JPS6165913U - - Google Patents
Info
- Publication number
- JPS6165913U JPS6165913U JP15015684U JP15015684U JPS6165913U JP S6165913 U JPS6165913 U JP S6165913U JP 15015684 U JP15015684 U JP 15015684U JP 15015684 U JP15015684 U JP 15015684U JP S6165913 U JPS6165913 U JP S6165913U
- Authority
- JP
- Japan
- Prior art keywords
- rotates
- balance shaft
- rotation
- rotation angle
- detection device
- 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
- 238000001514 detection method Methods 0.000 claims description 3
Landscapes
- Laser Surgery Devices (AREA)
Description
第１図及び第２図は本考案の実施例を示してお
り、第１図はカウンタバランスを設けた部分の断
面図、第２図はカウンタバランスを設けた部分の
正面図である。第３図〜第６図は従来のマニピユ
レータを示しており、第３図は斜視図、第４図は
カウンタバランスを設けれ部分の断面図、第５図
及び第６図はマニピユレータの使用状態を示す説
明図である。
２…固定アーム、３…水平動アーム、４…垂直
可動アーム、６…固定関節、７…回動関節Ａ、１
５…バランス軸、１６…カウンタバランス、１９
…モータ、２０…回動角度検出装置。なお、図中
、同一符号は同一又は相当部分を示す。
1 and 2 show an embodiment of the present invention, with FIG. 1 being a sectional view of a portion provided with a counterbalance, and FIG. 2 being a front view of the portion provided with a counterbalance. Figures 3 to 6 show a conventional manipulator, with Figure 3 being a perspective view, Figure 4 being a sectional view of a portion provided with a counterbalance, and Figures 5 and 6 showing how the manipulator is used. FIG. 2... Fixed arm, 3... Horizontal movable arm, 4... Vertically movable arm, 6... Fixed joint, 7... Rotating joint A, 1
5... Balance axis, 16... Counter balance, 19
...Motor, 20...Rotation angle detection device. In addition, in the figures, the same reference numerals indicate the same or corresponding parts.
Claims (1)
動自在に取付けているマニピユレータにおいて、
前記可動アームの回動による前記回動関節の回動
角度を検出する回動角度検出装置と、該回動角度
検出装置からの信号によつて回動する回動機と、
該回動機の回動により回動するネジの切られたバ
ランス軸と、該バランス軸のネジと螺合し、該バ
ランス軸の回動により該バランス軸上を上下に移
動するカウンタバランスとを備えたことを特徴と
するマニピユレータ。 In a manipulator in which a movable arm is rotatably attached to a fixed arm via a rotary joint,
a rotation angle detection device that detects a rotation angle of the rotation joint due to rotation of the movable arm; a rotation device that rotates in response to a signal from the rotation angle detection device;
A threaded balance shaft that rotates when the rotating machine rotates, and a counterbalance that is threadedly engaged with the thread of the balance shaft and moves up and down on the balance shaft when the balance shaft rotates. A manipulator characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15015684U JPS6165913U (en) | 1984-10-05 | 1984-10-05 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15015684U JPS6165913U (en) | 1984-10-05 | 1984-10-05 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6165913U true JPS6165913U (en) | 1986-05-06 |
Family
ID=30708309
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15015684U Pending JPS6165913U (en) | 1984-10-05 | 1984-10-05 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6165913U (en) |
-
1984
- 1984-10-05 JP JP15015684U patent/JPS6165913U/ja active Pending
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