開口部、および第２端部材と中央部材
との対向する開口部を含む平面をこれら３部材の
各軸線に対して直交する方向に向けて配置してな
ることを特徴とする手首機構。[Claims for Utility Model Registration] Three cylindrical members consisting of a central member and first and second end members on both ends of the central member are provided in series so as to rotate relative to each other, the central member and the first and second end members The two end members are each formed in a curved shape so that their axes form part of a circular arc, and have openings that face each other between the first end member and the central member, and an opening between the second end member and the central member. A wrist mechanism characterized in that planes including opposing openings are arranged in a direction perpendicular to the respective axes of these three members.