JPS5921756B2 - 可撓腕 - Google Patents

可撓腕

Info

Publication number
JPS5921756B2
JPS5921756B2 JP55032167A JP3216780A JPS5921756B2 JP S5921756 B2 JPS5921756 B2 JP S5921756B2 JP 55032167 A JP55032167 A JP 55032167A JP 3216780 A JP3216780 A JP 3216780A JP S5921756 B2 JPS5921756 B2 JP S5921756B2
Authority
JP
Japan
Prior art keywords
elements
flexible arm
contact surface
flexible
arm according
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.)
Expired
Application number
JP55032167A
Other languages
English (en)
Other versions
JPS563193A (en
Inventor
オ−ブエ・ラルソン
チヤ−ルズ・デビツドソン
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ROBOTSUTOGURUTSUPEN ETSUCHI BII
Original Assignee
ROBOTSUTOGURUTSUPEN ETSUCHI BII
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by ROBOTSUTOGURUTSUPEN ETSUCHI BII filed Critical ROBOTSUTOGURUTSUPEN ETSUCHI BII
Publication of JPS563193A publication Critical patent/JPS563193A/ja
Publication of JPS5921756B2 publication Critical patent/JPS5921756B2/ja
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
    • B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20396—Hand operated
    • Y10T74/20402—Flexible transmitter [e.g., Bowden cable]
    • Y10T74/20456—Specific cable or sheath structure

