JPS59128384U - Articulated industrial robot - Google Patents
Articulated industrial robotInfo
- Publication number
- JPS59128384U JPS59128384U JP2159683U JP2159683U JPS59128384U JP S59128384 U JPS59128384 U JP S59128384U JP 2159683 U JP2159683 U JP 2159683U JP 2159683 U JP2159683 U JP 2159683U JP S59128384 U JPS59128384 U JP S59128384U
- Authority
- JP
- Japan
- Prior art keywords
- arm
- industrial robot
- angle
- actuating
- attached
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
第１図は従来例を示す側面図、第２図および第３図は従
来例における動作説明図、第４図は従来例における動作
範囲説明図、第５図は本考案の一実施例を示す側面図、
第６図は本考案の一実施例における動作範囲説明図、第
７図は本案の他の実施例を示す側面図である。
１・・・ベース部、２・・・第１アーム、３・・・第２
アーム、４・・・第３アーム、５・・・第４アーム、６
・・・作動アーム、７・・・手首、８・・・アクチュエ
ータ、９・・・ヒンジ、１０・・・ボールねじ、１１・
・・ナツト、ａ、 ｂ。
ｃ、 ｄ・・・枢支点である。Fig. 1 is a side view showing the conventional example, Figs. 2 and 3 are diagrams explaining the operation in the conventional example, Fig. 4 is a diagram explaining the operating range in the conventional example, and Fig. 5 shows an embodiment of the present invention. Side view,
FIG. 6 is an explanatory view of the operating range in one embodiment of the present invention, and FIG. 7 is a side view showing another embodiment of the present invention. 1... Base part, 2... First arm, 3... Second
Arm, 4...Third arm, 5...Fourth arm, 6
... Actuation arm, 7... Wrist, 8... Actuator, 9... Hinge, 10... Ball screw, 11...
...Natsuto, a, b. c, d... pivot points.
Claims (1)
、互いに水平方向に平行な第２および第４のアームをリ
ンク結合して構成した平行四辺゛ 形リンク機構の前
記第４アームの一方端に、先端に手首部を有する作動ア
ームを設けるとともに、前記第４アームの端部を枢支す
る第１アームをベース部に駆動手段にて傾動可能に枢支
し、かつ前記第２アームと第３アームの枢支点を駆動手
段にて摺動可能に支持し、前記第１アームの傾動および
前記第２アームおよび第３アームの枢支点の摺動によっ
て前記作動アームを作動させてなる多関節形産業用ロボ
ットにおいて、前記作動アームを、第４アームの一方端
に、枢支点を中心として、該第４アームに対して反ベー
ス部側に適宜角度で傾斜してとりつけたことを特徴とす
る多関節形産業用ロボット。 ２ 前記作動アームを、第４アームの一方端に所定傾斜
角にて一体的にと６つけている実用新案登録請求の範囲
第１項記載の多関節形産業用ロボット。 ３−前記作動アームを、第４アームの一方端に傾斜角度
が調整可能にとりつけている実用新案登録請求の範囲第
１項記載の多関節形産業用ロボット。 ４ 前記作動アームと第４アームにボルト締付孔を設け
るとともに、いずれか一方のアームは前記ボルト締付孔
を所定角度ずつずらせて枢支点を中心として環状に多数
形成し、それぞれのアームのボルト締付孔の組合せをか
えることにより、前記作動アームの第４アームに対する
傾斜角度を所定の角度において調整可能としている実用
新案登録請求の範囲第３項記載の多関節形産業用ロボッ
ト。 ５ 前記作動アームを第４アームの一方端に枢支すると
ともに、前記第４アームにアクチュエータをとりつけ、
かつこのアクチュエータに前記作動アームを連結し、こ
の作動アームの第４アームに対する傾斜角度を任意の角
度において調整可能としている実用新案登録請求の範囲
第３項記載の多関節形産業用ロボット。[Claims for Utility Model Registration] 1. A parallelogram link mechanism constructed by linking together first and third arms that are parallel to each other in the vertical direction and second and fourth arms that are parallel to each other in the horizontal direction. An actuating arm having a wrist portion at its tip is provided at one end of the fourth arm, and a first arm that pivotally supports the end of the fourth arm is tiltably supported on a base portion by a drive means. , and the pivot points of the second arm and the third arm are slidably supported by a drive means, and the operating arm is moved by tilting the first arm and sliding the pivot points of the second arm and the third arm. In the multi-jointed industrial robot, the actuating arm is tilted at one end of the fourth arm at an appropriate angle toward the side opposite to the base portion with respect to the fourth arm about the pivot point. An articulated industrial robot characterized by the fact that it is attached to a robot. 2. The articulated industrial robot according to claim 1, wherein the operating arm is integrally attached to one end of the fourth arm at a predetermined angle of inclination. 3- The articulated industrial robot according to claim 1, wherein the actuating arm is attached to one end of the fourth arm so that its inclination angle can be adjusted. 4 Bolt tightening holes are provided in the actuating arm and the fourth arm, and one of the arms has a plurality of bolt tightening holes shifted by a predetermined angle and formed in an annular shape around a pivot point, and the bolts of each arm are 4. The articulated industrial robot according to claim 3, wherein the angle of inclination of the operating arm with respect to the fourth arm can be adjusted at a predetermined angle by changing the combination of tightening holes. 5. The actuation arm is pivotally supported on one end of a fourth arm, and an actuator is attached to the fourth arm,
The multi-jointed industrial robot according to claim 3, wherein the actuating arm is connected to the actuator, and the inclination angle of the actuating arm with respect to the fourth arm can be adjusted at any angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2159683U JPS59128384U (en) | 1983-02-18 | 1983-02-18 | Articulated industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2159683U JPS59128384U (en) | 1983-02-18 | 1983-02-18 | Articulated industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59128384U true JPS59128384U (en) | 1984-08-29 |
| JPS6231266Y2 JPS6231266Y2 (en) | 1987-08-11 |
Family
ID=30152716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2159683U Granted JPS59128384U (en) | 1983-02-18 | 1983-02-18 | Articulated industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59128384U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61117081A (en) * | 1984-11-14 | 1986-06-04 | トキコ株式会社 | Industrial robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5656395A (en) * | 1979-10-12 | 1981-05-18 | Hitachi Ltd | Industrial multiple joint type robot |
| JPS57205085A (en) * | 1981-03-25 | 1982-12-16 | Richter Hans | Industrial robot |
-
1983
- 1983-02-18 JP JP2159683U patent/JPS59128384U/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5656395A (en) * | 1979-10-12 | 1981-05-18 | Hitachi Ltd | Industrial multiple joint type robot |
| JPS57205085A (en) * | 1981-03-25 | 1982-12-16 | Richter Hans | Industrial robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61117081A (en) * | 1984-11-14 | 1986-06-04 | トキコ株式会社 | Industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6231266Y2 (en) | 1987-08-11 |
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