KR860008839A - Articulated robot - Google Patents

Articulated robot Download PDF

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Publication number
KR860008839A
KR860008839A KR1019850006393A KR850006393A KR860008839A KR 860008839 A KR860008839 A KR 860008839A KR 1019850006393 A KR1019850006393 A KR 1019850006393A KR 850006393 A KR850006393 A KR 850006393A KR 860008839 A KR860008839 A KR 860008839A
Authority
KR
South Korea
Prior art keywords
arm
wrist
articulated robot
flange
pivot
Prior art date
Application number
KR1019850006393A
Other languages
Korean (ko)
Other versions
KR910000860B1 (en
Inventor
시게루 오오쓰끼
도시쓰구 시오자와
노리유끼 오오지마
고오지 가지
Original Assignee
고오노 도시오
다이니찌 기꼬오 가부시기 가이샤
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 가부시기 가이샤 filed Critical 고오노 도시오
Publication of KR860008839A publication Critical patent/KR860008839A/en
Application granted granted Critical
Publication of KR910000860B1 publication Critical patent/KR910000860B1/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
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • 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

다관절로 봇Articulated robot

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

제1도는 본 발명의 다관절로봇의 실시예에 관한 것으로 일부분을 단면한 전체정면도.1 is a front view of a cross-sectional view of an embodiment of the articulated robot of the present invention.

제2도는 종래의 다관절로봇에 관한 것으로 일부분을 단면한 전체정면도.2 is a front view of a cross section of a conventional articulated robot.

※도면의 주요부분에 대한 부호의 설명※ Explanation of symbols for main parts of drawing

1 : 로봇베이스 2 : 선회대(旋回臺)1: robot base 2: turning table

3 : 제1아암 4 : 제2아암3: first arm 4: second arm

5 : 손목(手首) 5 : 손목플랜지5: wrist (手 首) 5: wrist flange

6 : 선회대구동용모우터 7 : 제1아암선회용모우터6: turning arm drive motor 7: 1st arm swing motor

8 : 제2아암선회용모우터 9 : 손목요동용모우터8: second arm swing motor 9: wrist swing motor

10 : 손목플랜지회전용모우터 23 : 감속기10: dedicated motor flange rotation 23: reducer

24 : 제1아암회전축 24a : 접속플랜지24: 1st arm rotation shaft 24a: connection flange

27 : 보올트 31 : 제2아암회전축27: Volt 31: second arm rotation axis

31a : 접속플랜지 34 : 보올트31a: Connection flange 34: Volt

Claims (1)

선회대(2)와 제1 아암(3)와, 제2 아암(4)와 손목(5)을 구비하여 이 손목(5)이 선회하기 자유로운 4축형의 또는 이 손목(5)이 선회하기 자유롭고 또한 손목플랜지(5a)가 회전이 자유로운 5축형의 다관절로봇에 있어서 제2 아암(4)에 손목선회구동수단을 설비하고, 선회대(2)의 외단에 접속플랜지(24a)를 지닌 제1 아암회전축(24)을 설비하여 제1 아암(3)와 보올트를 죄어서 연결하였으며, 제1 아암(3)의 외단에 접속플랜지(31a)를 지닌 제2 아암회전축(31)을 설비하여 제2 아암(4)와 보울트로 죄어 연결되어 있음을 특징으로 하는 다관절로봇.It is equipped with a pivot table 2, a first arm 3, a second arm 4 and a wrist 5 so that the wrist 5 is free to pivot or the wrist 5 is free to pivot. In addition, in the 5-axis multi-joint robot, in which the wrist flange 5a is free to rotate, the second arm 4 is provided with a wrist turning drive means and a first flange having a connecting flange 24a at the outer end of the pivot table 2. The arm rotating shaft 24 is provided to connect the first arm 3 and the bolt by fastening, and the second arm rotating shaft 31 having the connecting flange 31a is provided at the outer end of the first arm 3 to make the arm. 2 Articulated robot, characterized by being connected by arm (4) and bolt. ※참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: It is to be disclosed based on the initial application.
KR1019850006393A 1985-05-31 1985-09-02 Multy-joint robot KR910000860B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP60118549A JPS61279477A (en) 1985-05-31 1985-05-31 Multi-joint robot
JP85-118549 1985-05-31
JP118549 1985-05-31

Publications (2)

Publication Number Publication Date
KR860008839A true KR860008839A (en) 1986-12-18
KR910000860B1 KR910000860B1 (en) 1991-02-11

Family

ID=14739332

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019850006393A KR910000860B1 (en) 1985-05-31 1985-09-02 Multy-joint robot

Country Status (3)

Country Link
JP (1) JPS61279477A (en)
KR (1) KR910000860B1 (en)
CN (1) CN85107385A (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102079025A (en) * 2011-02-28 2011-06-01 上海石井畜牧设备有限公司 Welding robot with fixtures
JP5746093B2 (en) * 2012-05-30 2015-07-08 ファナック株式会社 Industrial robot wrist device
CN104708636A (en) * 2015-03-05 2015-06-17 安徽埃夫特智能装备有限公司 Offset structure wrist of industrial robot
CN105945968B (en) * 2016-07-11 2018-02-27 中国地质大学（武汉） A kind of joint type dulcimer plays robot
CN106426177B (en) * 2016-11-11 2018-11-02 西北机器有限公司 Precision assembly robot
CN110539327A (en) * 2019-08-29 2019-12-06 南京禹智智能科技有限公司 High-toughness mechanical joint device for robot
CN112247976B (en) * 2020-09-30 2022-02-01 山东科技大学 Five-degree-of-freedom non-planar surface additive manufacturing robot

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58223581A (en) * 1982-06-16 1983-12-26 日産自動車株式会社 Drive apparatus in industrial robot

Also Published As

Publication number Publication date
JPS61279477A (en) 1986-12-10
CN85107385A (en) 1986-11-26
KR910000860B1 (en) 1991-02-11

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