JPS6211591U - - Google Patents
Info
- Publication number
- JPS6211591U JPS6211591U JP10115185U JP10115185U JPS6211591U JP S6211591 U JPS6211591 U JP S6211591U JP 10115185 U JP10115185 U JP 10115185U JP 10115185 U JP10115185 U JP 10115185U JP S6211591 U JPS6211591 U JP S6211591U
- Authority
- JP
- Japan
- Prior art keywords
- wrist
- lock member
- joint
- piston rod
- wrist 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.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 claims description 9
- 239000012530 fluid Substances 0.000 claims description 2
- 238000003466 welding Methods 0.000 description 1
Description
第１図は本案装置を具備するロボツトを搭載し
たシーム溶接機の側面図、第２図はその要部の拡
大側面図、第３図は第２図の―線截断面図で
ある。
７……ワーク保持具（流体作動式器具）、８…
…手首本体、９……駆動源、１１……手首軸、１
３……継手、１９……シリンダ、１９ａ……ピス
トンロツド、２０……ロツク部材、２１……流体
通路。
FIG. 1 is a side view of a seam welding machine equipped with a robot equipped with the device of the present invention, FIG. 2 is an enlarged side view of the main parts thereof, and FIG. 3 is a sectional view taken along the line -- in FIG. 7... Work holder (fluid-operated instrument), 8...
... Wrist body, 9 ... Drive source, 11 ... Wrist axis, 1
3...Joint, 19...Cylinder, 19a...Piston rod, 20...Lock member, 21...Fluid passage.
Claims (1)
軸設し、該手首軸に所定の自由度を持つた継手を
介して流体作動式の器具を取付けると共に、該継
手の動きを拘束するロツク部材を該手首本体に搭
載したシリンダにより該手首軸の軸線上に進退自
在に設けるものにおいて、該シリンダのピストン
ロツドを中空に形成して該手首軸の中心孔に摺動
及び回動自在に挿通し、該ピストンロツドに該ロ
ツク部材を回動自在に挿通して、該ロツク部材に
器具駆動用の流体通路を形成したことを特徴とす
るロボツトの手首装置。 A wrist shaft rotated by a drive source is installed on the wrist body, a fluid-operated instrument is attached to the wrist shaft via a joint having a predetermined degree of freedom, and a lock member restrains the movement of the joint. is provided to be movable forward and backward on the axis of the wrist shaft by a cylinder mounted on the wrist body, the piston rod of the cylinder being formed hollow and inserted into the center hole of the wrist shaft so as to be slidable and rotatable; A wrist device for a robot, characterized in that the lock member is rotatably inserted through the piston rod to form a fluid passage for driving an instrument in the lock member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10115185U JPS6211591U (en) | 1985-07-04 | 1985-07-04 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10115185U JPS6211591U (en) | 1985-07-04 | 1985-07-04 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6211591U true JPS6211591U (en) | 1987-01-24 |
Family
ID=30971633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10115185U Pending JPS6211591U (en) | 1985-07-04 | 1985-07-04 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6211591U (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS584388A (en) * | 1981-06-30 | 1983-01-11 | ファナック株式会社 | Wrist mechanism of industrial robot |
| JPS5930698A (en) * | 1982-08-16 | 1984-02-18 | 本田技研工業株式会社 | Wrist device for robot |
-
1985
- 1985-07-04 JP JP10115185U patent/JPS6211591U/ja active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS584388A (en) * | 1981-06-30 | 1983-01-11 | ファナック株式会社 | Wrist mechanism of industrial robot |
| JPS5930698A (en) * | 1982-08-16 | 1984-02-18 | 本田技研工業株式会社 | Wrist device for robot |