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Description

【発明の詳細な説明】 この発明は、互に接触するように直列に配置された多く
の要素と、要素の間で作動するようにまたは要素に作動
するように配置され動力発生および動力伝達またはその
いずれかを行なう作動具とを有する、道具などを支持し
操作しまたはそのいずれかをなす可撓腕特にロボツト腕
に関する。
産業ロボツトとして多くの相異なる実例が知られていて
、それらは通常、人間による監視または制御なしに三次
元空間内で対象物または道具の位置を多くの別の地点へ
変化させることができるような機械からなる。産業ロボ
ツトの主な部分は、関連運動を発生する装置並びに例え
ばミニ計数器からなる制御系およびプログラム装置を備
えたロボツト腕である。進歩したロボツトのロボツト腕
は６つの自由度すなわち６つの異なる平面の中で運動す
る可能性（例えば前向き、うしろ向き、上向きおよび下
向きの運動並びに右および左への回転）を有する。この
発明はロボツト腕の改良に関するものであるから制御系
およびプログラム装置については詳しく説明しないが、
これらはすでに知られているユニツトからなることがで
きる。普通のロボツト腕では、これが多くの要素および
ジヨイントを有しこれらは道具および負荷以外に個個の
要素のために運動および動力を発生するための装置を支
持しなければならない。この装置は通常空圧または液圧
シリンダ、電動機などからなり、これは要素およびジヨ
イントがかかる装置を支持できるためには比較的粗雑で
なければならないということを意味する。かくしてロボ
ツトはかさ高の形状と比較的大きな外部寸法を持つよう
になり、これはロボツト腕の可撓性を低減させる。多く
の存在するロボツト腕の運動の模様および作業範囲はす
べての自由度が存するにも拘わらず限られたものを除け
ば主として平面円形作業区域に限られる。普通のロボツ
ト腕の別の限定は、腕がわん曲したまたは折れ曲つた空
間にはいることができないということ並びにこれがロボ
ツトから逆の向きの品物の側部では操作を達成できない
ということである。別の欠点は製造費用が著しく高いと
いうことである。高い可撓性を有するロボツト腕も開発
されていて、これにおいては要素開の相対運動が可撓軸
または球ジヨイント（球継手）を介して達成される。
このような構造部材は製造の際の高い精度と注意深い保
守を必要とする。これらは限られた運動可能性を有し、
これらの負荷支持能力は完全にジヨイント部材の寸法に
依存する。球ジヨイントまたは軸ジヨイントはさらに連
続的な潤滑が確保されない場合には高い摩耗を受ける滑
動支持部材である。これらはさらに支持面の間に侵入で
きる塵埃粒子に敏感である。この理由で要素は注意深く
ケーシングで包囲されなければならないが、これは接近
可能性、保守および特に満足すべき潤滑を妨げる。精度
に対する極めて高い要素によつて、製造費は著しく高く
なる。腕の負荷支持能力を放棄することなしに所望の可
撓性を達成するための１つの条件は、個個の要素を相互
連結する作動具すなわちワイヤが要素間の面接触を強く
できる程度に予応力付与されることである。
所望の可撓性という点から要素の相互接触は従来球ジヨ
イントまたは軸ジヨイントとして設計された。これらジ
ヨイント部材はその半分の高さに等しい曲率半径を有す
るが、これでは取入れられるワイヤの或る長さに対して
要素がはつきりと確立した位置を持つことができないと
いう問題が生じる。故にこの実例によるロボツト腕は腕
の曲率平面の中だけで安定であり、曲率平面に直交する
平面の中の剛性は低い。ワイヤで作動されるロボツト腕
の別の問題点は、これがジヨイント部材の形状（すなわ
ち要素間の接触区域の形式）によつて形成されころがり
平面（と直交するような要素を阻止するような小さな捩
り抵抗を或る場合には有するということにある。
この発明の目的は極めて大きな作業範囲と最大限の運動
パターンを有するようなすなわち球形作業範囲内のすべ
ての点にほとんど到達するようなロボツト腕を提供する
ことにある。別の目的は、多くのわん曲組合わせによつ
て同じ点に到達できるように曲ることができこれによつ
て極めて高い接近可能性を与えるようなすなわち異つた
種類の障害物を避けるように延長でき対象物のまわりで
それ自身わん曲できるようなロボツト腕を提供すること
にある。別の目的は、要素の曲率平面の中の極めて高い
剛性と高い捩り抵抗とを持ち従来の産業ロボツトと比べ
て低廉に製造できるようなロボツト腕を提供することに
ある。これらの目的はこの発明によれば、各要素が、作
動具によつて要素を作動したときに隣接の要素の接触面
に接触しながらころがりかつ力を伝達するための凸にわ
ん曲した接触面を少くとも１つ有し、この凸にわん曲し
た接触面の曲率半径が要素の高さの半分よりかなり大き
いことを特徴にすることによつて達成される。以下図面
を参照しながらこの発明の実施例について詳細に説明す
る。
以下においてロボツト腕と称せられるこの発明による可
撓腕１０は第１図および第２図の実施例に示されるよう
な基本的には直列に配置された多くの要素１１からなり
、これら要素はわん曲した接触面を有する円板として設
計される。
腕が遂行できる曲げ運動の程度に応じて、各要素１１は
その外縁の近くに位置しかつ互にまた要素の中心から等
しい距離になつている多くの例えば４個の開孔１２を有
