KR890004833A - 산업용 로보트의 관절장치 - Google Patents

산업용 로보트의 관절장치 Download PDF

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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
Application number
KR1019880010553A
Other languages
English (en)
Other versions
KR900007194B1 (ko
Inventor
마사나리 이와다
Original Assignee
시끼모리야
미쓰비시전기 주식회사
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 시끼모리야, 미쓰비시전기 주식회사 filed Critical 시끼모리야
Publication of KR890004833A publication Critical patent/KR890004833A/ko
Application granted granted Critical
Publication of KR900007194B1 publication Critical patent/KR900007194B1/ko

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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

산업용 로보트의 관절장치
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)

  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.
KR1019880010553A 1987-09-01 1988-08-19 산업용 로보트의 관절장치 KR900007194B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP62-216373 1987-09-01
JP62216373A JPS6464791A (en) 1987-09-01 1987-09-01 Joint device for industrial robot
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)

* Cited by examiner, † Cited by third party
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
DE69620425T2 (de) * 1995-09-18 2002-11-07 Yaskawa Denki Kitakyushu Kk Anschlag für industrieroboter
DE20009039U1 (de) 2000-05-19 2001-07-05 Kuka Roboter Gmbh 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
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
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
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
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)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
DE3829755C2 (ko) 1991-08-01
GB8820657D0 (en) 1988-10-05
JPS6464791A (en) 1989-03-10
GB2209400A (en) 1989-05-10
US4879499A (en) 1989-11-07
GB8821916D0 (en) 1988-10-19
DE3829755A1 (de) 1989-03-16
KR900007194B1 (ko) 1990-10-05

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