JPS62121091U - - Google Patents
Info
- Publication number
- JPS62121091U JPS62121091U JP732686U JP732686U JPS62121091U JP S62121091 U JPS62121091 U JP S62121091U JP 732686 U JP732686 U JP 732686U JP 732686 U JP732686 U JP 732686U JP S62121091 U JPS62121091 U JP S62121091U
- Authority
- JP
- Japan
- Prior art keywords
- hand
- final end
- end arm
- arm
- movable
- 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
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Numerical Control (AREA)
- Control Of Position Or Direction (AREA)
Description
第１図は、本考案の一実施例を示した図、第２
図は従来の工業用ロボツトのハンドのリミツト検
出機構を示す図である。
１……アーム、２……ハンド、３……ハンドを
駆動するモータ、４……減速機、５……センサ、
６……被センサ部、７，８，９……アーム、１０
……ハンド、１１，１２……アームを駆動するモ
ータ、１３……ハンドを駆動するモータ、１４…
…センサ、１５……被センサ部。
Figure 1 is a diagram showing one embodiment of the present invention, Figure 2 is a diagram showing an embodiment of the invention.
The figure shows a limit detection mechanism of a conventional industrial robot hand. 1...Arm, 2...Hand, 3...Motor that drives the hand, 4...Reducer, 5...Sensor,
6...Sensed part, 7, 8, 9...Arm, 10
...Hand, 11, 12...Motor that drives the arm, 13...Motor that drives the hand, 14...
...sensor, 15...sensed part.
Claims (1)
最終端アームに接続したハンドからなるロボツト
において、前記最終端アームに対して前記ハンド
の可動回転角度範囲が１回以下の回転に減速され
る減速機と、最終端アームに設定されたセンサと
、前記減速機により回転する被センサ部とを具備
し、前記被センサ部の両端をハンドの可動回転角
度範囲に対応させてハンドの可動領域を検出する
ロボツトハンドのリミツト検出機構。 In a robot comprising at least one arm and a hand connected to a final end arm of the arms, a speed reducer that reduces the movable rotation angle range of the hand to one rotation or less with respect to the final end arm; A robot hand that is equipped with a sensor set on the final end arm and a sensed part rotated by the speed reducer, and that detects the movable range of the hand by making both ends of the sensed part correspond to the movable rotation angle range of the hand. limit detection mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP732686U JPS62121091U (en) | 1986-01-21 | 1986-01-21 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP732686U JPS62121091U (en) | 1986-01-21 | 1986-01-21 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62121091U true JPS62121091U (en) | 1987-07-31 |
Family
ID=30790672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP732686U Pending JPS62121091U (en) | 1986-01-21 | 1986-01-21 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62121091U (en) |
-
1986
- 1986-01-21 JP JP732686U patent/JPS62121091U/ja active Pending