JPH0336789U - - Google Patents
Info
- Publication number
- JPH0336789U JPH0336789U JP9813589U JP9813589U JPH0336789U JP H0336789 U JPH0336789 U JP H0336789U JP 9813589 U JP9813589 U JP 9813589U JP 9813589 U JP9813589 U JP 9813589U JP H0336789 U JPH0336789 U JP H0336789U
- Authority
- JP
- Japan
- Prior art keywords
- arm
- check valve
- conduit
- weight
- balance cylinder
- 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
- 230000007935 neutral effect Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 1
Description
第１図及び第２図は本考案による重量バランス
装置を備えた多関節ロボツトの一実施例を示し、
第１図は全体側面及びバランス用シリンダへの空
気供給系を示す図、第２図は全体正面図である。
第３図は従来技術の一例の第１図相当図である。
符号の説明、１１……肩部、１２……アーム（
第１アーム）、３０……バランス用シリンダ、４
０……管路、４２……チエツク弁、４３……開閉
絞り弁、４６……エアタンク。
1 and 2 show an embodiment of an articulated robot equipped with a weight balance device according to the present invention,
FIG. 1 is a side view of the whole and an air supply system to the balance cylinder, and FIG. 2 is a front view of the whole.
FIG. 3 is a diagram corresponding to FIG. 1 of an example of the prior art. Explanation of symbols, 11...Shoulder, 12...Arm (
1st arm), 30... Balance cylinder, 4
0...Pipe line, 42...Check valve, 43...Opening/closing throttle valve, 46...Air tank.
Claims (1)
ほぼ重量釣合がなされたアームと、前記肩部とア
ームの間に設けられて同アームの中立位置からの
変位にともない生じる重量不釣合を補償するバラ
ンス用シリンダと、このバランス用シリンダに所
定圧に調整した圧縮空気を供給する管路よりなる
重量バランス装置を備えた多関節ロボツトにおい
て、前記管路に設けたチエツク弁と、このチエツ
ク弁と並列に設けた開閉絞り弁と、前記チエツク
弁とバランス用シリンダの間の前記管路に接続し
たエアタンクを備えたことを特徴とする重量バラ
ンス装置を備えた多関節ロボツト。 An arm that is swingably supported by a shoulder and whose weight is almost balanced in a neutral position, and an arm that is provided between the shoulder and the arm to compensate for the weight imbalance that occurs when the arm is displaced from the neutral position. In an articulated robot equipped with a weight balance device consisting of a balance cylinder and a conduit for supplying compressed air adjusted to a predetermined pressure to the balance cylinder, a check valve provided in the conduit is connected in parallel with the check valve. 1. A multi-jointed robot equipped with a weight balance device, characterized in that it is equipped with an on-off throttle valve provided in the check valve and an air tank connected to the conduit between the check valve and the balance cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1989098135U JPH0810525Y2 (en) | 1989-08-23 | 1989-08-23 | Articulated robot with weight balance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1989098135U JPH0810525Y2 (en) | 1989-08-23 | 1989-08-23 | Articulated robot with weight balance device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0336789U true JPH0336789U (en) | 1991-04-10 |
| JPH0810525Y2 JPH0810525Y2 (en) | 1996-03-29 |
Family
ID=31647248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1989098135U Expired - Lifetime JPH0810525Y2 (en) | 1989-08-23 | 1989-08-23 | Articulated robot with weight balance device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0810525Y2 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60197384A (en) * | 1984-03-16 | 1985-10-05 | 日本碍子株式会社 | Shock absorber for hand of article transport machine |
| JPS61151886U (en) * | 1985-03-12 | 1986-09-19 |
-
1989
- 1989-08-23 JP JP1989098135U patent/JPH0810525Y2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60197384A (en) * | 1984-03-16 | 1985-10-05 | 日本碍子株式会社 | Shock absorber for hand of article transport machine |
| JPS61151886U (en) * | 1985-03-12 | 1986-09-19 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0810525Y2 (en) | 1996-03-29 |
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