JPH0247193U - - Google Patents
Info
- Publication number
- JPH0247193U JPH0247193U JP12749088U JP12749088U JPH0247193U JP H0247193 U JPH0247193 U JP H0247193U JP 12749088 U JP12749088 U JP 12749088U JP 12749088 U JP12749088 U JP 12749088U JP H0247193 U JPH0247193 U JP H0247193U
- Authority
- JP
- Japan
- Prior art keywords
- pin
- axis
- chuck
- swinging member
- wrist
- 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
- 210000000707 wrist Anatomy 0.000 claims 2
- 230000005484 gravity Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Automatic Assembly (AREA)
Description
第１図は本考案の一実施例の正面図、第２図は
第１図に示された実施例の分解斜視図、第３図は
第１図の切断面線−から見た断面図、第４図
は第１図の切断面線ａ−ｂ−ｃ−ｄ−
ｅ−ｆ−ｇ−ｈから見た断面図、第５図
は歯切盤９２の側面図、第６図は歯切盤９２の平
面図、第７図は本考案の他の実施例の簡略化した
正面図、第８図は先行技術の断面図、第９図は他
の先行技術の斜視図である。
２１……取付部材、２３，２４……ブラケツト
、２７……位置決め突起、３０……揺動部材、３
１，３２……支持壁、４５，５２……ピン、４８
……揺動部材、５３，５４……ブラケツト、６３
，８０……把持手段、６６，６６ａ……チヤツク
、８９……重錘。
FIG. 1 is a front view of an embodiment of the present invention, FIG. 2 is an exploded perspective view of the embodiment shown in FIG. 1, and FIG. 3 is a sectional view taken along the cutting plane line - of FIG. Figure 4 shows the cutting plane line a-b-c-d- in Figure 1.
5 is a side view of the gear cutting machine 92, FIG. 6 is a plan view of the gear cutting machine 92, and FIG. 7 is a simplified diagram of another embodiment of the present invention. FIG. 8 is a sectional view of the prior art, and FIG. 9 is a perspective view of another prior art. 21... Mounting member, 23, 24... Bracket, 27... Positioning protrusion, 30... Swinging member, 3
1, 32...Supporting wall, 45, 52...Pin, 48
... Swinging member, 53, 54 ... Bracket, 63
, 80...gripping means, 66, 66a... chuck, 89... weight.
Claims (1)
にチヤツクを設け、他方の端部にはチヤツクまた
は重錘を設け、 レバーの重心位置付近を、水平軸線を有する第
１ピンによつて揺動部材に枢支し、この揺動部材
を、第１ピンの軸線から鉛直方向にずれた水平な
軸線を有する第２ピンによつて産業用ロボツトの
手首に枢支し、 第１ピンの軸線と第２ピンの軸線とを含む平面
を一鉛直面内に保つようにして、手首を移動する
ことを特徴とするハンドのコンプライアンス機構
。[Claims for Utility Model Registration] A chuck is provided at at least one end of a lever extending in the horizontal direction, a chuck or a weight is provided at the other end, and the vicinity of the center of gravity of the lever is located at a first point having a horizontal axis. Pivotally supporting a swinging member by a pin, and pivotally supporting the swinging member to the wrist of the industrial robot by a second pin having a horizontal axis vertically deviated from the axis of the first pin; A compliance mechanism for a hand, characterized in that the wrist is moved while keeping a plane including the axis of the first pin and the axis of the second pin within one vertical plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12749088U JPH0627346Y2 (en) | 1988-09-28 | 1988-09-28 | Hand compliance mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12749088U JPH0627346Y2 (en) | 1988-09-28 | 1988-09-28 | Hand compliance mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0247193U true JPH0247193U (en) | 1990-03-30 |
| JPH0627346Y2 JPH0627346Y2 (en) | 1994-07-27 |
Family
ID=31379974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12749088U Expired - Lifetime JPH0627346Y2 (en) | 1988-09-28 | 1988-09-28 | Hand compliance mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0627346Y2 (en) |
-
1988
- 1988-09-28 JP JP12749088U patent/JPH0627346Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0627346Y2 (en) | 1994-07-27 |