| 摘要 |
PROBLEM TO BE SOLVED: To provide an industrial robot for reducing cost by simplifying a robot structure, by using a structure for connecting a plurality of joint devices in series for connecting mutual adjacent links via a speed reducer. SOLUTION: This industrial robot adopts a joint structure for directly joining a speed reducer of a one-stage speed reduction structure to a servomotor for a rotary body, a lower arm and respective joints of the lower arm and an upper arm of a vertical articulated robot. An input shaft 2 of the speed reducer 10 directly joined to an output shaft of the servomotor 1 installed in a first member, is a cranksaft for constituting a cam, and external teeth gears 3a, 3b and 3c engage with respective cam surfaces. When the input shaft 2 rotates, the external teeth gears 3a, 3b and 3c eccentrically rock, and revolve and rotate while meshing with an internal teeth gear 4 arranged inside a case 5 of the speed reducer 10. Rotation is taken out by a plurality of pin members 6 engaging with the external teeth gears 3a, 3b and 3c, and is transmitted to the output shaft 7 of the speed reducer 10, and relatively rotates a second member to the first member 8. COPYRIGHT: (C)2005,JPO&NCIPI |
