KR890007853A - 공업용로보트의 밸런스 기구 - Google Patents

공업용로보트의 밸런스 기구 Download PDF

Info

Publication number
KR890007853A
KR890007853A KR1019880015011A KR880015011A KR890007853A KR 890007853 A KR890007853 A KR 890007853A KR 1019880015011 A KR1019880015011 A KR 1019880015011A KR 880015011 A KR880015011 A KR 880015011A KR 890007853 A KR890007853 A KR 890007853A
Authority
KR
South Korea
Prior art keywords
arm
spring
balance mechanism
connector
soluble
Prior art date
Application number
KR1019880015011A
Other languages
English (en)
Other versions
KR930007257B1 (ko
Inventor
미쯔도시 요시다
도시오 쯔보다
히로시 오구무라
Original Assignee
아까즈 노부아끼
미쯔비시주우고오교오 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 아까즈 노부아끼, 미쯔비시주우고오교오 가부시기가이샤 filed Critical 아까즈 노부아끼
Publication of KR890007853A publication Critical patent/KR890007853A/ko
Application granted granted Critical
Publication of KR930007257B1 publication Critical patent/KR930007257B1/ko

Links

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
    • 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
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • 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

Landscapes

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

Abstract

내용 없음

Description

공업용 로보트의 밸런스 기구
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 일실시예에 관한 공업용 로보트에 착설된 밸런스 기구의 요부절결도,
제2도는 그 요부종단면도,
제3도(a), (b)는 당해 밸런스장치를 구비한 공업용 로보트의 평면도 및 정면도,
제4도는 상기 공업용 로보트가 벽면에 장착된 정면도,
제5도는 상기 공업용 로보트가 천정에 매달려진 정면도.

Claims (1)

  1. 가대에 대하여 회동자재하게 착설된 제1아암에는, 상기 제1아암기단부의 회동중심에 착설되어서 상기 제1아암과 동기하여 회동하는 연결체와, 상기 연결체의 상기 제1아암회동 중심으로부터 편심된 위치에 회동자재하게 착설된 연결구와, 일단이 가대에 고착된 스프링과, 상기 연결구에 일단이 고착됨과 동시에 타단이 상기 스프링의 타단에 고착된 가용성 연결체와, 제1아암이 회동하였을 때에 상기 스프링에 고착된 가용성 연결체의 타단이 스프링의 변형 방향으로 이동하도록 상기 가용성 연결체를 안내하는 안내부재로 이루어진 제1밸런스 기구를 착설하고, 상기 제1아암의 선단부에 회동자재하게 착설된 제2아암에는, 상기 제2아암의 작업쪽에 대한 반대쪽에 착설되어서 상기 제1아암에 대한 회동중심을 지지점으로 하여 상기 작업쪽과 균형을 유지하는 카운터밸런서로 이루어진 제2밸런스 기구를 착설한 것을 특징으로 하는 공업용 로보트의 밸런스기구.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019880015011A 1987-11-17 1988-11-15 공업용로보트의 밸런스기구 KR930007257B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP62-288347 1987-11-17
JP62288347A JP2538953B2 (ja) 1987-11-17 1987-11-17 工業用ロボットのバランス機構

Publications (2)

Publication Number Publication Date
KR890007853A true KR890007853A (ko) 1989-07-06
KR930007257B1 KR930007257B1 (ko) 1993-08-04

Family

ID=17729028

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019880015011A KR930007257B1 (ko) 1987-11-17 1988-11-15 공업용로보트의 밸런스기구

Country Status (9)

Country Link
US (1) US4954043A (ko)
EP (1) EP0316531B1 (ko)
JP (1) JP2538953B2 (ko)
KR (1) KR930007257B1 (ko)
CN (1) CN1012485B (ko)
AU (1) AU596317B2 (ko)
CA (1) CA1304766C (ko)
DE (1) DE3885570T2 (ko)
MY (1) MY103344A (ko)

