JPS62153088U - - Google Patents
Info
- Publication number
- JPS62153088U JPS62153088U JP3973986U JP3973986U JPS62153088U JP S62153088 U JPS62153088 U JP S62153088U JP 3973986 U JP3973986 U JP 3973986U JP 3973986 U JP3973986 U JP 3973986U JP S62153088 U JPS62153088 U JP S62153088U
- Authority
- JP
- Japan
- Prior art keywords
- wrist
- robot
- limit position
- motion limit
- reduction 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.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 210000000245 forearm Anatomy 0.000 description 1
Landscapes
- Numerical Control (AREA)
Description
第１図は本考案の装置の一例を具備したロボツ
トの一例を示す斜視図、第２図は第１図に示すロ
ボツトの手首部の断面図、第３図は本考案の装置
の一例を備えたロボツトアームの断面図、第４図
は第３図に示す手首ひねり軸検出部の正面図、第
５図は本考案の装置の他の実施例を示す断面図で
ある。
３０３……前腕、３１０……手首部、４１１…
…ハンド保持部、４０５，４０６，５０５，５０
６……減速機、５０１，５０２，７４０……モー
タ、５２１，５３１，７０１……ドブ、６０４，
６０５，７０４，７０５……動作限界位置検出用
センサ、７０６，７０７……平歯車、７０８……
ボールねじ、７２０……トルクチユーブ。
Fig. 1 is a perspective view showing an example of a robot equipped with an example of the device of the present invention, Fig. 2 is a sectional view of the wrist portion of the robot shown in Fig. 1, and Fig. 3 is a perspective view showing an example of the robot equipped with an example of the device of the present invention. FIG. 4 is a front view of the wrist twist axis detection section shown in FIG. 3, and FIG. 5 is a sectional view showing another embodiment of the device of the present invention. 303...Forearm, 310...Wrist, 411...
...Hand holding part, 405, 406, 505, 50
6...Reducer, 501,502,740...Motor, 521,531,701...Gutter, 604,
605,704,705...Sensor for detecting the operating limit position, 706,707...Spur gear, 708...
Ball screw, 720...torque tube.
補正 昭６１．７．９
考案の名称を次のように補正する。
考案の名称 ロボツトの手首動作限界位置検
出装置Amendment July 9, 1981 The name of the invention is amended as follows. Name of invention Robot wrist movement limit position detection device
Claims (1)
ボツトにおいて、前記手首部より遠隔な位置に配
置した手首の駆動系に前記減速機とは別の減速機
を設け、その出力側に手首動作限界位置検出器を
設けたことを特徴とするロボツトの手首動作限界
位置検出装置。 ２ 手首の駆動系に配置する減速機の減速比は、
手首部の減速機の減速比よりも大きいことを特徴
とする特許請求の範囲第１項記載のロボツトの手
首動作限界位置検出装置。[Claims for Utility Model Registration] 1. In a robot having at least one reduction gear in the wrist, a reduction gear other than the reduction gear is provided in the drive system of the wrist located at a remote position from the wrist, and A wrist motion limit position detection device for a robot, characterized in that a wrist motion limit position detector is provided on the output side. 2 The reduction ratio of the reducer placed in the wrist drive system is:
2. The wrist motion limit position detection device for a robot according to claim 1, wherein the speed reduction ratio is larger than the speed reduction ratio of the wrist speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3973986U JPS62153088U (en) | 1986-03-20 | 1986-03-20 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3973986U JPS62153088U (en) | 1986-03-20 | 1986-03-20 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62153088U true JPS62153088U (en) | 1987-09-28 |
Family
ID=30853189
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3973986U Pending JPS62153088U (en) | 1986-03-20 | 1986-03-20 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62153088U (en) |
-
1986
- 1986-03-20 JP JP3973986U patent/JPS62153088U/ja active Pending