JPH0355188U - - Google Patents
Info
- Publication number
- JPH0355188U JPH0355188U JP11284489U JP11284489U JPH0355188U JP H0355188 U JPH0355188 U JP H0355188U JP 11284489 U JP11284489 U JP 11284489U JP 11284489 U JP11284489 U JP 11284489U JP H0355188 U JPH0355188 U JP H0355188U
- Authority
- JP
- Japan
- Prior art keywords
- manipulator
- cylinders
- drive
- shaft
- cables
- 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
Links
- 239000012530 fluid Substances 0.000 claims 1
- 210000000707 wrist Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
Description
第１図は本考案を多関節のマスタスレーブマニ
ピユレータに応用した一実施例の概略構造を表す
正面図、第２図はその右側面図、第３図はその基
端側の拡大一部破断図、第４図はその−矢視
断面図、第５図は第３図中の−矢視断面図、
第６図はこのマニピユレータの先端側の拡大一部
破断図、第７図はその−矢視断面図、第８図
は第６図の−矢視断面図、第９図は第６図の
−矢視断面図、第１０図はシリンダ駆動手段
の一例を表す機構概念図である。
又、図中の符号で１１……架台、１３……上腕
板、１５……下腕板、１７……操作ブラケツト、
１９……第一肩軸、２０……肩フレーム、２１…
…第二肩軸、２２……上腕ブラケツト、２３……
第三肩軸、２４，２９ａ，２９ｂ，３５，４６ａ
，４６ｂ，５２，６５，７０ａ，７０ｂ……駆動
プーリ、２５ａ，２５ｂ，３０ａ，３０ｂ，３６
ａ，３６ｂ，４７ａ，５３ａ，６６ａ，６６ｂ，
７１ａ，７１ｂ……ワイヤ、２６ａ，２６ｂ……
第一肩軸用液圧シリンダ、３１ａ，３１ｂ……第
二肩軸用液圧シリンダ、３９ａ，３９ｂ……第三
肩軸用液圧シリンダ、４３……第一肘軸、４４…
…下腕ブラケツト、４５……第二肘軸、４９ａ…
…第一肘軸用液圧シリンダ、５７……下腕アーム
、５８ａ，５８ｂ……第二肘軸用液圧シリンダ、
６２……第一手首軸、６３……ブラケツト支持枠
、６４……第二手首軸、６７ａ……第一手首軸用
液圧シリンダ、７３ａ，７３ｂ……第二手首軸用
液圧シリンダ、７７ａ，７７ｂ，８４ａ〜８７ａ
……可撓管、７８ａ，７８ｂ……駆動シリンダ、
７９……ピストンロツド、８１……ねじ軸、８２
……シヤトル板、８３……第二手首軸駆動モータ
である。
Fig. 1 is a front view showing a schematic structure of an embodiment in which the present invention is applied to a multi-joint master-slave manipulator, Fig. 2 is a right side view thereof, and Fig. 3 is an enlarged part of the proximal end side. A broken view, FIG. 4 is a sectional view taken in the direction of the - arrow, and FIG. 5 is a sectional view taken in the direction of the - arrow in FIG.
FIG. 6 is an enlarged partially cutaway view of the tip side of this manipulator, FIG. 7 is a cross-sectional view of the manipulator in the direction of the arrow, FIG. 8 is a cross-sectional view of the manipulator in the direction of the arrow in FIG. A cross-sectional view taken in the direction of arrows, and FIG. 10 is a conceptual diagram of a mechanism showing an example of a cylinder driving means. Also, the symbols in the figure are 11... mount, 13... upper arm plate, 15... lower arm plate, 17... operation bracket,
19...First shoulder axis, 20...Shoulder frame, 21...
...Second shoulder axis, 22... Upper arm bracket, 23...
Third shoulder axis, 24, 29a, 29b, 35, 46a
, 46b, 52, 65, 70a, 70b... Drive pulley, 25a, 25b, 30a, 30b, 36
a, 36b, 47a, 53a, 66a, 66b,
71a, 71b... wire, 26a, 26b...
First shoulder shaft hydraulic cylinder, 31a, 31b...Second shoulder shaft hydraulic cylinder, 39a, 39b...Third shoulder shaft hydraulic cylinder, 43...First elbow shaft, 44...
...Lower arm bracket, 45...Second elbow axis, 49a...
