JPS61141090U - - Google Patents

Info

Publication number
JPS61141090U
JPS61141090U JP2588685U JP2588685U JPS61141090U JP S61141090 U JPS61141090 U JP S61141090U JP 2588685 U JP2588685 U JP 2588685U JP 2588685 U JP2588685 U JP 2588685U JP S61141090 U JPS61141090 U JP S61141090U
Authority
JP
Japan
Prior art keywords
upper arm
shoulder frame
forearm
bending
output shaft
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
Application number
JP2588685U
Other languages
English (en)
Other versions
JPH0243671Y2 (ja
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 filed Critical
Priority to JP1985025886U priority Critical patent/JPH0243671Y2/ja
Priority to US06/832,270 priority patent/US4717303A/en
Priority to EP86102353A priority patent/EP0193149B1/en
Priority to DE8686102353T priority patent/DE3666925D1/de
Publication of JPS61141090U publication Critical patent/JPS61141090U/ja
Application granted granted Critical
Publication of JPH0243671Y2 publication Critical patent/JPH0243671Y2/ja
Expired legal-status Critical Current

Links

Description

【図面の簡単な説明】
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図イ矢視図、第
３図はロ矢視図である。 １……基台、２，３，４……駆動モータ部、５
……上腕、６……前腕、７……ウエイト、２５…
…肩部枠、２６……中心軸、４１……歯車、６２
……肘部回動軸。

Claims (1)

    【実用新案登録請求の範囲】
  1. 基台に固定した中心軸に肩部枠を揺動自在に支
    持し、肩部枠に上腕をねじり回転自在に支持し、
    かつ該肩部枠の回転中心より上部に、上腕の前後
    振り、上腕のねじり回転及び前腕の折曲げの３自
    由度を個別に駆動するモータ部を設け、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
    腕折曲げ駆動用の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。
JP1985025886U 1985-02-25 1985-02-25 Expired JPH0243671Y2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP1985025886U JPH0243671Y2 (ja) 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
JP1985025886U JPH0243671Y2 (ja) 1985-02-25 1985-02-25

Publications (2)

Publication Number Publication Date
JPS61141090U true JPS61141090U (ja) 1986-09-01
JPH0243671Y2 JPH0243671Y2 (ja) 1990-11-20

Family

ID=30521378

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1985025886U Expired JPH0243671Y2 (ja) 1985-02-25 1985-02-25

Country Status (1)

Country Link
JP (1) JPH0243671Y2 (ja)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5815691A (ja) * 1981-07-21 1983-01-29 株式会社大隈鐵工所 工作物の反転搬送方法
JPS5877478A (ja) * 1981-10-09 1983-05-10 富士通フアナツク株式会社 工業用ロボツト

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5815691A (ja) * 1981-07-21 1983-01-29 株式会社大隈鐵工所 工作物の反転搬送方法
JPS5877478A (ja) * 1981-10-09 1983-05-10 富士通フアナツク株式会社 工業用ロボツト

Also Published As

Publication number Publication date
JPH0243671Y2 (ja) 1990-11-20

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