JPS61141089U - - Google Patents
Info
- Publication number
- JPS61141089U JPS61141089U JP2588585U JP2588585U JPS61141089U JP S61141089 U JPS61141089 U JP S61141089U JP 2588585 U JP2588585 U JP 2588585U JP 2588585 U JP2588585 U JP 2588585U JP S61141089 U JPS61141089 U JP S61141089U
- Authority
- JP
- Japan
- Prior art keywords
- upper arm
- shoulder frame
- central axis
- motor section
- gear
- 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
- 210000000245 forearm Anatomy 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims 2
- 210000002310 elbow joint Anatomy 0.000 claims 1
Description
第１図は本考案に係るマニピユレータの一部切
断して示す正面図、第２図は第１図右側面図、第
３図は第１図イ矢視図である。
１……基台、２，３，４，５……モータ駆動部
、６……上腕、７……前腕、８……バランスウエ
イト、２２……固定軸、２４……中心軸。
FIG. 1 is a partially cutaway front view of a manipulator according to the present invention, FIG. 2 is a right side view of FIG. 1, and FIG. 3 is a view taken in the direction of arrow A in FIG. DESCRIPTION OF SYMBOLS 1... Base, 2, 3, 4, 5... Motor drive unit, 6... Upper arm, 7... Forearm, 8... Balance weight, 22... Fixed axis, 24... Central axis.
Claims (1)
なる固定軸に、肩部枠を揺動自在に支持するとと
もに、歯車機構を介して横振り駆動用モータ部に
より前記中心軸を支点とする横振り運動を与えら
れる中心軸を直角に固定し、肩部枠に上腕をねじ
り回転自在に支持し、かつ該肩部枠の前記中心軸
を支点とする回転中心より上部に上腕の前後振り
、上腕のねじり回転用モータ部を設け前腕の折曲
げ駆動用モータ部は上腕の上端に取付け、その出
力軸は上腕内を挿通して肘関節部まで導き、前記
出力軸に設けた傘歯車を介して前腕に連動させて
あり、バランスウエイトは、その回転中心軸が、
肩部枠の中心軸と同一線上にあるとともに、前腕
折曲げ駆動用出力軸と連動させて設け、かつ配置
位置は、肩部枠の中心軸より上部とし、上腕の外
周に設けた歯車と、該上腕ねじり駆動用のモータ
部の出力歯車とを噛合せたことを特徴とするマニ
ピユレータ等の関節構造。 The shoulder frame is swingably supported on a fixed shaft that is fixed to the base and serves as the center of the lateral movement of the upper arm, and the central axis is used as a fulcrum by a lateral movement drive motor section via a gear mechanism. The upper arm is twisted and rotatably supported on the shoulder frame, and the upper arm is rotated back and forth above the center of rotation with the central axis of the shoulder frame as the fulcrum. , a motor section for twisting and rotating the upper arm is provided, a motor section for bending and driving the forearm is attached to the upper end of the upper arm, and its output shaft is inserted into the upper arm and guided to the elbow joint, and a bevel gear provided on the output shaft is attached to the upper end of the upper arm. The balance weight is linked to the forearm through the
A gear located on the same line as the central axis of the shoulder frame and interlocked with the forearm bending drive output shaft, and located above the central axis of the shoulder frame, and provided on the outer periphery of the upper arm; A joint structure of a manipulator or the like, characterized in that the output gear of a motor section for driving the upper arm torsion is meshed with the output gear.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2588585U JPH035438Y2 (en) | 1985-02-25 | 1985-02-25 | |
| US06/832,270 US4717303A (en) | 1985-02-25 | 1986-02-21 | Joint mechanism for manipulators |
| EP86102353A EP0193149B1 (en) | 1985-02-25 | 1986-02-24 | Joint mechanism for manipulators |
| DE8686102353T DE3666925D1 (en) | 1985-02-25 | 1986-02-24 | Joint mechanism for manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2588585U JPH035438Y2 (en) | 1985-02-25 | 1985-02-25 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61141089U true JPS61141089U (en) | 1986-09-01 |
| JPH035438Y2 JPH035438Y2 (en) | 1991-02-12 |
Family
ID=30521376
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2588585U Expired JPH035438Y2 (en) | 1985-02-25 | 1985-02-25 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH035438Y2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01174075U (en) * | 1988-05-30 | 1989-12-11 | ||
| FR3139020A1 (en) * | 2022-08-31 | 2024-03-01 | E-Cobot | Mobile robot comprising a manipulation arm and means for absorbing the force of the weight supported by said arm, and corresponding manipulation arm |
-
1985
- 1985-02-25 JP JP2588585U patent/JPH035438Y2/ja not_active Expired
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01174075U (en) * | 1988-05-30 | 1989-12-11 | ||
| FR3139020A1 (en) * | 2022-08-31 | 2024-03-01 | E-Cobot | Mobile robot comprising a manipulation arm and means for absorbing the force of the weight supported by said arm, and corresponding manipulation arm |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH035438Y2 (en) | 1991-02-12 |