JPS6211593U - - Google Patents
Info
- Publication number
- JPS6211593U JPS6211593U JP10163185U JP10163185U JPS6211593U JP S6211593 U JPS6211593 U JP S6211593U JP 10163185 U JP10163185 U JP 10163185U JP 10163185 U JP10163185 U JP 10163185U JP S6211593 U JPS6211593 U JP S6211593U
- Authority
- JP
- Japan
- Prior art keywords
- fixed
- shaft
- gear
- core
- 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.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 claims 4
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
Description
第１図は本考案の一実施例の縦断面図である。
１……駆動源、２……ケース、３……コア、４
……コイル、７，１９……軸、１０……電磁クラ
ツチ、１７，１８……歯車、２１……レバー、２
２……ハンド取付板。
FIG. 1 is a longitudinal sectional view of an embodiment of the present invention. 1... Drive source, 2... Case, 3... Core, 4
... Coil, 7, 19 ... Shaft, 10 ... Electromagnetic clutch, 17, 18 ... Gear, 21 ... Lever, 2
2...Hand mounting plate.
Claims (1)
記ケース回転自在に結合し前記駆動源により回転
を駆動される第一の軸と、前記ケースに固定し第
一のコイルを固定した第一のコアと、前記第一の
軸に固定した回転部、インナデイスク、前記第一
の軸に中央部を貫通される第二のコア、前記第二
のコアに一端を固定したスプリング、前記第二の
コア固定した第二のコイル、および前記スプリン
グの他端を固定され前記インナデイスクの方向に
押圧されるアマチユアを有する電磁クラツチと、
前記第二のコアに固定し前記第一の軸に回転自在
に結合したブロツクと、前記第一の軸の先端部に
固定した第一の歯車と、前記第一の歯車に回転自
在に結合した第二の軸と、前記第二の軸に固定し
前記第一の歯車により駆動される第二の歯車と、
前記第二の軸を回転自在に結合しロボツトの手首
を固定する手段とを具備し、前記、前記第一、第
二のコイル電流を流すことにより、前記アマチユ
ア前記第一、第二のコアに固定し、前記第一の軸
の回転を前記第一の歯車を介して前記第二の歯車
に伝達してこれを自転させて前記手首の曲げ動作
をさせ、前記第一、第二のコイルへの電流を切る
ことにより、前記アマチユアを前記インナデイス
クに固定し、前記第一の軸の回転を前記第一の歯
車を介して前記第二の歯車に伝達してこれを公転
させて前記手首の回転動作をさせるようにしたこ
とを特徴とするロボツトの手首駆動装置。 a drive source, a case to which the drive source is fixed, a first shaft rotatably coupled to the case and driven to rotate by the drive source, and a first shaft fixed to the case and to which a first coil is fixed. a core, a rotating part fixed to the first shaft, an inner disk, a second core whose central part is penetrated by the first shaft, a spring fixed at one end to the second core, and a second core fixed to the second core. an electromagnetic clutch having a second coil having a fixed core, and an armature having the other end of the spring fixed and pressed in the direction of the inner disk;
a block fixed to the second core and rotatably coupled to the first shaft; a first gear fixed to the tip of the first shaft; and a block rotatably coupled to the first gear. a second shaft; a second gear fixed to the second shaft and driven by the first gear;
means for rotatably coupling the second shaft and fixing the wrist of the robot; the first shaft is fixed, and the rotation of the first shaft is transmitted to the second gear via the first gear to cause it to rotate and bend the wrist, and the rotation is transmitted to the first and second coils. By cutting off the current, the armature is fixed to the inner disk, and the rotation of the first shaft is transmitted to the second gear via the first gear, causing it to revolve, thereby causing the armature to rotate around the wrist. A wrist drive device for a robot, characterized in that it performs rotational motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10163185U JPS6211593U (en) | 1985-07-02 | 1985-07-02 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10163185U JPS6211593U (en) | 1985-07-02 | 1985-07-02 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6211593U true JPS6211593U (en) | 1987-01-24 |
Family
ID=30972532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10163185U Pending JPS6211593U (en) | 1985-07-02 | 1985-07-02 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6211593U (en) |
-
1985
- 1985-07-02 JP JP10163185U patent/JPS6211593U/ja active Pending