JPS6292179U - - Google Patents
Info
- Publication number
- JPS6292179U JPS6292179U JP17406286U JP17406286U JPS6292179U JP S6292179 U JPS6292179 U JP S6292179U JP 17406286 U JP17406286 U JP 17406286U JP 17406286 U JP17406286 U JP 17406286U JP S6292179 U JPS6292179 U JP S6292179U
- Authority
- JP
- Japan
- Prior art keywords
- threaded rod
- connecting means
- joint mechanisms
- robot
- section
- 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
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 1
Description
第1図は本考案に係る関節ユニツトの斜視図、
第2図は本考案に係る関節ユニツトの別の例の斜
視図である。第3図は本考案に係る関節ユニツト
の分解斜視図、第4図は本考案の別の実施例の側
面図、第5図は第4図の―断面図、第6図は
第4図の関節ユニツトを用いたロボツトアームの
斜視図である。第7図は本考案に係る関節ユニツ
トの別の例の斜視図、第8図は本考案に係る関節
ユニツトのさらに別の例の斜視図、第9図は第8
図の関節ユニツトの分解図、第10図は本考案に
係る関節ユニツトのさらに別の例の斜視図、第1
1図は第10図の関節ユニツトの分解図、第12
図は本考案に係る関節ユニツトを用いたロボツト
アームの一例の斜視図、第13図は本考案に係る
関節ユニツトを用いたロボツトアームの別の例の
斜視図、第14図および第15図は第13図のロ
ボツトアームのハンド部の機構を説明するための
構成説明図、第16図、第17図および第18図
は各々、本考案に係る関節ユニツトを用いたロボ
ツトアームのさらに別の例を示す斜視図である。
1……関節ユニツト、2……本体、3……接続
部材、5……接合面、9,11……コネクタ、1
2……シヨートプラグ、15,102,213,
230……モータ、14,103,208,21
4……ネジ棒。
FIG. 1 is a perspective view of the joint unit according to the present invention;
FIG. 2 is a perspective view of another example of the joint unit according to the present invention. Fig. 3 is an exploded perspective view of the joint unit according to the present invention, Fig. 4 is a side view of another embodiment of the invention, Fig. 5 is a sectional view of Fig. 4, and Fig. 6 is a cross-sectional view of Fig. 4. FIG. 2 is a perspective view of a robot arm using a joint unit. 7 is a perspective view of another example of the joint unit according to the present invention, FIG. 8 is a perspective view of still another example of the joint unit according to the present invention, and FIG. 9 is a perspective view of still another example of the joint unit according to the present invention.
FIG. 10 is a perspective view of still another example of the joint unit according to the present invention;
Figure 1 is an exploded view of the joint unit in Figure 10, and Figure 12 is an exploded view of the joint unit in Figure 10.
The figure is a perspective view of an example of a robot arm using the joint unit according to the present invention, FIG. 13 is a perspective view of another example of a robot arm using the joint unit according to the present invention, and FIGS. 14 and 15 are The configuration explanatory diagram for explaining the mechanism of the hand portion of the robot arm in FIG. 13, and FIGS. 16, 17, and 18 are still other examples of the robot arm using the joint unit according to the present invention. FIG. DESCRIPTION OF SYMBOLS 1... Joint unit, 2... Main body, 3... Connection member, 5... Joint surface, 9, 11... Connector, 1
2...Shot plug, 15, 102, 213,
230...Motor, 14, 103, 208, 21
4...Threaded rod.
