JPS6427888A - Rope drive type manipulator - Google Patents
Rope drive type manipulatorInfo
- Publication number
- JPS6427888A JPS6427888A JP18364587A JP18364587A JPS6427888A JP S6427888 A JPS6427888 A JP S6427888A JP 18364587 A JP18364587 A JP 18364587A JP 18364587 A JP18364587 A JP 18364587A JP S6427888 A JPS6427888 A JP S6427888A
- Authority
- JP
- Japan
- Prior art keywords
- rope
- light
- head
- light receiver
- 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
Abstract
PURPOSE: To surely detect the breaking of a rope and eliminate any possibility of damaging the environment by attaching a projection head and a light receiver head in the adjacent to a power transmission rope in such a state as coinciding their optical axes with each other. CONSTITUTION: A projection head 13a for emitting the light and a light receiver head 14a for receiving the light are provided in an elbow part of a manipulator having the whole ropes 11b arranged in a line with their optical axes coincided with each other. When the rope is broken by the defect and excessive load of the rope 11b, the tensile force of the rope 11b is lost so that the rope 11b is detached from a pulley 10d so as to block off the light from the projection head 13a to the light receiver head 14a. As a result, the light does not reach a light receiver element 16b of an amplifier 18 which is connected to the light receiver head 14a by an optical fiber 15b so that the rope breaking signal is transmitted from the amplifier 18 to the CPU. The whole power part of the manipulator is stopped by the command from the CPU based on the rope breaking signal so as to avoid the damage on the environment.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP18364587A JPH066275B2 (en) | 1987-07-24 | 1987-07-24 | Rope drive type manipulator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP18364587A JPH066275B2 (en) | 1987-07-24 | 1987-07-24 | Rope drive type manipulator |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6427888A true JPS6427888A (en) | 1989-01-30 |
JPH066275B2 JPH066275B2 (en) | 1994-01-26 |
Family
ID=16139416
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP18364587A Expired - Lifetime JPH066275B2 (en) | 1987-07-24 | 1987-07-24 | Rope drive type manipulator |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH066275B2 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0588895U (en) * | 1992-05-14 | 1993-12-03 | 神鋼電機株式会社 | Unmanned vehicle mounted manipulator |
CN103029135A (en) * | 2012-12-13 | 2013-04-10 | 东北大学 | Muscle driving simulation robot joint |
CN111015644A (en) * | 2019-12-24 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope drives formula arm based on coupling linkage |
CN115953940A (en) * | 2022-10-25 | 2023-04-11 | 深圳技术大学 | Portable surgical robot teaching equipment |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101324502B1 (en) * | 2012-03-21 | 2013-11-01 | 주식회사 엔티리서치 | Wearable human power amplification device using wire rope |
RU2744471C1 (en) * | 2020-04-30 | 2021-03-09 | Федеральное государственное бюджетное научное учреждение "Федеральный научный центр "КАБАРДИНО-БАЛКАРСКИЙ НАУЧНЫЙ ЦЕНТР РОССИЙСКОЙ АКАДЕМИИ НАУК" (КБНЦ РАН) | Lever-polyspast drive of manipulators hinges |
-
1987
- 1987-07-24 JP JP18364587A patent/JPH066275B2/en not_active Expired - Lifetime
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0588895U (en) * | 1992-05-14 | 1993-12-03 | 神鋼電機株式会社 | Unmanned vehicle mounted manipulator |
CN103029135A (en) * | 2012-12-13 | 2013-04-10 | 东北大学 | Muscle driving simulation robot joint |
CN111015644A (en) * | 2019-12-24 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope drives formula arm based on coupling linkage |
CN111015644B (en) * | 2019-12-24 | 2022-10-25 | 中国科学院沈阳自动化研究所 | Rope drives formula arm based on coupling linkage |
CN115953940A (en) * | 2022-10-25 | 2023-04-11 | 深圳技术大学 | Portable surgical robot teaching equipment |
CN115953940B (en) * | 2022-10-25 | 2023-10-13 | 深圳技术大学 | Portable surgical robot teaching equipment |
Also Published As
Publication number | Publication date |
---|---|
JPH066275B2 (en) | 1994-01-26 |
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