JPS5928493U - Robot hand relative position detection device - Google Patents
Robot hand relative position detection deviceInfo
- Publication number
- JPS5928493U JPS5928493U JP12395382U JP12395382U JPS5928493U JP S5928493 U JPS5928493 U JP S5928493U JP 12395382 U JP12395382 U JP 12395382U JP 12395382 U JP12395382 U JP 12395382U JP S5928493 U JPS5928493 U JP S5928493U
- Authority
- JP
- Japan
- Prior art keywords
- robot hand
- hand
- detection device
- relative position
- position detection
- 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
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
第１図は多関節型の産業用ロボットの側面図、第２図は
ロボットハンド駆動装置の展開スケルトン図、第３図は
本考案の相対位置検出装置の水平断面図、第４図はスプ
リングおよび押圧子の部分の拡大断面図、第５図および
第６図は遊星歯車装置（ハーモニックドライブ式の減速
機）の断面図である。
１・・・産業用ロボット、２・・・ロボットハンド駆動
装置、９・・・手の振り軸、１０・・・手の回転軸、１
１４・・・ロボットハンド、１２・・・手の振り駆動用
のモータ、１３・・・手の回転駆動用のモータ、１６．
１？ 、・・・遊星歯車装置、１８・・・連結軸、６
２・・・ブツシュロッド、６４．６５・・・ドグ、６６
・・・応動板、６７・・・スプリング、６８．６９・・
・リミットスイッチ。Fig. 1 is a side view of an articulated industrial robot, Fig. 2 is an exploded skeleton view of the robot hand drive device, Fig. 3 is a horizontal sectional view of the relative position detection device of the present invention, and Fig. 4 is a spring and An enlarged cross-sectional view of the presser portion, and FIGS. 5 and 6 are cross-sectional views of a planetary gear device (harmonic drive type reduction gear). DESCRIPTION OF SYMBOLS 1... Industrial robot, 2... Robot hand drive device, 9... Hand swing axis, 10... Hand rotation axis, 1
14... Robot hand, 12... Motor for driving the wave of the hand, 13... Motor for driving the rotation of the hand, 16.
1? , ... Planetary gear device, 18 ... Connection shaft, 6
2...Butschrod, 64.65...Dog, 66
...Response plate, 67...Spring, 68.69...
·Limit switch.
Claims (1)
ロボットハンド駆動装置において、運動打ち消し用の連
結軸に手の振りおよび回転に対応する２つのギヤを同心
的に設け、一方のギヤにドグを固定し、他方のギヤにド
グに当接するブツシュロッドを上記連結軸の方向に変位
可能な状態で設け、さらに上記連結軸に上記ブツシュロ
ッドの変位により移動可能な円盤状の応動板を摺動自在
に設け、この応動板に対してリミットスイッチを定位置
で対応させてなることを特徴とするロボットハンドの相
対位置検出装置。In a robot hand drive device that gives a hand swinging motion and rotational motion to a robot hand, two gears corresponding to hand swinging and hand rotation are provided concentrically on a connecting shaft for canceling the motion, and a dog is fixed to one gear. , a bushing rod that abuts the dog is provided on the other gear so as to be displaceable in the direction of the connecting shaft, and a disc-shaped response plate that is movable by the displacement of the bushing rod is slidably provided on the connecting shaft. A relative position detection device for a robot hand, comprising a limit switch that corresponds to a response plate at a fixed position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12395382U JPS5928493U (en) | 1982-08-16 | 1982-08-16 | Robot hand relative position detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12395382U JPS5928493U (en) | 1982-08-16 | 1982-08-16 | Robot hand relative position detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5928493U true JPS5928493U (en) | 1984-02-22 |
| JPS62872Y2 JPS62872Y2 (en) | 1987-01-09 |
Family
ID=30282745
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12395382U Granted JPS5928493U (en) | 1982-08-16 | 1982-08-16 | Robot hand relative position detection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5928493U (en) |
-
1982
- 1982-08-16 JP JP12395382U patent/JPS5928493U/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62872Y2 (en) | 1987-01-09 |
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