JPS6215488U - - Google Patents

Info

Publication number
JPS6215488U
JPS6215488U JP10642585U JP10642585U JPS6215488U JP S6215488 U JPS6215488 U JP S6215488U JP 10642585 U JP10642585 U JP 10642585U JP 10642585 U JP10642585 U JP 10642585U JP S6215488 U JPS6215488 U JP S6215488U
Authority
JP
Japan
Prior art keywords
arm
fitting surface
arms
coupling
robot
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
JP10642585U
Other languages
Japanese (ja)
Other versions
JPS646229Y2 (en
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 JP1985106425U priority Critical patent/JPS646229Y2/ja
Publication of JPS6215488U publication Critical patent/JPS6215488U/ja
Application granted granted Critical
Publication of JPS646229Y2 publication Critical patent/JPS646229Y2/ja
Expired legal-status Critical Current

Links

Description

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本考案を適用したロボツトアームの結
合機構を示す要部側断面図、第２図は本考案の原
理を示す平面図、第３図は従来のアーム結合部の
構造を説明するための図であつて、ａは要部側断
面図、ｂは要部平面図である。 図中、１ａ，１ｂは第１、第２のロボツトアー
ム、２，１２は軸、３，１３は軸受、４，１４は
関節、５はエンコーダ、５ａはデイスク、６ａは
凸型嵌合面、６ｂは凹型嵌合面、７は固定孔、８
はネジ孔、９は固定ネジ、１０ａは第１アームの
ヒンジ、１０ｂは第２アームのヒンジ、２０は印
篭構造をそれぞれ示す。 Fig. 1 is a sectional side view of the main part showing the coupling mechanism of the robot arm to which the present invention is applied, Fig. 2 is a plan view showing the principle of the present invention, and Fig. 3 is for explaining the structure of the conventional arm coupling part. In these figures, a is a side sectional view of the main part, and b is a plan view of the main part. In the figure, 1a and 1b are first and second robot arms, 2 and 12 are shafts, 3 and 13 are bearings, 4 and 14 are joints, 5 is an encoder, 5a is a disk, 6a is a convex fitting surface, 6b is a concave fitting surface, 7 is a fixing hole, 8
9 indicates a screw hole, 9 indicates a fixing screw, 10a indicates a first arm hinge, 10b indicates a second arm hinge, and 20 indicates an inko structure.

Claims (1)

【実用新案登録請求の範囲】 ロボツトアームの結合／分離機構であつて、 該機構は第１アーム１ａ側の関節１４を保持す
るヒンジ部１０ａ上に形成された凸型嵌合面６ａ
と、 前記第１アーム１ａに結合される第２アーム１
ｂ側のヒンジ部１０ｂ上に形成された凹型嵌合面
６ｂとによつて両アーム間の結合構造が構成され
、 これら第１、第２の両アーム１ａ，１ｂが前記
凸型嵌合面６ａ、凹型嵌合面６ｂおよび前記ヒン
ジ部１０ａ，１０ｂによつて形成される印篭構造
２０を介して挿抜自在に結合されるように構成さ
れてなることを特徴とするロボツトアームの結合
機構。[Claims for Utility Model Registration] A coupling/separation mechanism for robot arms, which includes a convex fitting surface 6a formed on a hinge portion 10a that holds a joint 14 on the first arm 1a side.
and a second arm 1 coupled to the first arm 1a.
A concave fitting surface 6b formed on the hinge portion 10b on the b side constitutes a coupling structure between both arms, and these first and second arms 1a, 1b are connected to the convex fitting surface 6a. A robot arm coupling mechanism characterized in that the robot arm is coupled so as to be freely inserted and removed via a seal structure 20 formed by a concave fitting surface 6b and the hinge parts 10a and 10b.
JP1985106425U 1985-07-11 1985-07-11 Expired JPS646229Y2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1985106425U JPS646229Y2 (en) 1985-07-11 1985-07-11

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1985106425U JPS646229Y2 (en) 1985-07-11 1985-07-11

Publications (2)

Publication Number Publication Date
JPS6215488U true JPS6215488U (en) 1987-01-29
JPS646229Y2 JPS646229Y2 (en) 1989-02-16

Family

ID=30981770

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1985106425U Expired JPS646229Y2 (en) 1985-07-11 1985-07-11

Country Status (1)

Country Link
JP (1) JPS646229Y2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07314374A (en) * 1994-05-27 1995-12-05 Koyo Seiko Co Ltd Bearing device for joint
JP2018051675A (en) * 2016-09-28 2018-04-05 株式会社デンソーウェーブ Encoder device and robot
CN112805125A (en) * 2018-09-24 2021-05-14 果核机器人股份有限公司 Robot with complementary fastening elements for connecting components

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55169390U (en) * 1979-05-25 1980-12-05
JPS5894991A (en) * 1981-12-02 1983-06-06 日産自動車株式会社 Device for fixing joint of robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55169390U (en) * 1979-05-25 1980-12-05
JPS5894991A (en) * 1981-12-02 1983-06-06 日産自動車株式会社 Device for fixing joint of robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07314374A (en) * 1994-05-27 1995-12-05 Koyo Seiko Co Ltd Bearing device for joint
JP2018051675A (en) * 2016-09-28 2018-04-05 株式会社デンソーウェーブ Encoder device and robot
CN112805125A (en) * 2018-09-24 2021-05-14 果核机器人股份有限公司 Robot with complementary fastening elements for connecting components
JP2022502270A (en) * 2018-09-24 2022-01-11 フルーツコア ロボティックス ゲーエムベーハーfruitcore robotics GmbH Robot with complementary fastening elements for assembly connection
US11518047B2 (en) 2018-09-24 2022-12-06 Fruitcore Robotics Gmbh Robot having complementary fastening elements for connecting assemblies

Also Published As

Publication number Publication date
JPS646229Y2 (en) 1989-02-16

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