JPS5453460A - Wrist structure for working robot reduced in size and weight near joint - Google Patents

Wrist structure for working robot reduced in size and weight near joint

Info

Publication number
JPS5453460A
JPS5453460A JP11009277A JP11009277A JPS5453460A JP S5453460 A JPS5453460 A JP S5453460A JP 11009277 A JP11009277 A JP 11009277A JP 11009277 A JP11009277 A JP 11009277A JP S5453460 A JPS5453460 A JP S5453460A
Authority
JP
Japan
Prior art keywords
members
arm members
shaft
size
robot
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
Application number
JP11009277A
Other languages
Japanese (ja)
Other versions
JPS5537394B2 (en
Inventor
Shunichi Nishizawa
Shiro Futaki
Toshio Tsubota
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Motors Corp
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Motors Corp
Mitsubishi Heavy Industries Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Mitsubishi Motors Corp, Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Motors Corp
Priority to JP11009277A priority Critical patent/JPS5453460A/en
Publication of JPS5453460A publication Critical patent/JPS5453460A/en
Publication of JPS5537394B2 publication Critical patent/JPS5537394B2/ja
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)

Abstract

PURPOSE:To reduce the size and weight of the wrist structure in the vicinity of its joint in a working robot by separately retarding a hydraulically rotating cylinder with encoder from wrist joint thereof to set it at the longitudinal intermediate of adjacent arm members to thereby remotely drive the wrist joint. CONSTITUTION:Adjacent arm members are laterally, and elevationally rockably supported at supporting members 2 longitudinally rockably supported on a robot body 1, and a working tool is provided at rockable members 4 laterally, and elevationally rockably supported at the ends thereof in a robot. alpha shaft 10 and gear axle 11 having a drive thread gear 13 are coaxially provided at the end of the arm members 3 with the members 4 coupled at the rear end of the case 15 with the shaft 10 to be rotatably supported at the shaft 10 as a center. Hydraulic cylinders 6 with encoders 6'' are arranged at both sides along the longitudinal intermediate position of the arm members 3 to rotate the shafts 10, 11 via chains 27, 28, respectively.
JP11009277A 1977-09-12 1977-09-12 Wrist structure for working robot reduced in size and weight near joint Granted JPS5453460A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP11009277A JPS5453460A (en) 1977-09-12 1977-09-12 Wrist structure for working robot reduced in size and weight near joint

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP11009277A JPS5453460A (en) 1977-09-12 1977-09-12 Wrist structure for working robot reduced in size and weight near joint

Publications (2)

Publication Number Publication Date
JPS5453460A true JPS5453460A (en) 1979-04-26
JPS5537394B2 JPS5537394B2 (en) 1980-09-27

Family

ID=14526812

Family Applications (1)

Application Number Title Priority Date Filing Date
JP11009277A Granted JPS5453460A (en) 1977-09-12 1977-09-12 Wrist structure for working robot reduced in size and weight near joint

Country Status (1)

Country Link
JP (1) JPS5453460A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5856780A (en) * 1981-09-24 1983-04-04 三菱電機株式会社 Articulated type robot
JPS58177285A (en) * 1982-04-08 1983-10-17 株式会社日立製作所 Industrial articulated robot
JPS6016382A (en) * 1983-07-06 1985-01-28 本田技研工業株式会社 industrial robot equipment

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59201790A (en) * 1983-04-30 1984-11-15 ファナック株式会社 Drive for wrist of robot
JPS60141496A (en) * 1983-12-27 1985-07-26 フアナツク株式会社 Wrist mechanism of industrial robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5856780A (en) * 1981-09-24 1983-04-04 三菱電機株式会社 Articulated type robot
JPS58177285A (en) * 1982-04-08 1983-10-17 株式会社日立製作所 Industrial articulated robot
JPS6016382A (en) * 1983-07-06 1985-01-28 本田技研工業株式会社 industrial robot equipment

Also Published As

Publication number Publication date
JPS5537394B2 (en) 1980-09-27

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