| 摘要 |
PURPOSE: A vertical articulated robot is provided to work forward and backward without 1-axis rotation, and to minimize installation space by combining a three-axis link with a two-axis link, and separating a three-axis driving motor from a three-axis rotational center. CONSTITUTION: A two-axis link(104) is connected to a three-axis link(109) in series, and a three-axis driving motor(102) separated from the three-axis rotational center and a three-axis reducer(105) are combined with the two-axis link. Power is transmitted from the three-axis driving motor to the three-axis reducer through pulleys(106,107) and a belt(108). Rotation of a two-axis driving motor is transmitted to the two-axis link through a two-axis reducer. The three-axis driving motor rotates the pulley connected to the three-axis reducer through the pulley and the timing belt by rotation. The rotation of the pulley connected to the three-axis reducer is transmitted to an input end of the three-axis reducer to rotate the three-axis link. The vertical articulated robot works forward and backward without 1-axis rotation by connecting the two-axis and the three-axis in series.
|