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3884800D1 (de) * 1987-05-27 1993-11-11 Schloendorff Georg Prof Dr Verfahren und vorrichtung zur reproduzierbaren optischen darstellung eines chirurgischen eingriffes.
US5211548A (en) * 1989-07-31 1993-05-18 Terumo Kabushiki Kaisha Peristaltic pump having a motor overload protector
WO1992005016A1 (en) * 1990-09-14 1992-04-02 The Trustees Of The University Of Pennsylvania Methods and apparatus for passively compensating for the effects of gravity upon articulated structures
US6006126A (en) * 1991-01-28 1999-12-21 Cosman; Eric R. System and method for stereotactic registration of image scan data
US6405072B1 (en) 1991-01-28 2002-06-11 Sherwood Services Ag Apparatus and method for determining a location of an anatomical target with reference to a medical apparatus
US5662111A (en) 1991-01-28 1997-09-02 Cosman; Eric R. Process of stereotactic optical navigation
US6675040B1 (en) 1991-01-28 2004-01-06 Sherwood Services Ag Optical object tracking system
US5603318A (en) 1992-04-21 1997-02-18 University Of Utah Research Foundation Apparatus and method for photogrammetric surgical localization
WO1994024933A1 (en) 1993-04-26 1994-11-10 St. Louis University Indicating the position of a surgical probe
US6354167B1 (en) 2000-06-26 2002-03-12 The United States Of America As Represented By The Secretary Of The Navy Scara type robot with counterbalanced arms
ITBO20000529A1 (it) * 2000-09-13 2002-03-13 Jobs Spa Macchina utensile
GB0222522D0 (en) 2002-09-27 2002-11-06 Controlled Therapeutics Sct Water-swellable polymers
GB0417401D0 (en) 2004-08-05 2004-09-08 Controlled Therapeutics Sct Stabilised prostaglandin composition
DE102005013014A1 (de) * 2005-03-21 2006-10-05 Dürr Systems GmbH Beschichtungsanlage und zugehöriges Verfahren
DE102005033972A1 (de) * 2005-07-20 2007-01-25 Dürr Systems GmbH Beschichtungsverfahren und zugehörige Beschichtungseinrichtung
DE102006020886A1 (de) * 2006-05-05 2007-11-08 Kuka Roboter Gmbh Roboter
GB0613333D0 (en) 2006-07-05 2006-08-16 Controlled Therapeutics Sct Hydrophilic polyurethane compositions
GB0613638D0 (en) 2006-07-08 2006-08-16 Controlled Therapeutics Sct Polyurethane elastomers
US20080160065A1 (en) * 2006-07-12 2008-07-03 Janet Anne Halliday Drug delivery polymer with hydrochloride salt of clindamycin
DE602006012491D1 (de) * 2006-09-27 2010-04-08 Abb Ab Industrieroboter mit Druckluftzufuhr in Gewichtsausgleichsvorrichtung
GB0620685D0 (en) 2006-10-18 2006-11-29 Controlled Therapeutics Sct Bioresorbable polymers
CN101190769B (zh) * 2006-12-01 2010-05-26 上海比亚迪有限公司 重载荷平衡机构
CN102990677A (zh) * 2011-09-13 2013-03-27 鸿富锦精密工业（深圳）有限公司 平衡机构及应用该平衡机构的机器人
JP2016030315A (ja) * 2014-07-29 2016-03-07 株式会社安川電機 ロボット
CN104526716B (zh) * 2014-12-17 2016-07-06 上海交通大学 一种工业机器人储能节能型重力平衡装置
CN105108777A (zh) * 2015-10-14 2015-12-02 南京埃斯顿机器人工程有限公司 工业机器人第二关节平衡机构
CN107081786A (zh) * 2016-02-14 2017-08-22 范红兵 一种机器人臂助力装置
CN106078724B (zh) * 2016-06-29 2020-01-24 微创（上海）医疗机器人有限公司 机械臂及其手术机器人
CN106151428B (zh) * 2016-08-01 2018-10-30 江门市众能电控科技有限公司 一种弹性支承的竖向摆臂机构
JP6889826B2 (ja) * 2018-11-16 2021-06-18 株式会社安川電機 ロボット
WO2020159618A1 (en) 2019-01-31 2020-08-06 American Sterilizer Company Load balancing arm for medical device support system
CN114055447A (zh) * 2021-11-29 2022-02-18 彭丽 一种基于柔性牵引方式的摆臂消重力平衡方法

