JPH0355182U - - Google Patents

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Publication number
JPH0355182U
JPH0355182U JP11478089U JP11478089U JPH0355182U JP H0355182 U JPH0355182 U JP H0355182U JP 11478089 U JP11478089 U JP 11478089U JP 11478089 U JP11478089 U JP 11478089U JP H0355182 U JPH0355182 U JP H0355182U
Authority
JP
Japan
Prior art keywords
view
movement mechanism
assembly robot
reducer
joint module
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.)
Granted
Application number
JP11478089U
Other languages
Japanese (ja)
Other versions
JP2516835Y2 (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 JP1989114780U priority Critical patent/JP2516835Y2/en
Publication of JPH0355182U publication Critical patent/JPH0355182U/ja
Application granted granted Critical
Publication of JP2516835Y2 publication Critical patent/JP2516835Y2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Description

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本考案の組立用ロボツトの全体斜視図
、第２図は走行方向移動機構によつて移動される
部分をハツチで示した組立用ロボツトの斜視図、
第３図は横行方向移動機構によつて移動される部
分をハツチで示した組立用ロボツトの斜視図、第
４図は昇降機構によつて移動される部分をハツチ
で示した組立用ロボツトの斜視図、第５図は走行
用移動機構とその近傍の斜視図、第６図は走行用
移動機構とその近傍の平面図、第７図は横行用移
動機構と昇降機構の側面図、第８図は横行用移動
機構と昇降機構の平面図、第９図は手首機構の正
面図、第１０図から第１４図までは、各々、手首
機構がとり得る配置の例を示す斜視図、第１５図
は組立用ロボツトの位置、姿勢の解析のためのモ
デル図、第１６図は本考案の組立用ロボツトを用
いて大物艤装部品を自動車ボデーに組付けるとき
の斜視図、第１７図は従来技術としての、Ｚｐ軸
一端に駆動部が集中され、Ｚｐ軸、手首機構内部
を通して駆動力が伝達される組立用ロボツトの斜
視図、である。 １……組立用ロボツト、２……直線移動機構、
２Ａ……走行方向移動機構、２Ｂ……横行方向移
動機構、２Ｃ……昇降機構、３……手首機構、３
Ａ……第１の関節モジユール、３Ｂ……第２の関
節モジユール、３Ｃ……第３の関節モジユール。 FIG. 1 is an overall perspective view of the assembly robot of the present invention, and FIG. 2 is a perspective view of the assembly robot in which the parts moved by the traveling direction movement mechanism are shown with hatches.
Fig. 3 is a perspective view of the assembly robot in which the parts moved by the transverse direction movement mechanism are indicated by hatches, and Fig. 4 is a perspective view of the assembly robot in which the parts moved by the elevating mechanism are indicated by hatches. Figure 5 is a perspective view of the traveling moving mechanism and its vicinity, Figure 6 is a plan view of the traveling moving mechanism and its vicinity, Figure 7 is a side view of the traversing moving mechanism and lifting mechanism, and Figure 8 9 is a front view of the wrist mechanism, FIGS. 10 to 14 are perspective views showing examples of possible arrangements of the wrist mechanism, and FIG. 15 is a plan view of the traverse movement mechanism and the elevating mechanism. 16 is a model diagram for analyzing the position and posture of an assembly robot, FIG. 16 is a perspective view of assembling large equipment parts to an automobile body using the assembly robot of the present invention, and FIG. 17 is a diagram of a conventional technology. FIG. 2 is a perspective view of an assembly robot in which the drive unit is concentrated at one end of the Zp axis and the driving force is transmitted through the Zp axis and the inside of the wrist mechanism. 1... Assembly robot, 2... Linear movement mechanism,
2A... Traveling direction movement mechanism, 2B... Traverse direction movement mechanism, 2C... Lifting mechanism, 3... Wrist mechanism, 3
A...first joint module, 3B...second joint module, 3C...third joint module.

