JPS6416393A - Balance type industrial robot - Google Patents

Balance type industrial robot

Info

Publication number
JPS6416393A
JPS6416393A JP16983687A JP16983687A JPS6416393A JP S6416393 A JPS6416393 A JP S6416393A JP 16983687 A JP16983687 A JP 16983687A JP 16983687 A JP16983687 A JP 16983687A JP S6416393 A JPS6416393 A JP S6416393A
Authority
JP
Japan
Prior art keywords
shaft
action
driving
generated
gravity
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
Application number
JP16983687A
Other languages
Japanese (ja)
Inventor
Kenichi Toyoda
Nobutoshi Torii
Susumu Ito
Yasuo Sasaki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 by Fanuc Corp filed Critical Fanuc Corp
Priority to JP16983687A priority Critical patent/JPS6416393A/en
Publication of JPS6416393A publication Critical patent/JPS6416393A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE: To reduce the load of a servo motor for driving a joint shaft related to vertical action by making the sum of moment generated by the action of gravity around the joint shaft related to vertical action, approximate to zero using essential elements constituting an industrial robot. CONSTITUTION: Servo motors 9, 10, 12, 20 for respectively driving α, β, γ shafts related to the rotation and a second joint shaft U-shaft related to action in the vertical direction, for a hand part are arranged behind the rotation center G of the U-shaft. A β-axis drive shaft 7 is formed in hollow structure, and an α-axis drive shaft 6 is provided inside to reduce the total weight of an arm 5. The sum of moment around the rotational center G of the U-shaft generated by the action of gravity is therefore approximate to zero. Load generated at the time of the U-shaft driving servo motor 20 driving the U-shaft is statically only moment generated by gravity acting upon an attachment mounted to a hand part at the tip of the arm 5.
JP16983687A 1987-07-09 1987-07-09 Balance type industrial robot Pending JPS6416393A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP16983687A JPS6416393A (en) 1987-07-09 1987-07-09 Balance type industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP16983687A JPS6416393A (en) 1987-07-09 1987-07-09 Balance type industrial robot

Publications (1)

Publication Number Publication Date
JPS6416393A true JPS6416393A (en) 1989-01-19

Family

ID=15893821

Family Applications (1)

Application Number Title Priority Date Filing Date
JP16983687A Pending JPS6416393A (en) 1987-07-09 1987-07-09 Balance type industrial robot

Country Status (1)

Country Link
JP (1) JPS6416393A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06114782A (en) * 1992-09-29 1994-04-26 Toyoda Mach Works Ltd Robot hand drive device
CN104908061A (en) * 2015-06-23 2015-09-16 泉州市微柏工业机器人研究院有限公司 Mechanical long arm

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5959371A (en) * 1982-09-30 1984-04-05 フアナツク株式会社 Industrial robot
JPS59110579A (en) * 1982-12-16 1984-06-26 松下電器産業株式会社 Industrial joint type robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5959371A (en) * 1982-09-30 1984-04-05 フアナツク株式会社 Industrial robot
JPS59110579A (en) * 1982-12-16 1984-06-26 松下電器産業株式会社 Industrial joint type robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06114782A (en) * 1992-09-29 1994-04-26 Toyoda Mach Works Ltd Robot hand drive device
CN104908061A (en) * 2015-06-23 2015-09-16 泉州市微柏工业机器人研究院有限公司 Mechanical long arm

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