Claims (1)
あつて、 前記各々の関節機構は、独立して動作を行うた
めの駆動部を備えるとともに、両端部に連結部を
備え、前記両連結部により複数の関節機構を連結
し、 前記駆動部は、モータとモータにより回転する
ネジ棒と、ネジ棒に螺合しこれに沿つて往復運動
する移動体より構成され、 該移動体をベルト手段を介して前記連結部を回
転動作させるための回転体に連結し、 前記関節機構間の連結手段は機械的連結手段及
び電気的連結手段からなり、両連結手段ともに連
結操作時の力の付与方向が接続面に対し平行にな
るように配置したことを特徴とする多関節型ロボ
ツト。 2 上記ベルトに力センサ又は位置センサを設け
たことを特徴とする実用新案登録請求の範囲第1
項記載の多関節型ロボツト。[Claims for Utility Model Registration] 1. A multi-jointed robot having a plurality of joint mechanisms, each of which is provided with a drive section for independently operating, and a connecting section at both ends. a plurality of joint mechanisms are connected by the two connecting parts, and the driving part includes a motor, a threaded rod rotated by the motor, and a movable body that is threaded onto the threaded rod and reciprocates along the threaded rod; The movable body is connected via belt means to a rotating body for rotating the connecting part, and the connecting means between the joint mechanisms includes a mechanical connecting means and an electrical connecting means, and both connecting means are connected during the connecting operation. An articulated robot characterized in that the robot is arranged so that the direction in which force is applied is parallel to the connection surface. 2 Claim No. 1 for Utility Model Registration characterized in that the belt is provided with a force sensor or a position sensor
The articulated robot described in Section 1.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP17406286U JPS6292179U (en) | 1986-11-14 | 1986-11-14 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP17406286U JPS6292179U (en) | 1986-11-14 | 1986-11-14 |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6292179U true JPS6292179U (en) | 1987-06-12 |
Family
ID=31112109
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP17406286U Pending JPS6292179U (en) | 1986-11-14 | 1986-11-14 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6292179U (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013056419A (en) * | 2012-12-25 | 2013-03-28 | Precision Machinery Research Development Center | Servo device |
JP2014083653A (en) * | 2012-10-25 | 2014-05-12 | Kobe Univ | Shoulder joint mechanism and robot with the same |
EP3626406A1 (en) * | 2018-09-24 | 2020-03-25 | Fruitcore Gmbh | Robot with complementary fixture assembly for connection of modules |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5222271A (en) * | 1975-08-14 | 1977-02-19 | Toshiba Corp | Automatic hand-exchange apparatus for industrial robot |
JPS54159964A (en) * | 1978-06-06 | 1979-12-18 | Shiroyama Kogyo Kk | Articulated arm type manipulator |
JPS5840288A (en) * | 1981-08-31 | 1983-03-09 | 富士通株式会社 | Joint unit |
-
1986
- 1986-11-14 JP JP17406286U patent/JPS6292179U/ja active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5222271A (en) * | 1975-08-14 | 1977-02-19 | Toshiba Corp | Automatic hand-exchange apparatus for industrial robot |
JPS54159964A (en) * | 1978-06-06 | 1979-12-18 | Shiroyama Kogyo Kk | Articulated arm type manipulator |
JPS5840288A (en) * | 1981-08-31 | 1983-03-09 | 富士通株式会社 | Joint unit |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014083653A (en) * | 2012-10-25 | 2014-05-12 | Kobe Univ | Shoulder joint mechanism and robot with the same |
JP2013056419A (en) * | 2012-12-25 | 2013-03-28 | Precision Machinery Research Development Center | Servo device |
EP3626406A1 (en) * | 2018-09-24 | 2020-03-25 | Fruitcore Gmbh | Robot with complementary fixture assembly for connection of modules |
WO2020064302A1 (en) * | 2018-09-24 | 2020-04-02 | Fruitcore Gmbh | Robot having complementary fastening elements for connecting assemblies |
CN112805125A (en) * | 2018-09-24 | 2021-05-14 | 果核机器人股份有限公司 | Robot with complementary fastening elements for connecting components |
JP2022502270A (en) * | 2018-09-24 | 2022-01-11 | フルーツコア ロボティックス ゲーエムベーハーfruitcore robotics GmbH | Robot with complementary fastening elements for assembly connection |
US11518047B2 (en) | 2018-09-24 | 2022-12-06 | Fruitcore Robotics Gmbh | Robot having complementary fastening elements for connecting assemblies |