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE219427C (ko) *
SE409184B (sv) * 1977-12-01 1979-08-06 Hiab Foco Ab Med styrsystem forsedd industrirobot
SU715317A1 (ru) * 1978-08-14 1980-02-15 Московское Ордена Ленина И Ордена Трудового Красного Знамени Высшее Техническое Училище Им.Н.Э.Баумана Рука манипул тора
JPS56119391A (en) * 1980-02-25 1981-09-18 Shin Meiwa Ind Co Ltd Weight equalizer for rotary arm
US4445184A (en) * 1980-07-19 1984-04-24 Shin Meiwa Industry Co., Ltd. Articulated robot
AU7401881A (en) * 1980-08-15 1982-02-18 Dainichi Kiko K.K. Robot
US4500251A (en) * 1982-02-05 1985-02-19 Mitsubishi Denki Kabushiki Kaisha Multijoint manipulator
SU1074709A1 (ru) * 1982-08-11 1984-02-23 Научно-Исследовательский И Конструкторско-Технологический Институт Теплоэнергетического Приборостроения Механическа рука
JPS5937077A (ja) * 1982-08-24 1984-02-29 株式会社ダイフク 関節型ロボツトの駆動機構
JPS59112587A (ja) * 1982-12-17 1984-06-29 松下電器産業株式会社 同軸ケーブル用コネクター
JPS60131182A (ja) * 1983-12-20 1985-07-12 松下電器産業株式会社 産業用ロボツトのバランス装置
US4688983A (en) * 1984-05-21 1987-08-25 Unimation Inc. Low cost robot
DE3421302A1 (de) * 1984-06-08 1985-12-12 Hoechst Ag, 6230 Frankfurt Verfahren zur isolierung und reinigung von (alpha)-interferonen
JPS6114879A (ja) * 1984-06-29 1986-01-23 フアナツク株式会社 産業用ロボツトの上腕重力バランサ機構
US4659280A (en) * 1985-01-22 1987-04-21 Gmf Robotics Corporation Robot with balancing mechanism having a variable counterbalance force
JPS61197176A (ja) * 1985-02-26 1986-09-01 三菱重工業株式会社 マニピユレ−タ
JPS61144993U (ko) * 1985-03-01 1986-09-06
JPS6257891A (ja) * 1985-09-05 1987-03-13 フアナツク株式会社 関節型工業用ロボツトのバランサ機構
DE8525812U1 (de) * 1985-09-10 1987-02-19 Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Gelenkroboter
JPS637918A (ja) * 1986-06-27 1988-01-13 Matsushita Electric Ind Co Ltd スライドコア作動遅延装置
US4753128A (en) * 1987-03-09 1988-06-28 Gmf Robotics Corporation Robot with spring pivot balancing mechanism
US4784010A (en) * 1987-04-27 1988-11-15 Graco Robotics Inc. Electric robotic work unit

Also Published As

Publication number Publication date
CN1033253A (zh) 1989-06-07
CN1012485B (zh) 1991-05-01
EP0316531B1 (en) 1993-11-10
JPH01135488A (ja) 1989-05-29
MY103344A (en) 1993-05-29
AU2053888A (en) 1989-05-18
DE3885570D1 (de) 1993-12-16
AU596317B2 (en) 1990-04-26
EP0316531A1 (en) 1989-05-24
JP2538953B2 (ja) 1996-10-02
KR930007257B1 (ko) 1993-08-04
CA1304766C (en) 1992-07-07
US4954043A (en) 1990-09-04
DE3885570T2 (de) 1994-05-26

Similar Documents

Publication Publication Date Title
KR890007853A (ko) 공업용로보트의 밸런스 기구
KR950017111A (ko) 프레스 라인의 프레스들 사이에서 물품을 운반하기 위한 산업용 로봇
FR2424795B1 (ko)
EP0386807A3 (en) Hand held pitch diameter gauge
EP0024433A4 (en) ARM WITH GRAVITATION SCALE FUNCTION.
CA2097618A1 (en) Device for releasably engaging an object
KR930006265A (ko) 장착 브래킷과 이를 구비하는 캐리어
KR920016188A (ko) 공작물 지지장치
DE60135132D1 (ko)
KR880701162A (ko) 수직 다관절 로보트
ATE70212T1 (de) Armanordnung.
EP0285754A3 (en) Limiter for the opening angle of a pivoting arm
KR950701562A (ko) 다관절 로보트
KR910005969A (ko) 공작기계의 공구교환암
KR900701485A (ko) 물건 운반용 설비
ATE23845T1 (de) Ausloesbarer steigbuegel.
EP0274011A3 (en) Subprojectile with a targeting means
SU672014A1 (ru) Захват промышленного робота
SU1068279A1 (ru) Модуль промышленного робота
DE3261369D1 (en) Device for dressing poultry
SU1516682A1 (ru) Рычажно-винтовой механизм
SE8603571D0 (sv) Industrirobot
KR870002470A (ko) 차량에 고착된 조준장치용 광학아암
KR920011660A (ko) 크로스아암 조립장치
FR2306097A1 (fr) Dispositif compact de suspension pour vehicule tel que motocyclette

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
G160 Decision to publish patent application
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20010725

Year of fee payment: 9

LAPS Lapse due to unpaid annual fee