する。これら開孔は等しい個数の作動具１４のためのも
のである。要素の中央には通し開口１３が配置される。
要素は案内開孔１２が互に丁度対向するように互に配置
される。頂部の要素において案内開孔１２は皿もみされ
、この皿もみ部は作動具の外端に配置される終端部材１
５を収容する。
作動具１４は良好な引張り強度を有するケーブレ、ワイ
ヤなどで構成される。最終要素の外側に突出するワイヤ
１４の１本または多くを引張ることによつてロボツト腕
はすべての方向に曲がることができる。第２図に示され
るように２つの作動具１４の間で曲げ運動が所望される
場合には、それら双方が引張られ、この際に引張りの大
きさを変えると曲げ運動は大なり小なり第１または第２
の作動具１４へ向つて変位できる。これによつて腕１０
はその長手軸線のまわりの回転運動をも遂行できる。可
撓性伝達具１６は要素の中央開口１３を貫通し、この伝
達具は腕の自由端に配置される道具２３（第４図）など
に引張り、圧縮および回転力またはそれらのいずれかを
伝達するためのものである。
第３図に示されるように要素は群をなすように保持でき
、各群はこの群のための特定の作動具１４によつて作動
される。
第３図によれば腕は２つの群すなわち下方群Ａと上方群
Ｂからなる。群Ａの要素１１ａは作動具１４ａによつて
作動され、群Ｂの要素１１ｂは作動具１４ｂによつて作
動される。１つの平面内における腕の第３図に示される
ような二重わん曲を達成するためには、直径上反対側の
作動具１４ａおよび１４ｂが矢印で図示されるように作
動される。
腕の２つの群ＡおよびＢはまた作動具１４ａおよび１４
ｂの適当な作動によつて異なる平面内での曲げも遂行で
きる。腕はもちろん要素の２以上の群を具備することも
でき、このようにするとこれは所望ならば異なる平面ま
たは方向で３６σ以上に曲がることもできる。第４図に
は前述した実施例による腕の実際の応用が示される。要
素の２つの群１１ａおよび１１ｂからなる可撓腕１０は
１端で機械ユニツト１７に連結され、このユニツトは作
動具１４ａおよび１４ｂのため巻きドラム１９のおのお
のを駆動する４個のサーボモータ１８を包含する。モー
タ１８は可逆であつて、各作動具一各ワイヤー１４ａお
よび１４ｂが作動における巻付けの際並びに巻きドラム
１９からほどく際に個個の調節可能の力を受けることが
できるように制御される。弾性予応力付与具３１（第６
図）がワイヤ１４のために配備される。可撓性伝達具１
６は腕の下端において歯車装置２１および過負荷保護カ
ツプリング２２によつてサーボモータ２０に連結される
。
道具２３は腕の自由端で中央伝達具１６に連結される。
この道具は噴霧塗布装置２５から管２４を通して塗布物
を供給される噴霧銃からなる。或る利用では、伝達具１
６に平行に要素の中央開口を通して道具１０へ作業媒体
を送ることも可能である。
個個の要素１１は保護可撓性ケーシング２６によつて包
囲される。
ロボツト腕の可撓性、作業区域および接近可能性は第５
図に図示され、これに示されるように腕は障害物の背後
または別の手段では到達の困難な空間における操作も達
成できるような方法で曲がることができる。
第７図および第８図による実施例において各要素１１は
２つの弓形形状部材８および９を有し、それらの間に隔
て円板６が配置される。
弓形部材８および９のおのおのは１つのわん曲した接触
面５と１つの平らな基面７を有し、基面によつて弓形部
材は隔て円板６の各側に接することができる。弓形部材
８および９は隔て円板６に取付けできまたはこれと一体
に形成できる。弓形部材８と９は互に直交する平面の中
に配置され、これは１つ置きの弓形部材が１つの平面の
中の曲げ運動を遂行でき１つ置きの弓形部材が上記平面
に直交する平面の中の対応する曲げ運動を遂行できると
いうことを意味する。個個の弓形部材８および９の曲げ
位置に無関係にかつ接触面間の摩擦の大小に依存するこ
となしに安定位置を得るため、操作部４例えば弓形部材
の相対運動の際に隣接要素１１の対応する歯と連携する
歯が具備てきる。弓形部材８および９は望ましくは円筒
形歯付き車の１部分として形成され、これにおいて１個
のわん曲した接触面５の曲率中心または歯のピツチ円の
中心はそれぞれ各要素の外側に位置する。平らな弓形部
分３は歯のループと同じ水準で歯付き弓形部材８および
９の歯のそばに配置される。
互に直交する平面の中に配置される各要素１１において
弓形部材８および９を部分円筒状歯付き車として形成し
たことによつて、交代的な偏向の可態性が各歯配備によ
つて得られる。遍向角度は重ね合わされ、腕は全体とし
て接触面が平らである場合と同様に動く可能性が与えら
れるように見える。この設計はまた要素がその形状によ
つて１つの或る方向だけの運動を遂行できるから極めて
良好な捩れ剛さを確実に得るようにする。歯フランジ接
触によつて連携する２つの弓形部材は常に直線接触する
。大きな歯の幅および平らな弓形部分３またはそのいず
れかは大きな接触面を与え、これは次いで弓形部材のた
めの材料の選択を大きく自由にする。硬い接触面を使用
する代りに、新しい装置は適当なプラスチツク材料、ア
ルミニウムなどの使用を可能にする。各２つの要素の間
に１つのジヨイントを持つすでに知られている全面的に
可撓なロボツト腕ではジヨイント部材の曲率半径ｒは要
素の半分の高さｈに等しい、すなわちｒ＝ｈである。
これはかかる要素が巻付けられるワイヤの一定の長さに
