KR890004833A - 산업용 로보트의 관절장치 - Google Patents
산업용 로보트의 관절장치 Download PDFInfo
- Publication number
- KR890004833A KR890004833A KR1019880010553A KR880010553A KR890004833A KR 890004833 A KR890004833 A KR 890004833A KR 1019880010553 A KR1019880010553 A KR 1019880010553A KR 880010553 A KR880010553 A KR 880010553A KR 890004833 A KR890004833 A KR 890004833A
- Authority
- KR
- South Korea
- Prior art keywords
- arm
- industrial robot
- base
- jointing device
- transmission shaft
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- B25J17/0241—One-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
내용 없음
Description
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 이 발명의 한 실시예의 종단면도.
제2도는 제1도의 A-A선 단면도.
제3도 내지 5도는 그 작용 실명도.
* 도면의 주요부분에 대한 부호의 설명
1 : 제 1암(arm) 2 : 제 2 스위치
Claims (1)
- 제 1암 또는 베이스와 제 1암 또는 베이스에 대하여 선회운동을 하는 제 2 암등을 갖고 있으며 상기 제1암 또는 베이스에 상기 제 2 암 선회용 모터와, 이 모터의 출력을 전달시키는 전달축과, 상기 제1암 또는 베이스에 대한 제2암의 위치를 검출하는 검출기구등을 구비한 산업용 로보트의 관절장치에 있어서, 상기검출기구는 상기 전달축에 부착된 도그와, 상기 제1암 또는 배이스에 요동할 수 있게 부착된 상기 도그의 회전방향에 의하여 다른 자세를 취하는 요동레버와, 이 요동레버의 다른 자세를 검출하는 검출수단 등에 의하여 구성시킨 것을 특징으로 하는 산업용 로보트의 관절장치.※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62216373A JPS6464791A (en) | 1987-09-01 | 1987-09-01 | Joint device for industrial robot |
JP62-216373 | 1987-09-01 | ||
JP?62-216373 | 1987-09-01 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR890004833A true KR890004833A (ko) | 1989-05-10 |
KR900007194B1 KR900007194B1 (ko) | 1990-10-05 |
Family
ID=16687556
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1019880010553A KR900007194B1 (ko) | 1987-09-01 | 1988-08-19 | 산업용 로보트의 관절장치 |
Country Status (5)
Country | Link |
---|---|
US (1) | US4879499A (ko) |
JP (1) | JPS6464791A (ko) |
KR (1) | KR900007194B1 (ko) |
DE (1) | DE3829755A1 (ko) |
GB (2) | GB8820657D0 (ko) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2639589B2 (ja) * | 1989-07-17 | 1997-08-13 | 株式会社城南製作所 | 自動車の電動サンルーフ用位置検出装置 |
US5793176A (en) * | 1993-04-02 | 1998-08-11 | Sandia Corporation | Spatial feature tracking impedence sensor using multiple electric fields |
JPH07108484A (ja) * | 1993-10-07 | 1995-04-25 | Fanuc Ltd | ロボットの動作端検知装置 |
CN1052937C (zh) * | 1995-09-18 | 2000-05-31 | 株式会社安川电机 | 工业机器人的止挡装置 |
DE20009039U1 (de) | 2000-05-19 | 2001-07-05 | Kuka Roboter GmbH, 86165 Augsburg | Vorrichtung zur Bereichsüberwachung eines Roboters |
KR100471274B1 (ko) * | 2002-11-14 | 2005-03-08 | 현대자동차주식회사 | 너트런너 운용 시스템 |
JP2005334991A (ja) * | 2004-05-25 | 2005-12-08 | Fanuc Ltd | ロボットの動作検出・規制装置 |
CN103192410A (zh) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | 一种轴限位装置及应用其的工业机器人 |
CN103197726A (zh) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | 基于微动开关的行程限位机构 |
CN103192382B (zh) * | 2012-01-06 | 2015-06-03 | 沈阳新松机器人自动化股份有限公司 | 基于磁力的行程限位机构 |
CN103192381B (zh) * | 2012-01-06 | 2015-05-13 | 沈阳新松机器人自动化股份有限公司 | 基于配重的行程限位机构 |
