JPH0329286U - - Google Patents
Info
- Publication number
- JPH0329286U JPH0329286U JP9013289U JP9013289U JPH0329286U JP H0329286 U JPH0329286 U JP H0329286U JP 9013289 U JP9013289 U JP 9013289U JP 9013289 U JP9013289 U JP 9013289U JP H0329286 U JPH0329286 U JP H0329286U
- Authority
- JP
- Japan
- Prior art keywords
- hydraulic
- joint
- wrist
- fixed
- flow path
- 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
- 210000000707 wrist Anatomy 0.000 claims description 4
- 210000003857 wrist joint Anatomy 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 1
Description
第１図はこの考案の実施例を示す断面図、第２
図は従来のロボツトの腕部の構造を示す概略構成
図である。
１……モータ、２，３，４……平歯車、５，６
……傘歯車、７……油圧モータ、８……油圧ホー
ス、９……手首固定フレーム、１１……油圧固定
継手、１２……油圧回転継手、１６……流路、２
０……垂直流路、２１……水平流路。
Figure 1 is a sectional view showing an embodiment of this invention, Figure 2 is a sectional view showing an embodiment of this invention.
The figure is a schematic diagram showing the structure of the arm of a conventional robot. 1... Motor, 2, 3, 4... Spur gear, 5, 6
... Bevel gear, 7 ... Hydraulic motor, 8 ... Hydraulic hose, 9 ... Wrist fixed frame, 11 ... Hydraulic fixed joint, 12 ... Hydraulic rotary joint, 16 ... Channel, 2
0... Vertical channel, 21... Horizontal channel.
Claims (1)
付けられる手首関節部において、 前記下腕側端部の手首固定フレームに配設され
、手首先端部を回転させる回転機構部と、前記手
首固定フレームに固定され、油圧ホースに接続さ
れた流路を有する油圧固定継手と、前記回転機構
部に連結され、前記油圧固定継手に回転自在に嵌
合されるとともに、前記流路と連通状態となる流
路が形成された油圧回転継手と、この油圧回転継
手に固定され、油圧回転継手の流路を介して供給
される油圧力で駆動される油圧モータとを備えた
ことを特徴とするロボツトの手首関節装置。[Claims for Utility Model Registration] In a wrist joint that is rotatably attached to the lower arm side end of the arm of a robot, the wrist joint is arranged on a wrist fixing frame at the lower arm side end and rotates the wrist tip. a rotation mechanism, a hydraulic fixed joint fixed to the wrist fixed frame and having a flow path connected to a hydraulic hose; connected to the rotation mechanism and rotatably fitted to the hydraulic fixed joint; A hydraulic rotary joint in which a flow path communicating with the flow path is formed, and a hydraulic motor fixed to the hydraulic rotary joint and driven by hydraulic pressure supplied through the flow path of the hydraulic rotary joint. A robot wrist joint device characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9013289U JPH0329286U (en) | 1989-07-31 | 1989-07-31 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9013289U JPH0329286U (en) | 1989-07-31 | 1989-07-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0329286U true JPH0329286U (en) | 1991-03-22 |
Family
ID=31639671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9013289U Pending JPH0329286U (en) | 1989-07-31 | 1989-07-31 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0329286U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011527641A (en) * | 2008-05-09 | 2011-11-04 | ベイア | Humanoid robot with ball and socket joints |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60242985A (en) * | 1984-05-17 | 1985-12-02 | システムエンジニアリング株式会社 | Robot arm |
-
1989
- 1989-07-31 JP JP9013289U patent/JPH0329286U/ja active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60242985A (en) * | 1984-05-17 | 1985-12-02 | システムエンジニアリング株式会社 | Robot arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011527641A (en) * | 2008-05-09 | 2011-11-04 | ベイア | Humanoid robot with ball and socket joints |