対して一定の定まつた位置を有せずかつかかる要素を有
するロボツト腕が要求される剛性を有しないということ
を意味する。多くの要素を有する腕を剛くしようとする
ためには、腕を曲げるときの要素の位置の相対変化が系
に貯蔵されるエネルギの変化を伴うことが必要である。
この仕事が高くなればなる程腕はより安定になるであろ
う。これはこの発明によれば、弓形部材８および９の曲
率半径が弓形部材の高さｈより大きい望ましくは極めて
大きいという事実によつて達成される。
すなわち、要素１１の接触面の曲率半径ｒが要素の高さ
Ｈよりかなり大きくなるようにされる。この方式によれ
ば、要素１１の各任意の捩り角度に対するワイヤの長さ
Ｘ１およびＸ２（第６図参呻の合計は決して等しくなく
、この差Δは腕系のエネルギの変化を表わす。ワイヤが
共通のドラム１９に巻かれているので巻付けられるワイ
ヤおよびほどかれるワイヤの長さ１４′，１４〃の合計
は一定であるから、Δはワイヤドラムの運動に等しい。
この運動はばね力と共に、所望の剛性を得るための重要
なエネルギ付加である。第９図に示される変型は要素に
よる回転運動の移送を可能にするために開発されたもの
で、要素はこの目的のために互に対面するわん曲した面
の上に半径向きの歯３５を備え、これら歯は要素が占め
る角度位置に拘わりなく互に係合する。
要素の回転運動を可能にするため、ワイヤ１４のための
開孔１２を有するそのフランジ３０が要素部材に対して
回転でき、これはこれら部分の間の軸受３６によつて達
成される。この方式で要素はモータ２０によつて腕の可
撓性を何ら損うことなしに腕の自由端へかつ道具２３へ
回転運動を移送できる。大きな負荷およびモーメントま
たはそのいずれかを移送するためには、連結作用だけを
有するワイヤ・ケーブル形状の作動具１４に電磁的また
は液圧的のサーボモータを補足することが望ましい。
第１０図による実施例は要素の相対角度位置を電磁的に
調整するようにした変型を示し、これにおいて各フラン
ジ３０の間には電磁石３９がピボツト取付けされ、これ
は要素間の位置を調節するように配置される。各電磁石
はできるだけ高い運動可能性および可撓性を提供するた
め個個に作動できる。第１０図に示される実施例のよう
にコイルの中に可動鉄心を配置する代りに特に無重力状
態の場合例えば宇宙船の中で可撓腕を使用する場合には
第１１図に示されるように要素の中で軸線方向に向けら
れた非可動の電磁石を使用することも可能である。
非可動電磁石の極は互に対面し、腕の各種方向への可変
の曲げを達成するためいくつかのかかる棒形状の電磁石
が要素の中に放射模様で配置されかつ各電磁石の励磁電
流が独立に調節できるようになつている。第１０図およ
び第１１図の双方の実施例において電磁石への電気供給
ケーブルは４１で示される。
電磁作動具は通常２つの固定終端位置の間だけで作動し
、これによれば腕の曲げの無段階調節は不可能である。
この制限は第１２図に示される実施例で解消され、これ
においては作動具１４は２個の対向するピストン４３を
持つシリンダ４２で形成された液圧または空圧のサーボ
モータからなる。圧力媒体は供給管４５から中央の入口
または出口４４を通して供給できる。ピストン４３は要
素の周フランジ３０にピボツト可能に取付けられる。供
給管４５は望ましくはフランジ３０の中の開孔を通過す
る。第１３図に示される実施例において要素は周フラン
ジに沿つて２つの部分に分割され、各部分３７および３
８は周フランジ３０を備える。
サーボモータ３２は２つの部分が異なる傾斜位置を取る
ことができるような方法でこれら２つの部分３７と３８
の間に配置される。サーボモータ３２は圧力媒体で作動
される行程の短い液圧または空圧モータ例えばピストン
シリンダ装置またはベロ一からなる。少くとも３個のこ
のようなモータが互に等距離に配置され、導管４５がこ
れらに圧力媒体を供給する。要素が液圧または空圧装置
によつて作動される別の実施例が第１４図に示される。
半径方向に突出する圧カリツプ４７を有する多くの圧力
管４６は要素の周フランジ３０に作動．するように配置
される。管４６の中に圧力が供給されると圧カリツプ４
７は広がつて要素のフランジ３０を互に変位させる。管
４６は腕１０のケーシング２６の一体部分として形成で
きる。
【図面の簡単な説明】
第１図はこの発明による腕の基本的実施例の図解的斜視
図、第２図は曲げ位置の第１図による腕を示す図、第３
図は要素の２つの群で構成されよつて２つの異なる平面
または方向で曲ることができるこの発明によるロボツト
腕の図解的側面図、第４図は第３図による可撓腕を備え
た完全な産業ロボツトの正面図、第５図は丸いかどなど
におけるロボツト腕の接近可能性を示す斜視図、第６図
はロボツト腕の１部分とこれを形成する要素の幾何学的
関係を示す拡大側面図、第７図は変型実施例による薄板
形状要素の斜視図、第８図は第７図の−線に沿う断面図
、第９図は回転運動をも遂行する実施例の１部断面によ
る側面図、第１０図および第１１図は電磁的方法で要素
を作動するような２つの実施例をそれぞれ表わす断面図
、第１２図、第１３図および第１４図は要素を空圧また
は液圧で作動する３つの実施例をそれぞれ表わす図であ
る。 図面において、３は平らな部分、４は操作部、５は接触
面、１１は要素、１３は中央貫通通路、１４は作動具、
１８はサーボモータ、２３は道具、３０はフランジ、３
９，４０，４２および４６は伸長でき収縮できる装置を
示す。

