Title:
ROBOT
Document Type and Number:
Japanese Patent JPH01183391
Kind Code:
A
Abstract:
PURPOSE:To simplify and miniaturize the shape of articulated parts by making the rotating shafts of motors, which drive the arms of motors, concentrically with each other and providing the robot structure such that the torque is transferred to each corresponding arm, penetrating the inside of other arms. CONSTITUTION:Motors 10-12, which give power to the tips of arms 1, 2, are arranged at the base part 13 in such a manner that they are placed along a common rotating center axis. Rotating shafts 10a-12a of these motors 10-12 are arranged in concentric structure. On the other hand, the torque of the motors 10-12 is transferred to the tips of the corresponding arms 1, 2 by means of 2 power transmitting mechanism, which is connected to the rotating shafts 10a-12a, and which penetrates the inside of arms 1 and 2, thereby operating the arms 1 and 2. If the motors 10-12 are arranged in the base part like this, all that should be done is only to arrange power transmitting mechanism parts like a gear or the like to articulated parts 4 and 6. The articulated parts 4 and 6, thus, can be simplified and miniaturized.
Inventors:
ISHIKAWA HITOSHI
Application Number:
JP362788A
Publication Date:
July 21, 1989
Filing Date:
January 11, 1988
Export Citation:
Assignee:
KOMATSU MFG CO LTD
International Classes:
B25J17/02; B25J9/12; (IPC1-7): B25J17/02
Attorney, Agent or Firm:
Kimura Takahisa
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