JPS6416393A - Balance type industrial robot - Google Patents
Balance type industrial robotInfo
- Publication number
- JPS6416393A JPS6416393A JP16983687A JP16983687A JPS6416393A JP S6416393 A JPS6416393 A JP S6416393A JP 16983687 A JP16983687 A JP 16983687A JP 16983687 A JP16983687 A JP 16983687A JP S6416393 A JPS6416393 A JP S6416393A
- Authority
- JP
- Japan
- Prior art keywords
- shaft
- action
- driving
- generated
- gravity
- 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
Landscapes
- Manipulator (AREA)
Abstract
PURPOSE: To reduce the load of a servo motor for driving a joint shaft related to vertical action by making the sum of moment generated by the action of gravity around the joint shaft related to vertical action, approximate to zero using essential elements constituting an industrial robot. CONSTITUTION: Servo motors 9, 10, 12, 20 for respectively driving α, β, γ shafts related to the rotation and a second joint shaft U-shaft related to action in the vertical direction, for a hand part are arranged behind the rotation center G of the U-shaft. A β-axis drive shaft 7 is formed in hollow structure, and an α-axis drive shaft 6 is provided inside to reduce the total weight of an arm 5. The sum of moment around the rotational center G of the U-shaft generated by the action of gravity is therefore approximate to zero. Load generated at the time of the U-shaft driving servo motor 20 driving the U-shaft is statically only moment generated by gravity acting upon an attachment mounted to a hand part at the tip of the arm 5.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP16983687A JPS6416393A (en) | 1987-07-09 | 1987-07-09 | Balance type industrial robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP16983687A JPS6416393A (en) | 1987-07-09 | 1987-07-09 | Balance type industrial robot |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6416393A true JPS6416393A (en) | 1989-01-19 |
Family
ID=15893821
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP16983687A Pending JPS6416393A (en) | 1987-07-09 | 1987-07-09 | Balance type industrial robot |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6416393A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06114782A (en) * | 1992-09-29 | 1994-04-26 | Toyoda Mach Works Ltd | Robot hand drive device |
CN104908061A (en) * | 2015-06-23 | 2015-09-16 | 泉州市微柏工业机器人研究院有限公司 | Mechanical long arm |
JP2024004169A (en) * | 2022-06-28 | 2024-01-16 | 株式会社Qdジャパン | Rotary structure |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5959371A (en) * | 1982-09-30 | 1984-04-05 | フアナツク株式会社 | Industrial robot |
JPS59110579A (en) * | 1982-12-16 | 1984-06-26 | 松下電器産業株式会社 | Industrial joint type robot |
-
1987
- 1987-07-09 JP JP16983687A patent/JPS6416393A/en active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5959371A (en) * | 1982-09-30 | 1984-04-05 | フアナツク株式会社 | Industrial robot |
JPS59110579A (en) * | 1982-12-16 | 1984-06-26 | 松下電器産業株式会社 | Industrial joint type robot |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06114782A (en) * | 1992-09-29 | 1994-04-26 | Toyoda Mach Works Ltd | Robot hand drive device |
CN104908061A (en) * | 2015-06-23 | 2015-09-16 | 泉州市微柏工业机器人研究院有限公司 | Mechanical long arm |
JP2024004169A (en) * | 2022-06-28 | 2024-01-16 | 株式会社Qdジャパン | Rotary structure |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US4576544A (en) | Swivelling handle with three axes of rotation for an industrial robot | |
IE820902L (en) | Robot | |
EP0200105B1 (en) | Industrial robot | |
US5054332A (en) | Articulated robot | |
ES2000697A6 (en) | Manipulator gear head. | |
EP0105656A3 (en) | Industrial robot | |
IE820764L (en) | Multiarm robot | |
CA2236094A1 (en) | Aircraft | |
CN108622228A (en) | A kind of quadruped robot with flexible waist | |
JPS6416393A (en) | Balance type industrial robot | |
US4842474A (en) | Vertical multi-articulated robot | |
HK14793A (en) | Mechanical speed reducer | |
CN212401410U (en) | Reversible balancing cube device | |
JPS59134688A (en) | Robot-arm | |
JPH01216786A (en) | Horizontal multiple joint robot | |
KR970001660B1 (en) | Vertical multi-link robot | |
JPS6246552Y2 (en) | ||
AU4001385A (en) | Manipulator head assembly | |
JPS6471678A (en) | Industrial robot | |
AU559649B2 (en) | Drive roller arrangement | |
JPH0621674Y2 (en) | Parallel link type vertical articulated robot | |
JPS6441499A (en) | Rotary type brush washer | |
JPH0763953B2 (en) | Robot with counter weight | |
JPH0239271Y2 (en) | ||
Hasegawa et al. | Design of optimal trajectory and tracking control for flexible arm. |