JPS636332U - - Google Patents
Info
- Publication number
- JPS636332U JPS636332U JP9674686U JP9674686U JPS636332U JP S636332 U JPS636332 U JP S636332U JP 9674686 U JP9674686 U JP 9674686U JP 9674686 U JP9674686 U JP 9674686U JP S636332 U JPS636332 U JP S636332U
- Authority
- JP
- Japan
- Prior art keywords
- arm
- gear
- joint shaft
- fitted
- manipulator
- 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
Links
- 238000001514 detection method Methods 0.000 claims 1
- 230000036316 preload Effects 0.000 claims 1
Description
第１図は本考案の一実施例を示す断面図、第２
図は第１図中の―矢視図、第３図は第２図中
の―線断面図である。
図面中、１は関節軸、２は下腕、３は上腕、４
，５は軸受、６，８は歯車、７は駆動機、９はピ
ン、１０はロードセンサ、１１，１２は固定部、
１３はバネ性のある部材、１４は押ねじである。
Fig. 1 is a sectional view showing one embodiment of the present invention;
The figure is a view taken along the line -- in Fig. 1, and Fig. 3 is a sectional view taken along the line - - in Fig. 2. In the drawing, 1 is the joint axis, 2 is the lower arm, 3 is the upper arm, 4
, 5 is a bearing, 6 and 8 are gears, 7 is a drive unit, 9 is a pin, 10 is a load sensor, 11 and 12 are fixed parts,
13 is a springy member, and 14 is a set screw.
Claims (1)
結合したマニピユレータにおいて、前記関節軸に
は前記第１腕に固着された第１歯車が嵌着すると
共に該歯車に第２歯車が噛合し、更に前記第２歯
車を軸支する軸受箱が前記第２腕内で、その反負
荷側から揺動自在に支持され、かつ、その負荷側
に予圧をかけたロードセンサが圧接されることを
特徴とするマニピユレータ関節トルク検出機構。 In a manipulator in which a first arm and a second arm are rotatably coupled via a joint shaft, a first gear fixed to the first arm is fitted to the joint shaft, and a second gear is fitted to the joint shaft. furthermore, a bearing box that pivotally supports the second gear is swingably supported from the opposite load side within the second arm, and a load sensor with a preload applied to the load side is pressed into contact with the bearing box. A manipulator joint torque detection mechanism characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9674686U JPH0447641Y2 (en) | 1986-06-26 | 1986-06-26 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9674686U JPH0447641Y2 (en) | 1986-06-26 | 1986-06-26 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS636332U true JPS636332U (en) | 1988-01-16 |
| JPH0447641Y2 JPH0447641Y2 (en) | 1992-11-10 |
Family
ID=30962849
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9674686U Expired JPH0447641Y2 (en) | 1986-06-26 | 1986-06-26 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0447641Y2 (en) |
-
1986
- 1986-06-26 JP JP9674686U patent/JPH0447641Y2/ja not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0447641Y2 (en) | 1992-11-10 |
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