CN107263491B (zh) * | 2017-06-05 | 2020-07-03 | 北京工业大学 | 一种具有被动关节的新型换挡器自动测试机器人 |
JP7106272B2 (ja) * | 2017-12-22 | 2022-07-26 | 株式会社ミツトヨ | 回転角制限機構 |
DE102022119649B3 (de) | 2022-08-04 | 2023-09-07 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Rotatorischer Antrieb |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2442711A (en) * | 1945-07-24 | 1948-06-01 | Chicago Pneumatic Tool Co | Limit switch |
DE1763123B1 (de) * | 1968-04-05 | 1971-03-18 | Reinhausen Maschf Scheubeck | Vorrichtung zur steuerung der elektrischen endausschaltung und mechanischen sperrung eines hand und motorantriebes von schaltwerken fuer stufenschalter von regeltransfor matoren |
US4099409A (en) * | 1977-07-05 | 1978-07-11 | The Bendix Corporation | Multi-axis load cell with arcuate flexures |
US4293806A (en) * | 1979-05-21 | 1981-10-06 | Leo Kull | Single and multicycle control device for electric motors |
US4316329A (en) * | 1979-09-19 | 1982-02-23 | The Charles Stark Draper Laboratory | Instrumented remote center compliance device |
JPS58120493A (ja) * | 1982-01-07 | 1983-07-18 | 株式会社神戸製鋼所 | 動作限界位置の検出機構 |
JPS58211895A (ja) * | 1982-06-02 | 1983-12-09 | 松下電器産業株式会社 | 産業用オ−トハンド |
US4561816A (en) * | 1982-08-30 | 1985-12-31 | Dingess Billy E | Remote manipulator arm for nuclear generator repair |
JPS5973298A (ja) * | 1982-10-20 | 1984-04-25 | ファナック株式会社 | 工業用ロボツトの手首機構 |
KR900003637B1 (ko) * | 1982-11-26 | 1990-05-28 | 가부시기가이샤 히다찌 세이사꾸쇼 | 로보트의 동작제어장치 |
JPS6019392A (ja) * | 1983-07-13 | 1985-01-31 | Matsushita Electric Ind Co Ltd | 薄形スピ−カ |
JPS6052292A (ja) * | 1983-09-02 | 1985-03-25 | 三菱電機株式会社 | 産業用ロボツト |
US4573271A (en) * | 1984-03-14 | 1986-03-04 | General Motors Corporation | Machine performance sensor |
US4599546A (en) * | 1984-12-26 | 1986-07-08 | Nippondenso Co., Ltd. | Wiper device |
JPH0750404B2 (ja) * | 1985-03-13 | 1995-05-31 | 三菱電機株式会社 | ロボツト |
JPS61246806A (ja) * | 1985-04-24 | 1986-11-04 | Fanuc Ltd | ロボツト制御装置 |
JPH0778682B2 (ja) * | 1985-08-07 | 1995-08-23 | 株式会社日立製作所 | ロボツトの制御方式 |
DE3641740A1 (de) * | 1986-12-06 | 1988-06-16 | Srt Steuerungs Regelungstech | Steuervorrichtung fuer einen drehantrieb |
-
1987
- 1987-09-01 JP JP62216373A patent/JPS6464791A/ja active Pending
-
1988
- 1988-08-19 KR KR1019880010553A patent/KR900007194B1/ko not_active IP Right Cessation
- 1988-09-01 US US07/239,371 patent/US4879499A/en not_active Expired - Fee Related
- 1988-09-01 DE DE3829755A patent/DE3829755A1/de active Granted
- 1988-09-01 GB GB888820657A patent/GB8820657D0/en active Pending
- 1988-09-01 GB GB8821916A patent/GB2209400A/en not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
US4879499A (en) | 1989-11-07 |
JPS6464791A (en) | 1989-03-10 |
GB8821916D0 (en) | 1988-10-19 |
KR900007194B1 (ko) | 1990-10-05 |
GB8820657D0 (en) | 1988-10-05 |
DE3829755C2 (ko) | 1991-08-01 |
DE3829755A1 (de) | 1989-03-16 |
GB2209400A (en) | 1989-05-10 |
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