Claims (1)

【実用新案登録請求の範囲】 動作方向が互いに直交する直線移動機構と、該
直線移動機構に取付けられ複数の関節モジユール
を有する手首機構とで構成され、 各関節モジユールは、そのモータ、減速機、出
力軸が同軸とされたセミダイレクトドライブ方式
に構成され、各関節モジユールのモータ、減速機
は前段構造にＬ字型の支持部材を介して支持され
ている、 ことを特徴とする組立用ロボツト。[Claims for Utility Model Registration] Consisting of a linear movement mechanism whose operating directions are orthogonal to each other, and a wrist mechanism attached to the linear movement mechanism and having a plurality of joint modules, each joint module has its motor, reducer, An assembly robot characterized in that it is configured in a semi-direct drive system with coaxial output shafts, and the motor and reducer of each joint module are supported by an L-shaped support member in a preceding stage structure.
JP1989114780U 1989-10-02 1989-10-02 Assembly robot Expired - Lifetime JP2516835Y2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1989114780U JP2516835Y2 (en) 1989-10-02 1989-10-02 Assembly robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1989114780U JP2516835Y2 (en) 1989-10-02 1989-10-02 Assembly robot

Publications (2)

Publication Number Publication Date
JPH0355182U true JPH0355182U (en) 1991-05-28
JP2516835Y2 JP2516835Y2 (en) 1996-11-13

Family

ID=31663129

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1989114780U Expired - Lifetime JP2516835Y2 (en) 1989-10-02 1989-10-02 Assembly robot

Country Status (1)

Country Link
JP (1) JP2516835Y2 (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996031324A1 (en) * 1995-04-05 1996-10-10 Ken Yanagisawa Robot
JP2005014097A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Industrial robot arm
JP2005014101A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Wrist mechanism of industrial robot
JP2005014104A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp End effector for industrial robot
JP2005014099A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Wrist mechanism of industrial robot
JP2005014103A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Industrial robot
JP2005014098A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Wrist mechanism of industrial robot
JP2005014105A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Industrial robot
JP2005014100A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Wrist mechanism of industrial robot
JP2005014102A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Wrist device for industrial robot
JP2005131565A (en) * 2003-10-31 2005-05-26 Akusu Kyoto:Kk Filtration apparatus for muddy water
JP2006200133A (en) * 2005-01-18 2006-08-03 Yada Sangyo Kk Rainwater filter device
WO2008029448A1 (en) * 2006-09-05 2008-03-13 Hirata Corporation Orthogonal drive device

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60232896A (en) * 1984-04-30 1985-11-19 ウエスチングハウス　エレクトリック　コ−ポレ−ション Wrist for robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60232896A (en) * 1984-04-30 1985-11-19 ウエスチングハウス　エレクトリック　コ−ポレ−ション Wrist for robot

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996031324A1 (en) * 1995-04-05 1996-10-10 Ken Yanagisawa Robot
JP2005014097A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Industrial robot arm
JP2005014101A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Wrist mechanism of industrial robot
JP2005014104A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp End effector for industrial robot
JP2005014099A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Wrist mechanism of industrial robot
JP2005014103A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Industrial robot
JP2005014098A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Wrist mechanism of industrial robot
JP2005014105A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Industrial robot
JP2005014100A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Wrist mechanism of industrial robot
JP2005014102A (en) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Wrist device for industrial robot
JP2005131565A (en) * 2003-10-31 2005-05-26 Akusu Kyoto:Kk Filtration apparatus for muddy water
JP2006200133A (en) * 2005-01-18 2006-08-03 Yada Sangyo Kk Rainwater filter device
WO2008029448A1 (en) * 2006-09-05 2008-03-13 Hirata Corporation Orthogonal drive device

Also Published As

Publication number Publication date
JP2516835Y2 (en) 1996-11-13

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Legal Events

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EXPY Cancellation because of completion of term