JPH01138686U - - Google Patents
Info
- Publication number
- JPH01138686U JPH01138686U JP3527788U JP3527788U JPH01138686U JP H01138686 U JPH01138686 U JP H01138686U JP 3527788 U JP3527788 U JP 3527788U JP 3527788 U JP3527788 U JP 3527788U JP H01138686 U JPH01138686 U JP H01138686U
- Authority
- JP
- Japan
- Prior art keywords
- hand
- drive device
- vertically movable
- industrial robot
- boss member
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000003028 elevating effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 1
Description
図面は本考案の実施例を示すもので、第１図は
ハンド駆動装置の概略的な断面図である。第２図
は制御回路図である。第３図は他の実施例のハン
ド駆動装置の概略的な断面図である。
１……ハンド駆動装置、３……アーム、５，１
０１……ナツト部材、７，１２３……ボス部材、
１９……昇降軸、９３……ボールねじ、１０３…
…スプライン軸、３７……第１クラツチ装置、４
５……第２クラツチ装置、３９……第１ブレーキ
装置、４７……第２ブレーキ装置、９１……第１
クラツチ・ブレーキ、１１５……第２クラツチブ
レーキ、２１……ハンド。
The drawings show an embodiment of the present invention, and FIG. 1 is a schematic cross-sectional view of a hand drive device. FIG. 2 is a control circuit diagram. FIG. 3 is a schematic cross-sectional view of a hand drive device according to another embodiment. 1...Hand drive device, 3...Arm, 5,1
01...Nut member, 7,123...Boss member,
19... Lifting shaft, 93... Ball screw, 103...
...Spline shaft, 37...First clutch device, 4
5...Second clutch device, 39...First brake device, 47...Second brake device, 91...First
Clutch brake, 115...Second clutch brake, 21...Hand.
Claims (1)
して、ロボツトのアームにナツト部材とボス部材
をそれぞれ回転自在に設けると共に上下方向に直
列に配設して設け、ナツト部材にボールねじ及び
スプライン輪を一体化した昇降軸を上下動自在に
螺合して設けると共に、ボス部材に前記昇降軸を
上下動自在に係合して設け、ナツト部材に及びボ
ス部材を、それぞれクラツチ装置を介して共通の
制御モータに接続自在に設けると共に、それぞれ
ブレーキ装置を介して固定自在に設け、かつ昇降
軸にワークを把持するハンドを設けてなることを
特徴とする産業用ロボツトにおけるハンド駆動装
置。 (2) 産業用ロボツトにおけるハンド駆動装置に
して、ナツト部材とボス部材とを設け、ナツト部
材にボールねじを相対的に上下動自在に螺合して
設けると共に、ボス部材にスプライン軸を相対的
に上下動自在に係合して設け、ナツト部材或はボ
ールねじ及びボス部材或はスプライン軸をそれぞ
れクラツチ装置を介して共通の制御モータに接続
自在に設けると共に、それぞれブレーキ装置を介
して固定自在に設け、かつスプライン軸或はボー
ルねじにワークを把持するハンドを設けてなるこ
とを特徴とする産業用ロボツトにおけるハンド駆
動装置。[Scope of Claim for Utility Model Registration] (1) A hand drive device for an industrial robot, in which a nut member and a boss member are rotatably provided on the arm of the robot and arranged vertically in series; A vertically movable vertically movable vertical shaft is screwed onto the base member, and the vertically movable vertically movable vertical shaft is engaged with the boss member. A hand for an industrial robot, characterized in that the hand is connectable to a common control motor via a clutch device, is fixed via a brake device, and is provided with a hand for gripping a workpiece on an elevating shaft. Drive device. (2) As a hand drive device for an industrial robot, a nut member and a boss member are provided, a ball screw is screwed into the nut member so as to be able to move up and down relatively, and a spline shaft is relatively attached to the boss member. A nut member or a ball screw and a boss member or a spline shaft are respectively provided so as to be freely connected to a common control motor via a clutch device, and each can be freely fixed via a brake device. 1. A hand drive device for an industrial robot, characterized in that the hand is provided on a spline shaft or a ball screw for gripping a workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3527788U JPH01138686U (en) | 1988-03-18 | 1988-03-18 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3527788U JPH01138686U (en) | 1988-03-18 | 1988-03-18 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01138686U true JPH01138686U (en) | 1989-09-21 |
Family
ID=31261934
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3527788U Pending JPH01138686U (en) | 1988-03-18 | 1988-03-18 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01138686U (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS569189A (en) * | 1979-06-27 | 1981-01-30 | Hitachi Ltd | Simple robot |
| JPS61173875A (en) * | 1985-01-24 | 1986-08-05 | アデプト テクノロジ− インコ−ポレ−テツド | Direct drive robot |
| JPS62224592A (en) * | 1986-03-26 | 1987-10-02 | フアナツク株式会社 | Wrist mechanism of industrial robot |
-
1988
- 1988-03-18 JP JP3527788U patent/JPH01138686U/ja active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS569189A (en) * | 1979-06-27 | 1981-01-30 | Hitachi Ltd | Simple robot |
| JPS61173875A (en) * | 1985-01-24 | 1986-08-05 | アデプト テクノロジ− インコ−ポレ−テツド | Direct drive robot |
| JPS62224592A (en) * | 1986-03-26 | 1987-10-02 | フアナツク株式会社 | Wrist mechanism of industrial robot |
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