JPH0215280U - - Google Patents
Info
- Publication number
- JPH0215280U JPH0215280U JP8954688U JP8954688U JPH0215280U JP H0215280 U JPH0215280 U JP H0215280U JP 8954688 U JP8954688 U JP 8954688U JP 8954688 U JP8954688 U JP 8954688U JP H0215280 U JPH0215280 U JP H0215280U
- Authority
- JP
- Japan
- Prior art keywords
- master
- manipulator
- slave
- angle
- type working
- 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
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Control Of Position Or Direction (AREA)
Description
第１図は本考案に係るマスタースレーブ形作業
用ロボツトの一実施例の要部斜視図、第２図は従
来のマスタースレーブ形作業用ロボツトの系統図
である。
１…マスターマニピユレータ、２…マスターマ
ニピユレータ角度伝達系、３…マスターマニピユ
レータ角度検出器、４…減算器、５…スレーブマ
ニピユレータ、６…スレーブマニピユレータ角度
伝達系、７…スレーブマニピユレータ角度検出器
、８…増幅器、９…流量制御弁、１０…スレーブ
マニピユレータ用油圧アクチユエータ、１１…メ
カニカルカツプリング、１２…メカニカル応答鈍
化部。
FIG. 1 is a perspective view of essential parts of an embodiment of a master-slave type working robot according to the present invention, and FIG. 2 is a system diagram of a conventional master-slave type working robot. DESCRIPTION OF SYMBOLS 1...Master manipulator, 2...Master manipulator angle transmission system, 3...Master manipulator angle detector, 4...Subtractor, 5...Slave manipulator, 6...Slave manipulator angle transmission system, 7 ...Slave manipulator angle detector, 8...Amplifier, 9...Flow control valve, 10...Hydraulic actuator for slave manipulator, 11...Mechanical coupling, 12...Mechanical response slowing section.
Claims (1)
ピユレータに伝えて作業を行うマスタースレーブ
形作業用ボロツトにおいて、前記マスターマニピ
ユレータの変位角度量を検出するマスターマニピ
ユレータ角度検出器に対して該マスターマニピユ
レータから変位角度量を伝達するマスターマニピ
ユレータ角度伝達系に、前記スレーブマニピユレ
ータの応答を鈍らせるメカニカル応答鈍化部を設
けたことを特徴とするマスタースレーブ形作業用
ロボツト。 In a master-slave type working bolt that performs work by transmitting instructions from a master manipulator to a slave manipulator, the master manipulator angle detector detects the amount of displacement angle of the master manipulator. A master-slave type working robot, characterized in that a master manipulator angle transmission system that transmits a displacement angle amount from the generator is provided with a mechanical response slowing section that slows down the response of the slave manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8954688U JPH0215280U (en) | 1988-07-06 | 1988-07-06 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8954688U JPH0215280U (en) | 1988-07-06 | 1988-07-06 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0215280U true JPH0215280U (en) | 1990-01-30 |
Family
ID=31314092
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8954688U Pending JPH0215280U (en) | 1988-07-06 | 1988-07-06 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0215280U (en) |
-
1988
- 1988-07-06 JP JP8954688U patent/JPH0215280U/ja active Pending