KR830005979A - 산업용 로봇의 리스트기구(wrist機構) - Google Patents

산업용 로봇의 리스트기구(wrist機構)

Info

Publication number
KR830005979A
KR830005979A KR1019810001804A KR810001804A KR830005979A KR 830005979 A KR830005979 A KR 830005979A KR 1019810001804 A KR1019810001804 A KR 1019810001804A KR 810001804 A KR810001804 A KR 810001804A KR 830005979 A KR830005979 A KR 830005979A
Authority
KR
South Korea
Prior art keywords
list
sensing device
tapered
industrial robot
positioning plate
Prior art date
Application number
KR1019810001804A
Other languages
English (en)
Other versions
KR840001146B1 (ko
Inventor
하지무 이나바
스스무 이또우
Original Assignee
이네바 세이우에몬
후지쓰파나크 가부시끼가이샤
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 이네바 세이우에몬, 후지쓰파나크 가부시끼가이샤 filed Critical 이네바 세이우에몬
Publication of KR830005979A publication Critical patent/KR830005979A/ko
Application granted granted Critical
Publication of KR840001146B1 publication Critical patent/KR840001146B1/ko

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q16/00—Equipment for precise positioning of tool or work into particular locations not otherwise provided for
    • B23Q16/02—Indexing equipment
    • B23Q16/08—Indexing equipment having means for clamping the relatively movable parts together in the indexed position
    • B23Q16/10—Rotary indexing
    • B23Q16/102—Rotary indexing with a continuous drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops

Abstract

내용 없음

Description

산업용 로봇의 리스트기구(wrist機構)
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 실시예에 의한 산업용 로봇리스트기구의 구조를 보여주는 단면도.
제2도는 제1도의 리스트기구에 있는 제이 위치결정판이 구조를 보여주는 평면도.
제3도는 제1도의 Ⅲ-Ⅲ선 단면도.
제4도는 제1도의 리스트기구의 조작도.

Claims (3)

  1. 리스트 상기 리스트를 작동시키기 위한 시계방향 및 반시계방향으로 회전가능한 회전식 작동기, 테이퍼핀과 돌기를 가진 제일위치결정판, 상기 돌기와 연결되어 있는 감지장치 및 상기 테이퍼핀을 수납하기 위한 테이퍼 리셉터클이 구비되어 있는 제이위치결정판으로 되어 있고, 여기서 상기 감지장치는 상기 리스트의 각 위치를 검출하기에 적당하게 되어 있고, 상기 회전식 작동기는 상기 감지장치에 의해 발생된 신호에 의해서 정지되기에 알맞게 되어 있고, 상기 제이위치결정판은 상기 제일위치결정판에 압압되기에 알맞게 되어 있으며, 상기 구조에 의하여 리스트기구의 위치결정이 행해지는 것을 특징으로하는 산업용 로봇의 리스트기구.
  2. 상기 테이퍼핀과 상기 테이퍼 리셉터클의 구조는 3이상의 각 위치에서 상기 리스트의 각위치가 정해질 수 있도록 선택되어지는 것을 특징으로 하는 특허청구의 범위 제1항에 기재한 산업용 로봇의 리스트기구.
  3. 상기 감지장치가 리밋스위치인 것을 특징으로하는 특허청구의 범위 제1헹에 기재한 산업용 로봇의 리스트기구.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019810001804A 1980-06-04 1981-05-23 산업용 로봇의 리스트기구(wrist 機構) KR840001146B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP55074162A JPS5837118B2 (ja) 1980-06-04 1980-06-04 工業用ロボットの手首機構
JP???55-74162 1980-06-04

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR2019820000164U Division KR850001004Y1 (ko) 1980-05-30 1982-01-11 분무기

Publications (2)

Publication Number Publication Date
KR830005979A true KR830005979A (ko) 1983-09-14
KR840001146B1 KR840001146B1 (ko) 1984-08-11

Family

ID=13539175

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019810001804A KR840001146B1 (ko) 1980-06-04 1981-05-23 산업용 로봇의 리스트기구(wrist 機構)

Country Status (5)

Country Link
US (1) US4430923A (ko)
EP (1) EP0041221B1 (ko)
JP (1) JPS5837118B2 (ko)
KR (1) KR840001146B1 (ko)
DE (1) DE3163368D1 (ko)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59141207U (ja) * 1983-03-11 1984-09-20 株式会社トルカ− 揺動アクチユエ−タにおける定位置停止装置
JPS6052295A (ja) * 1983-08-30 1985-03-25 エスエムシ−株式会社 ロボツト
US4667475A (en) * 1983-09-16 1987-05-26 Wesman Verne A Fluid power apparatus for industrial robots and the like
JPS6061189U (ja) * 1983-10-04 1985-04-27 本田技研工業株式会社 工業用ロボツトの手首装置
US4666364A (en) * 1984-06-19 1987-05-19 Stahl Aufzge Gmbh & Co. Kg Low friction cylinder for manipulators, based on the pantograph principle and equipped with a pneumatic balancer control
JPS6124195U (ja) * 1984-07-16 1986-02-13 株式会社椿本チエイン ロボツトの手首回転装置
FR2593109B1 (fr) * 1986-01-21 1988-04-22 Renault Automation Main de prehension de pieces pour bras de robot ou de manipulateur.
JPH0429993Y2 (ko) * 1986-04-01 1992-07-20
US4918991A (en) * 1986-12-01 1990-04-24 Westinghouse Electric Corp. Method for sampling nuclear fuel pellets with a robot gripper mechanism
US4830565A (en) * 1986-12-01 1989-05-16 Westinghouse Electric Corp. Robot gripper mechanism and method for sampling nuclear fuel pellets
US4719847A (en) * 1987-01-20 1988-01-19 Blatt Leland F Fluid pressure operated motor with positive locating device
JPH0669047A (ja) * 1992-08-21 1994-03-11 Toshiba Corp ブッシングシールド装置
US5410944A (en) * 1993-06-03 1995-05-02 Cushman; William B. Telescoping robot arm with spherical joints
CN104454777A (zh) * 2014-11-28 2015-03-25 天津市福臻机电工程有限公司 精确定位锁紧装置
TWI643606B (zh) * 2017-12-08 2018-12-11 財團法人工業技術研究院 義肢
CN113263523B (zh) * 2021-04-25 2022-06-17 项淮智能科技(长兴)有限公司 一种测量scara机器人臂长方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3054333A (en) * 1958-06-27 1962-09-18 Kearney & Trecker Corp Machine tool indexing and pallet clamping mechanism
US3620132A (en) * 1969-09-25 1971-11-16 Ex Cell O Corp Rotary-linear actuator
US3848753A (en) * 1972-04-14 1974-11-19 Electrolux Ab Turning movement device for material handling apparatus
JPS5224678A (en) * 1975-08-19 1977-02-24 Hitachi Zosen Corp Complex motion cylinder with rotary device
US4007521A (en) * 1976-04-23 1977-02-15 Hans Seiler Automatic precision working tool
JPS5746149Y2 (ko) * 1978-01-31 1982-10-12
US4235155A (en) * 1979-01-02 1980-11-25 Shafer Homer J Delaying control for hydraulic motors

Also Published As

Publication number Publication date
JPS571691A (en) 1982-01-06
KR840001146B1 (ko) 1984-08-11
EP0041221A1 (en) 1981-12-09
EP0041221B1 (en) 1984-05-02
DE3163368D1 (en) 1984-06-07
US4430923A (en) 1984-02-14
JPS5837118B2 (ja) 1983-08-13

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