JPS6412790U - - Google Patents
Info
- Publication number
- JPS6412790U JPS6412790U JP10570887U JP10570887U JPS6412790U JP S6412790 U JPS6412790 U JP S6412790U JP 10570887 U JP10570887 U JP 10570887U JP 10570887 U JP10570887 U JP 10570887U JP S6412790 U JPS6412790 U JP S6412790U
- Authority
- JP
- Japan
- Prior art keywords
- axis
- robot
- tip
- hand
- orthogonal
- 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
- 238000010586 diagram Methods 0.000 description 1
Description
第１図ないし第３図は本考案の一実施例を示す
ものであつて、第１図は全体の構成を示す斜視図
、第２図はＺ軸移動・回動ユニツトおよびロボツ
トハンドの構成を示す斜視図、第３図はロボツト
ハンドの詳細構造を示す平面断面図、第４図は従
来の垂直多関節ロボツトの動作を示す説明図であ
る。
１２はロボツトハンド、１３は直交座標ロボツ
ト、２７はシヤフト（直交座標ロボツト先端部）
、３７はハンド先端部、４０は制御装置（演算手
段、制御手段）である。
Figures 1 to 3 show one embodiment of the present invention, with Figure 1 being a perspective view showing the overall configuration, and Figure 2 showing the configuration of the Z-axis moving/rotating unit and the robot hand. 3 is a plan sectional view showing the detailed structure of the robot hand, and FIG. 4 is an explanatory diagram showing the operation of a conventional vertically articulated robot. 12 is the robot hand, 13 is the orthogonal coordinate robot, and 27 is the shaft (the tip of the orthogonal coordinate robot).
, 37 is the tip of the hand, and 40 is a control device (computation means, control means).
Claims (1)
，Ｙ、およびＺ軸方向に移動させるとともにＺ軸
回りに回動させる直交座標ロボツトと、直交座標
ロボツト先端部に取り付けられ、Ｚ軸と直交する
Ｒ１軸およびＲ１軸と直交するＲ２軸回りにハン
ド先端部を回動させるロボツトハンドと、上記直
交座標ロボツトによるロボツトハンドの移動方向
を演算する演算手段と、演算手段の演算結果に基
づいてＺ軸およびＲ１軸の回りにハンド先端部を
回動させ、直交座標ロボツトによるロボツトハン
ドの移動方向にハンド先端部を向ける制御手段と
を備えたことを特徴とする複合動作ロボツト。 Orthogonal coordinates The tip of the robot is
, Y, and Z axes as well as rotating around the Z axis, and an R1 axis that is orthogonal to the Z axis and an R2 axis that is orthogonal to the R1 axis, which are attached to the tip of the orthogonal coordinate robot. a robot hand that rotates the tip of the hand around the Z-axis and an R- 1 axis based on the calculation results of the calculation means; and a control means for rotating the robot hand and directing the tip of the hand in the direction in which the robot hand is moved by the orthogonal coordinate robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10570887U JPS6412790U (en) | 1987-07-09 | 1987-07-09 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10570887U JPS6412790U (en) | 1987-07-09 | 1987-07-09 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6412790U true JPS6412790U (en) | 1989-01-23 |
Family
ID=31338566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10570887U Pending JPS6412790U (en) | 1987-07-09 | 1987-07-09 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6412790U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0399418U (en) * | 1990-01-31 | 1991-10-17 | ||
| JPH11102956A (en) * | 1997-09-26 | 1999-04-13 | Disco Abrasive Syst Ltd | Uv irradiation apparatus and dicing equipment mounted therewith |
| WO2013189693A1 (en) * | 2012-06-19 | 2013-12-27 | Technische Universität München | Agile, driven joint with three degrees of freedom |
| WO2016084178A1 (en) * | 2014-11-26 | 2016-06-02 | 株式会社安川電機 | Robot arm and robot system |
-
1987
- 1987-07-09 JP JP10570887U patent/JPS6412790U/ja active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0399418U (en) * | 1990-01-31 | 1991-10-17 | ||
| JPH11102956A (en) * | 1997-09-26 | 1999-04-13 | Disco Abrasive Syst Ltd | Uv irradiation apparatus and dicing equipment mounted therewith |
| WO2013189693A1 (en) * | 2012-06-19 | 2013-12-27 | Technische Universität München | Agile, driven joint with three degrees of freedom |
| WO2016084178A1 (en) * | 2014-11-26 | 2016-06-02 | 株式会社安川電機 | Robot arm and robot system |
| US10414044B2 (en) | 2014-11-26 | 2019-09-17 | Kabushiki Kaisha Yaskawa Denki | Robot arm and robot system |
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