JPH0413285U - - Google Patents
Info
- Publication number
- JPH0413285U JPH0413285U JP5136090U JP5136090U JPH0413285U JP H0413285 U JPH0413285 U JP H0413285U JP 5136090 U JP5136090 U JP 5136090U JP 5136090 U JP5136090 U JP 5136090U JP H0413285 U JPH0413285 U JP H0413285U
- Authority
- JP
- Japan
- Prior art keywords
- output shaft
- angle
- abutting part
- rotation
- actuator
- 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
Description
第１図は本考案になるアクチユエータの第１実
施例が適用された工業用ロボツトの斜視図、第２
図、第３図は本考案の要部を示す側面図、横断面
図、第４図Ａ，Ｂ，Ｃは夫々第３図中Ａ−Ａ線、
Ｂ−Ｂ線、Ｃ−Ｃ線に沿う断面図、第５図はラツ
クとピニオンを示す拡大図、第６図は本考案の第
２実施例の側面図、第７図は本考案の第３実施例
の側面図、第８図は第７図中−線に沿う横断
面図である。
１……工業用ロボツト、３……基台、４……旋
回ベース、５……支柱、６……アーム、１０……
アーム駆動アクチユエータ、１１……水平リンク
、１２……垂直リンク、１８……アーム駆動用モ
ータ、１９……減速機、２０……出力軸、２１，
３１，４１……回動角度変更機構、２２……当接
部材、２４，３３，３４……ストツパ、２５ａ〜
２５ｄ……ガイドピン、２４Ａ１〜２４Ａ３，２
４Ａ１′〜２４Ａ３′，３３ａ，３４ａ……当接
部、２６，３５，３６……ピニオン、２７……ロ
ツクピン、４３ａ〜４３ｆ……エアシリンダ。
Fig. 1 is a perspective view of an industrial robot to which the first embodiment of the actuator of the present invention is applied;
Figures 3 and 3 are side views and cross-sectional views showing the main parts of the present invention, Figures 4A, B, and C are lines A-A in Figure 3, respectively.
5 is an enlarged view showing the rack and pinion, FIG. 6 is a side view of the second embodiment of the present invention, and FIG. 7 is the third embodiment of the present invention. A side view of the embodiment, FIG. 8 is a cross-sectional view taken along the line -- in FIG. 1...Industrial robot, 3...Base, 4...Swivel base, 5...Strut, 6...Arm, 10...
Arm drive actuator, 11...Horizontal link, 12...Vertical link, 18...Arm drive motor, 19...Reduction gear, 20...Output shaft, 21,
31, 41... Rotation angle changing mechanism, 22... Contact member, 24, 33, 34... Stopper, 25a~
25d... Guide pin, 24A 1 to 24A 3 , 2
4A1 ' to 24A3 ', 33a, 34a... Contact portion, 26, 35, 36... Pinion, 27... Lock pin, 43a to 43f... Air cylinder.
Claims (1)
出する突出部が当接する当接部を有し、該当接部
を任意の位置で前記突出部に当接させることによ
り、前記出力軸の回動角度を任意の角度範囲に変
更する回動角度変更手段を具備してなるアクチユ
エータ。 The rotationally driven output shaft has an abutting part with which a radially protruding protrusion abuts, and by bringing the abutting part into contact with the protruding part at an arbitrary position, rotation of the output shaft is achieved. An actuator comprising a rotation angle changing means for changing the angle to an arbitrary angle range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5136090U JPH0413285U (en) | 1990-05-17 | 1990-05-17 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5136090U JPH0413285U (en) | 1990-05-17 | 1990-05-17 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0413285U true JPH0413285U (en) | 1992-02-03 |
Family
ID=31570734
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5136090U Pending JPH0413285U (en) | 1990-05-17 | 1990-05-17 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0413285U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4892150U (en) * | 1972-02-03 | 1973-11-06 | ||
| JPS4942697U (en) * | 1972-07-18 | 1974-04-15 | ||
| WO2005032772A1 (en) * | 2003-10-03 | 2005-04-14 | Matsushita Electric Industrial Co., Ltd. | Origin adjusting device of industrial robot |