Claims (1)

  1. 【特許請求の範囲】 １ 互に接触するように直列に配置された多くの要素と
    、要素の間で作動するようにまたは要素に作動するよう
    に配置され動力発生および動力伝達またはそのいずれか
    を行なう作動具とを有する、道具などを支持し操作しま
    たはそのいずれかをなす可撓腕において、各要素が、前
    記作動具によつて要素を作動したときに隣接の要素の接
    触面に接触しながらころがりかつ力を伝達するための凸
    にわん曲した接触面を少くとも１つ有し、この凸にわん
    曲した接触面の曲率半径ｒが要素の高さＨの半分よりか
    なり大きいことを特徴とする可撓腕。 ２ わん曲した接触面が楕円形状である特許請求の範囲
    第１項に記載の可撓腕。 ３ 要素が互に直交する平面の中でそれに沿つてわん曲
    する接触面を両側に有する特許請求の範囲第１項または
    第２項に記載の可撓腕。 ４ 各要素の接触面の少くとも１部分が要素の相対運動
    の際に互に係合してころがるように配置された操作部を
    備える特許請求の範囲第３項に記載の可撓腕。 ５ 操作部が軸線方向および半径方向またはそのいずれ
    かのうねおよび溝からなる特許請求の範囲第４項に記載
    の可撓腕。 ６ 接触面が円筒状歯付き車の１部として形成される特
    許請求の範囲第５項に記載の可撓腕。 ７ 接触面が少くとも１つの平らな部分と少くとも１つ
    の操作部付き部分とに分割される特許請求の範囲第４項
    、第５項、第６項のいずれか１項に記載の可撓腕。 ８ 各要素が力発生および力伝達またはそのいずれかを
    行なう作動具を支持するように配置された周フランジを
    備える特許請求の範囲第１項、第２項、第３項、第４項
    、第５項、第６項、第７項のいずれか１項に記載の可撓
    腕。 ９ 作動具が引張力および圧縮力またはそのいずれかを
    伝達できる可撓具例えばワイヤ、ケーブルなどからなり
    、可撓具のおのおのの１端がサーボモータに連結され、
    反対端がサーボモータから見て要素の対応する群の最終
    要素に固定され、作動具が中間の要素のフランジに設け
    られた開口を自由に通過するように配置される特許請求
    の範囲第８項に記載の可撓腕。 １０ 作動具が電磁作用によつて伸長でき収縮できる装
    置からなり、この装置が相隣る要素の間の空間または要
    素のフランジのところの空間の中に配置される特許請求
    の範囲第８項に記載の可撓腕。 １１ 作動具が圧力流体によつて伸長でき収縮できる装
    置からなり、この装置が相隣る要素の間の空間または要
    素のフランジのところの空間の中に配置される特許請求
    の範囲第８項に記載の可撓腕。 １２ 要素が少くとも１つの中央貫通通路を備える特許
    請求の範囲第１項、第２項、第３項、第４項、第５項、
    第６項、第７項、第８項、第９項、第１０項、第１１項
    のいずれか１項に記載の可撓腕。
JP55032167A 1979-03-16 1980-03-15 可撓腕 Expired JPS5921756B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE79023669 1979-03-16
SE7902366A SE419421B (sv) 1979-03-16 1979-03-16 Bojlig arm i synnerhet robotarm

Publications (2)

Publication Number Publication Date
JPS563193A JPS563193A (en) 1981-01-13
JPS5921756B2 true JPS5921756B2 (ja) 1984-05-22

Family

ID=20337557

Family Applications (1)

Application Number Title Priority Date Filing Date
JP55032167A Expired JPS5921756B2 (ja) 1979-03-16 1980-03-15 可撓腕

Country Status (7)

Country Link
US (1) US4393728A (ja)
EP (1) EP0017016B1 (ja)
JP (1) JPS5921756B2 (ja)
DE (1) DE3065494D1 (ja)
FI (1) FI75110C (ja)
NO (1) NO148987C (ja)
SE (1) SE419421B (ja)

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FI75110B (fi) 1988-01-29
SE419421B (sv) 1981-08-03
FI75110C (fi) 1988-05-09
DE3065494D1 (en) 1983-12-15
NO148987B (no) 1983-10-17
SE7902366L (sv) 1980-09-17
FI800774A (fi) 1980-09-17
EP0017016A1 (en) 1980-10-15
NO800750L (no) 1980-09-17
JPS563193A (en) 1981-01-13
US4393728A (en) 1983-07-19
EP0017016B1 (en) 1983-11-09
NO148987C (no) 1984-01-25

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