JPH0438389U - - Google Patents
Info
- Publication number
- JPH0438389U JPH0438389U JP8151490U JP8151490U JPH0438389U JP H0438389 U JPH0438389 U JP H0438389U JP 8151490 U JP8151490 U JP 8151490U JP 8151490 U JP8151490 U JP 8151490U JP H0438389 U JPH0438389 U JP H0438389U
- Authority
- JP
- Japan
- Prior art keywords
- axis
- rotating shaft
- tool
- attached
- shaft
- 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
Description
第１図は本考案の実施例を示す側面図、第２図
は第１図における一部正面図である。
１……ベース、２……第１回転軸、３……第１
アーム、４……第２回転軸、５……第２アーム、
６……工具取付アーム、７……作業工具、８……
ツール軸、９……ブラケツト、１０……距離セン
サー、１１……支持棒、１２……ワーク。
FIG. 1 is a side view showing an embodiment of the present invention, and FIG. 2 is a partial front view of FIG. 1. 1... Base, 2... First rotating shaft, 3... First
Arm, 4... second rotation axis, 5... second arm,
6... Tool mounting arm, 7... Work tool, 8...
Tool axis, 9...Bracket, 10...Distance sensor, 11...Support rod, 12...Work.
Claims (1)
アームを取り付け、該第１アームに回転自在で、
かつその軸線が前記第１回転軸の軸線と直交する
よう第２回転軸を取り付け、該第２回転軸に取り
付けられた第２アームの先端部に、その軸線が第
２アームの軸線と直交し、かつ第１回転軸の軸線
と交わるようツール軸を配置するとともに、前記
第１回転軸および第２回転軸の各々に回転駆動源
を配置した球面作業ロボツトに於て、前記ツール
軸に作業工具を取り付けるとともに、ツール軸を
通る平面内のツール軸近傍部にオフセツトして距
離センサーを前記第１回転軸の軸線と第２回転軸
の軸線との交点を向くよう配置したことを特徴と
する球面作業ロボツトにおけるツール取付装置。 The first shaft is attached to the first rotatable shaft installed on the base.
an arm is attached to the first arm and is rotatable;
and a second rotating shaft is attached so that its axis is perpendicular to the axis of the first rotating shaft, and the second rotating shaft is attached to the tip of a second arm attached to the second rotating shaft so that its axis is perpendicular to the axis of the second arm. In a spherical working robot, the tool shaft is arranged to intersect with the axis of the first rotating shaft, and a rotational drive source is arranged on each of the first rotating shaft and the second rotating shaft, wherein a working tool is mounted on the tool shaft. and a distance sensor is arranged offset near the tool axis in a plane passing through the tool axis so as to face the intersection of the axis of the first rotation axis and the axis of the second rotation axis. Tool mounting device for work robots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8151490U JP2515519Y2 (en) | 1990-07-31 | 1990-07-31 | Tool mounting device for spherical work robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8151490U JP2515519Y2 (en) | 1990-07-31 | 1990-07-31 | Tool mounting device for spherical work robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0438389U true JPH0438389U (en) | 1992-03-31 |
| JP2515519Y2 JP2515519Y2 (en) | 1996-10-30 |
Family
ID=31627532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8151490U Expired - Lifetime JP2515519Y2 (en) | 1990-07-31 | 1990-07-31 | Tool mounting device for spherical work robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2515519Y2 (en) |
-
1990
- 1990-07-31 JP JP8151490U patent/JP2515519Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JP2515519Y2 (en) | 1996-10-30 |
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