JPS58136291U

JPS58136291U - Industrial robot wrist device

Info

Publication number: JPS58136291U
Application number: JP3123482U
Authority: JP
Inventors: 弘澤田
Original assignee: 川崎重工業株式会社
Priority date: 1982-03-04
Filing date: 1982-03-04
Publication date: 1983-09-13

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Brief explanation of the drawing]

第１図は従来の工業用ロボットの手首装置の断面図、第
２図は本考案の工業用ロボットの手首装置の実施例、第
３図は第２図の■−■線矢視図、第４図は異なる傾動ユ
ニット例、第５図は単動型の流体圧シリンダの断面図、
第６図は接続された傾動ユニットの傾動状態図である。３１・・・傾動平板、３２．３３．３４．３５・・・シ
リンダ、３６・・・傾動ユニット、３Ｂ、　　３９．　
４０゜４１．４４，４５．４６．４７・・・球面自在継
手、５４・・・手首領動部材、５５・・・手首。第１図第２図Fig. 1 is a sectional view of a wrist device of a conventional industrial robot, Fig. 2 is an embodiment of the wrist device of an industrial robot of the present invention, and Fig. 3 is a view taken along the line ■-■ in Fig. 2; Figure 4 is an example of a different tilting unit, Figure 5 is a cross-sectional view of a single-acting hydraulic cylinder,
FIG. 6 is a tilting state diagram of the connected tilting units. 31...Tilt flat plate, 32.33.34.35...Cylinder, 36...Tilt unit, 3B, 39.
40° 41.44, 45.46.47... Spherical universal joint, 54... Wrist operating member, 55... Wrist. Figure 1 Figure 2

Claims

[Scope of utility model registration request]

(1) By attaching a tilting unit consisting of a tilting flat plate and an appropriate number of cylinders mounted on one side of this tilting flat plate, with the other end of the cylinder attached to the back side of the tilting flat plate of another tilting unit, By connecting a large number of tilting units in series, connecting a wrist receiving member with a fixed wrist to the other end of the cylinder of the most advanced tilting unit, and varying the amount of expansion and contraction of the cylinders in each of the tilting units, A wrist device for an industrial robot, characterized in that the wrist is freely displaceable.

(2) a tilting flat plate in the cylinder and its tilting unit;
2. The wrist device for an industrial robot according to claim 1, wherein the tilting plate of the other tilting unit and the wrist receiving member are connected by a spherical universal joint.

(3) The cylinder and the tilting plate in the tilting unit are connected by a spherical universal joint, and the tilting plate and the wrist-receiving member of other tilting units are fixed to each other. A wrist device for an industrial robot according to claim 1 of patent registration.