| 摘要 |
A joint structure is employed for an articulated type robot in which a speed reducer of one-stage speed reducing structure and a servo motor are directly connected to each other for the joint of the rotary base B 1 and the lower arm A 1 and for the joint of the lower arm A 1 and the upper arm A 2 . The input shaft 2 of the speed reducer 10 directly connected to the output shaft of the servo motor 1 attached to the first member 8 (B 1 /A 2 ) is a crank shaft composing a cam, and the external gears 3 a, 3 b, 3 c are meshed with the cam surfaces. When the servo motor 1 is driven and the input shaft 2 is rotated, the external gears 3 a, 3 b, 3 c are eccentrically revolved and rotated while the external gears 3 a, 3 b, 3 c are meshed with the internal gear 4 provided inside the case 5 of the speed reducer 10 . The rotation is taken out by a plurality of pin members 6 engaged to the external gears 3 a, 3 b, 3 c and transmitted to the output shaft 7 of the speed reducer 10 . Therefore, the second member 9 (A 1 ) is relatively pivoted with respect to the first member 8 . Due to the foregoing, the robot structure in which a plurality of joint devices for connecting the adjoining links via the speed reducer are connected in series to each other can be simplified. |