... Hydraulic cylinder for first elbow shaft, 57 ... Lower arm arm, 58a, 58b ... Hydraulic cylinder for second elbow shaft,
62...First wrist shaft, 63...Bracket support frame, 64...Second wrist shaft, 67a...Hydraulic cylinder for first wrist shaft, 73a, 73b...Liquid for second wrist shaft Pressure cylinder, 77a, 77b, 84a-87a
... Flexible tube, 78a, 78b ... Drive cylinder,
79...Piston rod, 81...Screw shaft, 82
. . . Shuttle plate, 83 . . . Second wrist shaft drive motor.
Claims (1)
これらの軸心が一点で交差するように配置した関
節を複数有するマニピユレータであつて、前記回
転軸に対してそれぞれ二本一組の索条の一端側を
固定状態で相互に逆向きに巻き付けると共にこれ
ら索条の他端を前記マニピユレータにそれぞれ取
付けられた二本一組の液圧シリンダに連結する一
方、それぞれ可撓管を介してこれら液圧シリンダ
に一対一で連通する二本一組の駆動シリンダを前
記マニピユレータ外に複数組配置すると共に各組
の駆動シリンダに対応してこれらをそれぞれ逆向
きに作動させる複数組のシリンダ駆動手段を設け
たことを特徴とするマニピユレータの関節駆動機
構。 A manipulator having a plurality of joints in which a plurality of rotational axes for obtaining a plurality of rotational degrees of freedom are arranged so that these axes intersect at one point, and a set of two cables is connected to each of the rotational axes. One end of these cables is fixedly wound in opposite directions, and the other end of each cable is connected to a set of two hydraulic cylinders respectively attached to the manipulator, while these fluids are supplied via flexible tubes. A plurality of sets of two drive cylinders communicating one-to-one with the pressure cylinders are arranged outside the manipulator, and a plurality of sets of cylinder drive means are provided for operating the drive cylinders in opposite directions in correspondence with each set of drive cylinders. A manipulator joint drive mechanism characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1989112844U JPH0627345Y2 (en) | 1989-09-28 | 1989-09-28 | Joint drive mechanism of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1989112844U JPH0627345Y2 (en) | 1989-09-28 | 1989-09-28 | Joint drive mechanism of manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0355188U true JPH0355188U (en) | 1991-05-28 |
| JPH0627345Y2 JPH0627345Y2 (en) | 1994-07-27 |
Family
ID=31661280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1989112844U Expired - Lifetime JPH0627345Y2 (en) | 1989-09-28 | 1989-09-28 | Joint drive mechanism of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0627345Y2 (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS512152A (en) * | 1974-06-22 | 1976-01-09 | Kubota Ltd | Sangyoyorobotsutono tekubikudosochi |
| JPS634289U (en) * | 1986-06-27 | 1988-01-12 | ||
| JPS63139680A (en) * | 1986-12-02 | 1988-06-11 | 三菱電機株式会社 | Arm drive |
-
1989
- 1989-09-28 JP JP1989112844U patent/JPH0627345Y2/en not_active Expired - Lifetime
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS512152A (en) * | 1974-06-22 | 1976-01-09 | Kubota Ltd | Sangyoyorobotsutono tekubikudosochi |
| JPS634289U (en) * | 1986-06-27 | 1988-01-12 | ||
| JPS63139680A (en) * | 1986-12-02 | 1988-06-11 | 三菱電機株式会社 | Arm drive |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0627345Y2 (en) | 1994-07-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4125513B2 (en) | Humanoid robot arm | |
| JP2577410B2 (en) | Manipulator joint mechanism | |
| CN110547945A (en) | Two-degree-of-freedom upper limb exoskeleton rehabilitation mechanism | |
| CN113084788A (en) | Rigid-flexible coupling interaction arm | |
| JP2002295623A (en) | Parallel link robot | |
| JPH0355188U (en) | ||
| CN108126320B (en) | Forearm rotary joint of rehabilitation robot | |
| CN207745190U (en) | A kind of novel operation robot main manipulator | |
| JPS6125514B2 (en) | ||
| JPH0453913Y2 (en) | ||
| CN114668494B (en) | Main manipulator for surgical robot and surgical robot system | |
| JPS6282001U (en) | ||
| JPS642171Y2 (en) | ||
| JPS5845035Y2 (en) | positioning control device | |
| JPS637510Y2 (en) | ||
| JPS6338991U (en) | ||
| JPS6277694U (en) | ||
| JPS63103991U (en) | ||
| JPS5838050Y2 (en) | Remote control device for work equipment | |
| JPH0437603U (en) | ||
| JPH05199981A (en) | Endoscope | |
| JPH0326487U (en) | ||
| JPH01153905U (en) | ||
| JPH02140034U (en) | ||
| JPH0251086U (en) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |