JPH042588U - - Google Patents
Info
- Publication number
- JPH042588U JPH042588U JP4062590U JP4062590U JPH042588U JP H042588 U JPH042588 U JP H042588U JP 4062590 U JP4062590 U JP 4062590U JP 4062590 U JP4062590 U JP 4062590U JP H042588 U JPH042588 U JP H042588U
- Authority
- JP
- Japan
- Prior art keywords
- manipulator
- hand
- shaft
- axial direction
- drive motor
- 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
- 230000005540 biological transmission Effects 0.000 claims 1
- 239000013013 elastic material Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 1
Description
第１図は本考案の一実施例に係るコンプライア
ンス機構の縦断面図、第２図はハンド部の他の例
の断面図、第３図、第４図、第５図は本考案の作
用の説明図である。
図面中、８は駆動モータ、２０はスプライン機
構、１７，２３は自在継手部、２５はマニピユレ
ータハンドシヤフト、２７はゴム状弾性体、２９
はマニピユレータハンド、３０はツマミ駆動桿、
４２はツマミである。
Fig. 1 is a longitudinal sectional view of a compliance mechanism according to an embodiment of the present invention, Fig. 2 is a sectional view of another example of the hand portion, and Figs. It is an explanatory diagram. In the drawing, 8 is a drive motor, 20 is a spline mechanism, 17 and 23 are universal joints, 25 is a manipulator handshaft, 27 is a rubber-like elastic body, and 29
is the manipulator hand, 30 is the knob drive rod,
42 is a knob.
Claims (1)
ミ等を回転操作するマニピユレータハンドのマニ
ピユレータハンドシヤフトを軸方向に滑動自在に
支持し、マニピユレータハンドの駆動力伝達系に
おけるマニピユレータハンドシヤフト側と駆動モ
ータ側にそれぞれ自在継手を設け、これら自在継
手間に、軸方向にばね力を付与したスプライン軸
及びその軸受を設け、さらに前記マニピユレータ
ハンドシヤフトとマニピユレータハウジングとの
間に弾性材を介在させたことを特徴とするマニピ
ユレータのコンプライアンス機構。 A manipulator hand in a drive force transmission system of a manipulator hand that supports the manipulator hand shaft of a manipulator hand that rotates a knob or the like to be operated by the power of a drive motor so as to be slidable in the axial direction. Universal joints are provided on the shaft side and the drive motor side, and between these universal joints, a spline shaft to which a spring force is applied in the axial direction and its bearing is provided, and further between the manipulator handshaft and the manipulator housing. A compliance mechanism for a manipulator characterized by interposing an elastic material between the two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4062590U JPH042588U (en) | 1990-04-18 | 1990-04-18 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4062590U JPH042588U (en) | 1990-04-18 | 1990-04-18 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH042588U true JPH042588U (en) | 1992-01-10 |
Family
ID=31550574
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4062590U Pending JPH042588U (en) | 1990-04-18 | 1990-04-18 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH042588U (en) |
-
1990
- 1990-04-18 JP JP4062590U patent/JPH042588U/ja active Pending