JPH0192390U - - Google Patents

Info

Publication number
JPH0192390U
JPH0192390U JP1987187087U JP18708787U JPH0192390U JP H0192390 U JPH0192390 U JP H0192390U JP 1987187087 U JP1987187087 U JP 1987187087U JP 18708787 U JP18708787 U JP 18708787U JP H0192390 U JPH0192390 U JP H0192390U
Authority
JP
Japan
Prior art keywords
power transmission
flexible shaft
motor
movable parts
type manipulator
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
Application number
JP1987187087U
Other languages
English (en)
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed filed Critical
Priority to JP1987187087U priority Critical patent/JPH0192390U/ja
Priority to US07/282,546 priority patent/US4964503A/en
Publication of JPH0192390U publication Critical patent/JPH0192390U/ja
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Mechanical Operated Clutches (AREA)
  • Transmission Devices (AREA)
  • Flexible Shafts (AREA)
  • Manipulator (AREA)

Description

【図面の簡単な説明】
第１図はこの考案の一実施例を示す図、第２図
は動力伝達機構を示す図、第３図は第１図に示す
マニプレータの作動制御ブロツク線図、第４図は
マニプレータの操作手順を示すフローチヤート、
第５図は従来例を示す図である。 １……固定ベース、５……第１の可動プレート
、６……第１のガイド機構、１１……第２の可動
プレート、１２……第２のガイド機構、１３……
柱状部材、２０……第３のガイド機構、３１……
エンコーダ付きのサーボモータ、３２，３３，３
４……フレキシブルシヤフト、３６……ボールね
じ、３７，４１，４３……雄ねじ部材、３８，４
５……ボール雌ねじ、３９……第１の駆動機構、
４０……第２の駆動機構、４６……第３の駆動機
構、４９……モータ出力軸、５０……ドライブギ
ア、５１，５２，５３……軸、５４，５５，５６
……ドリブンギア、５７，６０，６３……クラツ
チ、５８，６１，６４……ブレーキ、５９……第
１の動力伝達機構、６２……第２の動力伝達機構
、６５……第３の動力伝達機構。

Claims (1)

  1. 【実用新案登録請求の範囲】 複数の可動部分のそれぞれを、直交座標系の所
    要の軸方向へ往復運動させる直交座標型マニプレ
    ータにおいて、 一のモータ３１を、それぞれのフレキシブルシ
    ヤフト３２，３３，３４によつて、それぞれの可
    動部分５，１１，１３の駆動機構３９，４０，４
    ６に連結するとともに、前記モータと、それぞれ
    のフレキシブルシヤフトとの間に、フレキシブル
    シヤフトへの動力の伝達を断接するとともに、フ
    レキシブルシヤフトの不測の回転を拘束する動力
    伝達機構５９，６２，６５を配設してなる直交座
    標型マニプレータ。
JP1987187087U 1987-12-10 1987-12-10 Pending JPH0192390U (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP1987187087U JPH0192390U (ja) 1987-12-10 1987-12-10
US07/282,546 US4964503A (en) 1987-12-10 1988-12-12 Manipulator using a single motor driving plural flexible shafts

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1987187087U JPH0192390U (ja) 1987-12-10 1987-12-10

Publications (1)

Publication Number Publication Date
JPH0192390U true JPH0192390U (ja) 1989-06-16

Family

ID=16199889

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1987187087U Pending JPH0192390U (ja) 1987-12-10 1987-12-10

Country Status (2)

Country Link
US (1) US4964503A (ja)
JP (1) JPH0192390U (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010069580A (ja) * 2008-09-19 2010-04-02 Kawasaki Heavy Ind Ltd ロボットハンドの駆動機構

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2727368B2 (ja) * 1990-01-04 1998-03-11 株式会社新川 Ｘｙテーブル
US5243872A (en) * 1990-04-30 1993-09-14 Kumho & Co., Inc. Robotic hand for controlling movement in multiple axes
JPH04372318A (ja) * 1991-06-19 1992-12-25 Nippon Thompson Co Ltd Ｘ，ｙ，ｚ駆動装置
US5724893A (en) * 1996-10-15 1998-03-10 Taichung Machinery Works Co. Ltd. Servo-type shaking table assembly
US6206783B1 (en) * 1998-03-06 2001-03-27 Namco Ltd. Control input device and game system
US7313982B2 (en) * 2004-07-14 2008-01-01 Track Corp. Multiple output transmission
TW201219175A (en) * 2010-11-05 2012-05-16 Hon Hai Prec Ind Co Ltd Power switching appratus
CN102615652B (zh) * 2012-04-13 2014-06-04 中国科学院合肥物质科学研究院 基于双电磁离合器的二自由度机器人关节
JP2015171746A (ja) * 2014-03-12 2015-10-01 ファナック株式会社 制動部を備えた駆動軸を有する産業用ロボット
EP3275393A4 (en) * 2015-03-25 2018-11-21 Sony Olympus Medical Solutions Inc. Medical observation device, surgical observation device, and medical observation system
JP6444958B2 (ja) * 2016-10-28 2018-12-26 ファナック株式会社 搬送用ロボット
JP6770019B2 (ja) * 2018-05-10 2020-10-14 ファナック株式会社 複数のモータが１つの動作軸を駆動する駆動装置、及び駆動装置を備えるロボット
JP7469035B2 (ja) * 2019-12-12 2024-04-16 ファナック株式会社 ロボットの関節構造
CN113729951B (zh) * 2021-10-12 2023-08-29 中南大学 手术机器人的双平行四边形初调机构

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US750370A (en) * 1904-01-26 Otto kammerer
US1822880A (en) * 1924-04-28 1931-09-15 Braun Adolf Speed controlling device for vehicles
US3006209A (en) * 1958-08-01 1961-10-31 Stromberg Carlson Tool & Die C Reversing transmission
US3406795A (en) * 1966-09-08 1968-10-22 Ferro Mfg Corp Seat adjuster control mechanism
US3547240A (en) * 1968-09-19 1970-12-15 Frank Holper Clutch means for selectively coupling a single input to one or more plural outputs
US4448381A (en) * 1980-01-14 1984-05-15 International Telephone And Telegraph Corporation Motor mount structure for vehicle seat adjustment apparatus
GB2120202A (en) * 1982-05-03 1983-11-30 Nova Robotics Inc Industrial robot
US4424045A (en) * 1982-05-24 1984-01-03 Pennwalt Corporation Rigid high speed flexible shaft casing assembly for tight radii installations
US4531884A (en) * 1982-11-15 1985-07-30 Russell Richard H Automated machine
EP0128980B1 (en) * 1983-06-16 1988-03-30 Inoue-Japax Research Incorporated Drive mechanisms for machines
JPS6080591A (ja) * 1983-10-05 1985-05-08 株式会社日立製作所 マニプレ−タ
US4606695A (en) * 1984-05-18 1986-08-19 Kurt Manufacturing Company, Inc. Multiple axis robot arm
US4765795A (en) * 1986-06-10 1988-08-23 Lord Corporation Object manipulator

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010069580A (ja) * 2008-09-19 2010-04-02 Kawasaki Heavy Ind Ltd ロボットハンドの駆動機構

Also Published As

Publication number Publication date
US4964503A (en) 1990-10-23

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