JPS6029485U - articulated robot - Google Patents
articulated robotInfo
- Publication number
- JPS6029485U JPS6029485U JP12262183U JP12262183U JPS6029485U JP S6029485 U JPS6029485 U JP S6029485U JP 12262183 U JP12262183 U JP 12262183U JP 12262183 U JP12262183 U JP 12262183U JP S6029485 U JPS6029485 U JP S6029485U
- Authority
- JP
- Japan
- Prior art keywords
- arm
- wrist
- drive source
- articulated robot
- teaching
- 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) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
第1図は本考案の一実施例にかかる多関節形ロボットの
一部断面を含む側面図、第2図は同条関節形ロボットの
手首部分の機構を示す第1図におけるA−A矢視断面図
、第3図は第1図におけるB−B矢視断面図、第4図は
第3図に示した伝導モータを含むクラッチ部分の側断面
図、第5図はティーチングハンドルや操縦桿の手首部分
における実際の取付状態を示す側面図、第6図は上記多
関節形ロボットの制御回路図である。
(符号の説明)、2・・・・・・旋回台、3・・・・・
、・垂直アーム、9・・・・・・水平アーム、M□、1
3・・・・・・モータ、39・・・・・・クラッチ、1
2・・・・・・手首部。
11 9 15(15’) 8 14a
(14a’)!FIG. 1 is a side view including a partial cross section of an articulated robot according to an embodiment of the present invention, and FIG. 2 is a view taken along arrow A-A in FIG. 1 showing the mechanism of the wrist portion of the articulated robot. 3 is a sectional view taken along the line B-B in FIG. 1, FIG. 4 is a side sectional view of the clutch portion including the transmission motor shown in FIG. 3, and FIG. 5 is a sectional view of the teaching handle and control stick. FIG. 6 is a side view showing the actual attachment state at the wrist portion, and is a control circuit diagram of the articulated robot. (Explanation of symbols), 2... Swivel base, 3...
,・Vertical arm, 9...Horizontal arm, M□, 1
3...Motor, 39...Clutch, 1
2...Wrist part. 11 9 15 (15') 8 14a
(14a')!
Claims (1)
上記アームの根元部分にアーム用駆動源と、手首用駆動
源とを夫々設け、上記手首用駆動源と手首部とを上記ア
ームに沿って配設した回転伝達機構によって連結した多
関節形ロボットにおいて、 前記アームとアーム用駆動源との間に教示作業時に開放
されるクラッチ機構を介在させることにより、アームに
ついてのダイレクトティーチング、を可能となし、且つ
手首部は前記回転伝達機構に駆動源を直結し、教示時に
上記手首部用駆動源によって手首部を実際に駆動しつつ
行う教示作業を可能となしたことを特徴とする多関節形
ロボット。[Scope of claim for utility model registration] A wrist part with multiple degrees of freedom is attached to the tip of the arm,
An articulated robot in which an arm drive source and a wrist drive source are provided at the base of the arm, and the wrist drive source and the wrist are connected by a rotation transmission mechanism disposed along the arm. By interposing a clutch mechanism that is released during teaching work between the arm and the drive source for the arm, direct teaching of the arm is made possible, and the wrist part is directly connected to the drive source to the rotation transmission mechanism. An articulated robot characterized by being capable of performing teaching work while actually driving the wrist part using the wrist drive source during teaching.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP12262183U JPS6029485U (en) | 1983-08-05 | 1983-08-05 | articulated robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP12262183U JPS6029485U (en) | 1983-08-05 | 1983-08-05 | articulated robot |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6029485U true JPS6029485U (en) | 1985-02-27 |
Family
ID=30280217
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP12262183U Pending JPS6029485U (en) | 1983-08-05 | 1983-08-05 | articulated robot |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6029485U (en) |
-
1983
- 1983-08-05 JP JP12262183U patent/JPS6029485U/en active Pending
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