JPS6192587U - - Google Patents
Info
- Publication number
- JPS6192587U JPS6192587U JP17767884U JP17767884U JPS6192587U JP S6192587 U JPS6192587 U JP S6192587U JP 17767884 U JP17767884 U JP 17767884U JP 17767884 U JP17767884 U JP 17767884U JP S6192587 U JPS6192587 U JP S6192587U
- Authority
- JP
- Japan
- Prior art keywords
- utility
- arm
- working
- arms
- tip
- 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
- 239000012530 fluid Substances 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Description
図面は本考案に係る作業用マニプレータの実施
例を示し、第１図は空気制御を示す配管図、第２
図はロボツトハンドの側面図、第３図は第１，第
２接触式センサーの装着部を示す縦断面図、第４
図は第１、第２接触式センサーと空気圧シリンダ
との連係構造を示す一部切欠側面図、第５図はロ
ボツトハンドの縦断側面図、第６図及び第７図は
カツタと空気圧シリンダとの連係構造を示す側面
図、第８図及び第９図はハンドの平面図、第１０
図は制御構成を示す概略図である。
９ａ，９ｂ，９ｃ……アーム、２０，２３，３
８……流体圧アクチユエータ、３７……管、Ｄ…
…ジヨイント、Ｅ１，Ｅ２，Ｅ３，Ｅ４……制御
弁。
The drawings show an embodiment of the working manipulator according to the present invention, and FIG. 1 is a piping diagram showing air control, and FIG. 2 is a piping diagram showing air control.
The figure is a side view of the robot hand, Figure 3 is a longitudinal cross-sectional view showing the attachment part of the first and second contact sensors, and Figure 4 is a side view of the robot hand.
The figure is a partially cutaway side view showing the interlocking structure between the first and second contact type sensors and the pneumatic cylinder, Fig. 5 is a vertical side view of the robot hand, and Figs. FIGS. 8 and 9 are side views showing the interlocking structure; FIGS. 8 and 9 are plan views of the hand;
The figure is a schematic diagram showing the control configuration. 9a, 9b, 9c...Arm, 20, 23, 3
8...Fluid pressure actuator, 37...Pipe, D...
... joint, E 1 , E 2 , E 3 , E 4 ... control valve.
Claims (1)
３８にて駆動自在な作業用ハンドＨを、アーム９
ａ，９ｂ，９ｃの先端に連結した作業用マニプレ
ータであつて、前記複数の流体圧アクチユエータ
２０，２３，３８の夫々に対する制御弁Ｅ１，Ｅ
２，Ｅ３，Ｅ４を、前記アーム９ａ，９ｂ，９ｃ
の先端部に取付けると共に、流体圧供給源から１
本の管３７にてアーム先端部に導かれた流体を前
記各制御弁Ｅ１，Ｅ２，Ｅ３，Ｅ４に分岐供給す
るジヨイントＤを設けてある作業用マニプレータ
。 前記管３７を、前記アーム９ａ，９ｂ，９ｃ
の内部に配置してある実用新案登録請求の範囲第
項に記載の作業用マニプレータ。[Claims for Utility Model Registration] A plurality of fluid pressure actuators 20, 23,
At 38, the working hand H which can be freely driven is connected to the arm 9.
a, 9b, and 9c, the control valves E 1 and E for each of the plurality of fluid pressure actuators 20, 23, and 38;
2 , E 3 and E 4 as the arms 9a, 9b, 9c.
At the same time as attaching it to the tip of the
A working manipulator equipped with a joint D that branches and supplies fluid led to the tip of the arm through a main pipe 37 to each of the control valves E 1 , E 2 , E 3 , and E 4 . The tube 37 is connected to the arms 9a, 9b, 9c.
A working manipulator as set forth in claim 1 of the utility model registration claim, which is disposed inside the utility model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17767884U JPS6192587U (en) | 1984-11-22 | 1984-11-22 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17767884U JPS6192587U (en) | 1984-11-22 | 1984-11-22 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6192587U true JPS6192587U (en) | 1986-06-16 |
Family
ID=30735248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP17767884U Pending JPS6192587U (en) | 1984-11-22 | 1984-11-22 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6192587U (en) |
-
1984
- 1984-11-22 JP JP17767884U patent/JPS6192587U/ja active Pending