| JP2013233642A (en) * | 2012-04-11 | 2013-11-21 | Sanwa Giken Kk | Balancer device for holding machine and tool |
| JP2015147286A (en) * | 2014-02-10 | 2015-08-20 | 株式会社アイエイアイ | actuator and robot |
| JP2015535495A (en) * | 2012-11-26 | 2015-12-14 | サウジ アラビアン オイル カンパニー | External surface inspection robot with flange overpass mechanism |
| JP2017158645A (en) * | 2016-03-07 | 2017-09-14 | トヨタ自動車株式会社 | Motion assist device |
| JP2019098463A (en) * | 2017-12-01 | 2019-06-24 | ファナック株式会社 | Robot having stopper |
| JP2019520227A (en) * | 2016-07-07 | 2019-07-18 | ユニバーサル シティ スタジオズ リミテッド ライアビリティ カンパニー | Movable hard stops for robot components |
| WO2020075419A1 (en) * | 2018-10-11 | 2020-04-16 | ソニー株式会社 | Control device, control method, and control program |
| WO2021044477A1 (en) * | 2019-09-02 | 2021-03-11 | ヤマハ発動機株式会社 | Robot origin point setting device and method |
| WO2022209984A1 (en) * | 2021-03-30 | 2022-10-06 | 株式会社ソニー・インタラクティブエンタテインメント | Joint mechanism and multi-joint device |
-
1990
- 1990-05-17 JP JP5136090U patent/JPH0413285U/ja active Pending
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4892150U (en) * | 1972-02-03 | 1973-11-06 | ||
| JPS4942697U (en) * | 1972-07-18 | 1974-04-15 | ||
| WO2005032772A1 (en) * | 2003-10-03 | 2005-04-14 | Matsushita Electric Industrial Co., Ltd. | Origin adjusting device of industrial robot |
| JP2013233642A (en) * | 2012-04-11 | 2013-11-21 | Sanwa Giken Kk | Balancer device for holding machine and tool |
| JP2015535495A (en) * | 2012-11-26 | 2015-12-14 | サウジ アラビアン オイル カンパニー | External surface inspection robot with flange overpass mechanism |
| JP2015147286A (en) * | 2014-02-10 | 2015-08-20 | 株式会社アイエイアイ | actuator and robot |
| JP2017158645A (en) * | 2016-03-07 | 2017-09-14 | トヨタ自動車株式会社 | Motion assist device |
| JP2019520227A (en) * | 2016-07-07 | 2019-07-18 | ユニバーサル シティ スタジオズ リミテッド ライアビリティ カンパニー | Movable hard stops for robot components |
| JP2020073298A (en) * | 2016-07-07 | 2020-05-14 | ユニバーサル シティ スタジオズ リミテッド ライアビリティ カンパニー | Movable hardstop for robotic component |
| CN111716386A (en) * | 2016-07-07 | 2020-09-29 | 环球城市电影有限责任公司 | Movable hard stop for a robotic component |
| EP3481602B1 (en) * | 2016-07-07 | 2023-09-06 | Universal City Studios LLC | Movable hardstop for a robotic component |
| CN111716386B (en) * | 2016-07-07 | 2023-09-26 | 环球城市电影有限责任公司 | Movable hard stop for robotic components |
| EP4260990A3 (en) * | 2016-07-07 | 2024-01-24 | Universal City Studios LLC | Movable hardstop for a robotic component |
| JP2019098463A (en) * | 2017-12-01 | 2019-06-24 | ファナック株式会社 | Robot having stopper |
| US10877508B2 (en) | 2017-12-01 | 2020-12-29 | Fanuc Corporation | Robot including stopper |
| WO2020075419A1 (en) * | 2018-10-11 | 2020-04-16 | ソニー株式会社 | Control device, control method, and control program |
| WO2021044477A1 (en) * | 2019-09-02 | 2021-03-11 | ヤマハ発動機株式会社 | Robot origin point setting device and method |
| JPWO2021044477A1 (en) * | 2019-09-02 | 2021-03-11 | ||
| WO2022209984A1 (en) * | 2021-03-30 | 2022-10-06 | 株式会社ソニー・インタラクティブエンタテインメント | Joint mechanism and multi-joint device |