JPS61166786U - - Google Patents
Info
- Publication number
- JPS61166786U JPS61166786U JP4872485U JP4872485U JPS61166786U JP S61166786 U JPS61166786 U JP S61166786U JP 4872485 U JP4872485 U JP 4872485U JP 4872485 U JP4872485 U JP 4872485U JP S61166786 U JPS61166786 U JP S61166786U
- Authority
- JP
- Japan
- Prior art keywords
- output shaft
- final output
- connect
- servo motor
- manipulator
- 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.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 description 1
Description
図面は本考案の実施の一例のマニピユレータを
示すもので、第1図は側面図、第2図は正面図、
第3図は平面図、第4図は水平旋回用ブロツクの
駆動機構を示す斜視図、第5図は上下動ブロツク
の駆動機構を示す斜視図、第6図は半径ブロツク
の駆動機構を示す斜視図、第7図は手首旋回ブロ
ツクの駆動機構を示す斜視図、第8図は垂直旋回
ブロツクの駆動機構を示す斜視図である。
図面中、1,2,3,4,5はブロツク、11
,31,51,71,91はサーボモータ、15
,40,54は回転操作用のハンドル、21は支
柱、25,44,51はクラツチ操作用のハンド
ル、59は出力ビーム、78は旋回軸、80,1
00は回転操作・クラツチ操作兼用のハンドル、
97は垂直旋回軸である。
The drawings show a manipulator as an example of the implementation of the present invention; FIG. 1 is a side view, FIG. 2 is a front view,
Fig. 3 is a plan view, Fig. 4 is a perspective view showing the drive mechanism of the horizontal turning block, Fig. 5 is a perspective view showing the drive mechanism of the vertical movement block, and Fig. 6 is a perspective view showing the drive mechanism of the radius block. 7 are perspective views showing the drive mechanism of the wrist turning block, and FIG. 8 is a perspective view showing the drive mechanism of the vertical turning block. In the drawing, 1, 2, 3, 4, 5 are blocks, 11
, 31, 51, 71, 91 are servo motors, 15
, 40, 54 are handles for rotating operation, 21 is a column, 25, 44, 51 are handles for clutch operation, 59 is an output beam, 78 is a pivot axis, 80, 1
00 is a handle for both rotation and clutch operation,
97 is a vertical pivot axis.
Claims (1)
をサーボモータで駆動するようにしたマニピユレ
ータにおいて、最終出力軸側とサーボモータ側と
を断続するクラツチ機構を設け、最終出力軸の位
置を検出する位置検出器を設けると共に、最終出
力軸を手動で操作できるようにしたことを特徴と
するマニピユレータ。 In a manipulator in which the final output shaft of a block constituting degrees of freedom is driven by a servo motor, a clutch mechanism is provided to connect and connect the final output shaft side and the servo motor side, and a position detector is provided to detect the position of the final output shaft. 1. A manipulator characterized in that a final output shaft can be operated manually.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4872485U JPS61166786U (en) | 1985-04-03 | 1985-04-03 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4872485U JPS61166786U (en) | 1985-04-03 | 1985-04-03 |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS61166786U true JPS61166786U (en) | 1986-10-16 |
Family
ID=30565251
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP4872485U Pending JPS61166786U (en) | 1985-04-03 | 1985-04-03 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS61166786U (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015507542A (en) * | 2011-12-22 | 2015-03-12 | アレヴァ・エヌセーAreva Nc | Equipment for handling objects in the glove box |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60123282A (en) * | 1983-12-07 | 1985-07-01 | 株式会社神戸製鋼所 | Clutch device for instruction work of manual instruction type robot |
-
1985
- 1985-04-03 JP JP4872485U patent/JPS61166786U/ja active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60123282A (en) * | 1983-12-07 | 1985-07-01 | 株式会社神戸製鋼所 | Clutch device for instruction work of manual instruction type robot |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015507542A (en) * | 2011-12-22 | 2015-03-12 | アレヴァ・エヌセーAreva Nc | Equipment for handling objects in the glove box |
US9610694B2 (en) | 2011-12-22 | 2017-04-04 | Areva Nc | Device for handling objects in a glove box |