KR860007063A - Unloading robot - Google Patents

Unloading robot Download PDF

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Publication number
KR860007063A
KR860007063A KR1019850006391A KR850006391A KR860007063A KR 860007063 A KR860007063 A KR 860007063A KR 1019850006391 A KR1019850006391 A KR 1019850006391A KR 850006391 A KR850006391 A KR 850006391A KR 860007063 A KR860007063 A KR 860007063A
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KR
South Korea
Prior art keywords
arm
robot
stroke
point
support member
Prior art date
Application number
KR1019850006391A
Other languages
Korean (ko)
Other versions
KR910000859B1 (en
Inventor
시게루 오오쓰끼
슈우다로오 아미구라
히로시 고미
Original Assignee
고오노 도시오
다이니찌 기꼬오 가부시기가이샤
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 고오노 도시오, 다이니찌 기꼬오 가부시기가이샤 filed Critical 고오노 도시오
Publication of KR860007063A publication Critical patent/KR860007063A/en
Application granted granted Critical
Publication of KR910000859B1 publication Critical patent/KR910000859B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

내용 없음No content

Description

하역용 로봇Unloading robot

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본 발명 실시예에 관한 하역용 로봇의 주요부분 측면도. 제4도는 아암을 보강함과 동시에 로봇 아암의 동작을 안정시키는 밸런스수단을 마련한 변형예의 주요부분 측면도. 제5도는 역점을 2점에 잡고, 스트로우크 구동장치의 스트로우크를 크게 잡은 변형예의 주요부분 측면도.1 is a side view of the main part of the robot for unloading according to the embodiment of the present invention. 4 is a side view of an essential part of a modification in which a balance means for reinforcing the arm and stabilizing the operation of the robot arm is provided. 5 is a side view of the main portion of the modification in which the focus is set at two points and the stroke of the stroke drive is largely taken.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

(A) : 로봇아암, (7),(8),(9),(10) : 제1, 제2, 제3 및 제4아암부재, (7a) : 하중지지부, (B) : 지지부재, (C) : 아암 상하동용 하중밸랜스형 스트로우크 구동장치, (D) : 아암수평동용 스트로우크 구동장치.(A): robot arm, (7), (8), (9), (10): first, second, third and fourth arm members, (7a): load supporting part, (B): supporting member , (C): Load balance type stroke drive device for up and down arm, (D): Stroke drive device for horizontal arm.

Claims (1)

제1, 제2, 제3 및 제4의 4개의 아암부재(7),(8),(9),(10)가 평행 4변형이 닫친 공간을 형성하도록 링크하고 있고 또한 제1아암부재(7)가 평행 4변형의 위변을 구성하며, 전방으로 연장하고 있어 그 끝이 하중 지지부(작용점)(7a)로 되어 있는 로봇아암(A)와 로봇아암(A)이 수직면내를 요동하도록 제2아암 부재(8)의 하부를 회전할 수 있도록 지지하는 지지부재(B)와 스트로우크 축선의 수직 내지는 이보다 약간 경사진 상태로 되도록 양단이 제3아암부재(9)와 제4아암부재(10)의 피벗점 내지는 그 근방을 역점으로 하고, 그 역점과 지지부재(B)와의 사이에 피벗된 아암상하동용 밸런스형 스트로우크 구동장치(C)와, 스트로우크축선이 수평내지는 약간 경사진 상태로 되도록 양단이 상기한 역점 또는 상이한 역점과 지지부재(B)와의 사이에 비벗되어 있는 아암수평동용 스트로우크 구동장치(D)로 되었으며, 로봇아암(A)의 평행 4변형이 구형을 이룰때에 아암상하동용 하중밸런스형 스트로우크구동장치(C)는 작융점이 상한 내지는 그에 가까워지도록 마련되었으며, 또한 아암수평동용 스트로우크 구동장치(D)는 스트로우크상태가 중간내지는 그에 가까워지도록 마련되어 있음을 특징으로 하는 하역용 로봇.The first, second, third, and fourth four arm members 7, 8, 9, and 10 are linked to form a space in which the parallel four sides are closed and the first arm member ( 7) constitutes the upper side of the parallel quadrilateral, and extends forward, and the robot arm A and the robot arm A whose end is the load supporting part (acting point) 7a are oscillated in the vertical plane. The third arm member 9 and the fourth arm member 10 are both ends of the support member B for supporting the lower portion of the arm member 8 so as to be perpendicular or slightly inclined to the stroke axis. The pivot point of or in the vicinity thereof is an emphasis point, so that the balance type stroke drive device C for vertical movement of the arm pivoted between the pivot point and the support member B and the stroke axis are horizontally or slightly inclined. Arm horizontal horizontal strips, both ends of which are pivoted between the aforementioned or different stationary points and the support member (B). When the parallel four sides of the robot arm (A) form a sphere, the load balance type stroke drive (C) for up-and-down arm movement is provided so that the melting point is at or near the upper limit. The arm horizontal dynamic stroke drive device (D) is a robot for unloading, characterized in that the stroke state is provided so as to be close to the middle. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019850006391A 1985-03-05 1985-09-02 Robot for unloading KR910000859B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP85-43477 1985-03-05
JP60043477A JPS61203283A (en) 1985-03-05 1985-03-05 Robot for cargo handling
JP43477 1985-03-05

Publications (2)

Publication Number Publication Date
KR860007063A true KR860007063A (en) 1986-10-08
KR910000859B1 KR910000859B1 (en) 1991-02-11

Family

ID=12664798

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019850006391A KR910000859B1 (en) 1985-03-05 1985-09-02 Robot for unloading

Country Status (3)

Country Link
JP (1) JPS61203283A (en)
KR (1) KR910000859B1 (en)
CN (1) CN85107402A (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102975192B (en) * 2012-12-10 2014-12-24 山东电力集团公司电力科学研究院 Robot for automatically loading and unloading aviation marker balls
CN113796818B (en) * 2021-08-27 2024-03-19 天津大学医疗机器人与智能系统研究院 Force balance instrument arm

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5360063A (en) * 1976-11-11 1978-05-30 Yaskawa Electric Mfg Co Ltd Device for driving arm of industrial robot
JPS549865A (en) * 1977-06-24 1979-01-25 Kayaba Ind Co Ltd Method of controlling articulated type robot and its device

Also Published As

Publication number Publication date
CN85107402A (en) 1986-09-03
KR910000859B1 (en) 1991-02-11
JPS61203283A (en) 1986-09-09

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