To miniaturize an actuator by reducing the weight of a tip side part of a robot arm.
This robot arm 1 includes a structure in which the bending operation is conducted by link members connected to each other by a rotatable joint part. A driving motor and a driven joint part are disposed with the joint part interposed between them. The driving motor and the driven joint part are connected to each other by a wire. The robot arm is provided with two wire guide pulleys 59a, 59b for guiding the wire to the bending shafts 56, 57 of the joint part. The wire is distributed to the bending inside and outside to be wound. Accordingly, the weight at the forward end side of the robot arm can be reduced to miniaturize the actuator. Further, the driving load and play angle of the joint mechanism can be optimized. Further, a cover is put on the mechanism part to prevent the human body from entering the joint mechanism.
TAJIMA FUJIO
HOSODA YUJI
| JP2004122286A | 2004-04-22 | |||
| JPS51107784U | 1976-08-28 | |||
| JPH0874972A | 1996-03-19 | |||
| JPH03111194A | 1991-05-10 |