JPS60172690U - robot balance device - Google Patents
robot balance deviceInfo
- Publication number
- JPS60172690U JPS60172690U JP6069884U JP6069884U JPS60172690U JP S60172690 U JPS60172690 U JP S60172690U JP 6069884 U JP6069884 U JP 6069884U JP 6069884 U JP6069884 U JP 6069884U JP S60172690 U JPS60172690 U JP S60172690U
- Authority
- JP
- Japan
- Prior art keywords
- lower arm
- arm
- upper arm
- base
- joint axis
- 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
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) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
一面は本考案の一実施例にかかり、第１図は本考案を実
施した多関節型ロボットの一部破断正面図、第２図はそ
の上腕駆動装置部分の正面図である。
゛ 図面中、１は基台、２は下腕、３は第１関節軸、４
は第２関節軸、５は上腕、６は操作部、８は下腕駆動装
置、１０は上腕駆動装置、１３はフレーム、１４はねじ
軸、１５は駆動モータ、１６はナツト、１７は検出器、
１８．２４は流体圧シリンダである。One side shows an embodiment of the present invention; FIG. 1 is a partially cutaway front view of an articulated robot implementing the present invention, and FIG. 2 is a front view of the upper arm driving device portion thereof.゛ In the drawing, 1 is the base, 2 is the lower arm, 3 is the first joint axis, 4
is the second joint axis, 5 is the upper arm, 6 is the operating unit, 8 is the lower arm drive device, 10 is the upper arm drive device, 13 is the frame, 14 is the screw shaft, 15 is the drive motor, 16 is the nut, and 17 is the detector. ,
18.24 is a hydraulic cylinder.
Claims (1)
けられた下腕と、前記下腕の先端に第２関節軸で回動自
在に取付けられた上腕と、前記上腕の先端に取付けられ
た操作部と、前記基台内及び前記下腕内にそれぞれ配設
されると共に電動式駆動モータによりねじ機構を介して
それぞれ前記下腕及び前記上腕を回動位置決めする下腕
駆動装置及び上腕駆動装置とを有する多関節型ロボット
において、前記下腕及び前記上腕にそれぞれ作用する前
記第１関節軸まわり及び前記第２関節軸まわりのモーメ
ントをそれぞれ検出するための第１及び第２の検出器と
、前記基台に支持されると共にそれぞれ前記下腕及び前
記上腕に連結されて前記第１及び第２の検出器のそれぞ
れの出力に応じ前記モーメントを相殺する力を該下腕及
び該上腕にそれぞれ付与する第１及び第２の流体圧シリ
ンダとを具えたことを特徴とするロボットのバランス装
置。a base; a lower arm whose base end is rotatably attached to the base about a first joint axis; an upper arm whose base end is rotatably attached to the tip of the lower arm about a second joint axis; and the upper arm. and a lower arm that is disposed within the base and the lower arm, respectively, and rotates and positions the lower arm and the upper arm through a screw mechanism by an electric drive motor. In an articulated robot having a drive device and an upper arm drive device, first and second joints are configured to detect moments about the first joint axis and the second joint axis acting on the lower arm and the upper arm, respectively. a second detector supported by the base and connected to the lower arm and the upper arm, respectively, to apply a force to cancel the moment according to the respective outputs of the first and second detectors; and first and second fluid pressure cylinders respectively applied to the upper arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6069884U JPS60172690U (en) | 1984-04-26 | 1984-04-26 | robot balance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6069884U JPS60172690U (en) | 1984-04-26 | 1984-04-26 | robot balance device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60172690U true JPS60172690U (en) | 1985-11-15 |
Family
ID=30588287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6069884U Pending JPS60172690U (en) | 1984-04-26 | 1984-04-26 | robot balance device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60172690U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107249827A (en) * | 2015-02-20 | 2017-10-13 | 川崎重工业株式会社 | Industrial robot |
-
1984
- 1984-04-26 JP JP6069884U patent/JPS60172690U/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107249827A (en) * | 2015-02-20 | 2017-10-13 | 川崎重工业株式会社 | Industrial robot |
| EP3272470A4 (en) * | 2015-02-20 | 2018-12-12 | Kawasaki Jukogyo Kabushiki Kaisha | Industrial robot |
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