JPS636332U - - Google Patents

Info

Publication number
JPS636332U
JPS636332U JP9674686U JP9674686U JPS636332U JP S636332 U JPS636332 U JP S636332U JP 9674686 U JP9674686 U JP 9674686U JP 9674686 U JP9674686 U JP 9674686U JP S636332 U JPS636332 U JP S636332U
Authority
JP
Japan
Prior art keywords
arm
gear
joint shaft
fitted
manipulator
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
JP9674686U
Other languages
English (en)
Other versions
JPH0447641Y2 (ja
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 filed Critical
Priority to JP9674686U priority Critical patent/JPH0447641Y2/ja
Publication of JPS636332U publication Critical patent/JPS636332U/ja
Application granted granted Critical
Publication of JPH0447641Y2 publication Critical patent/JPH0447641Y2/ja
Expired legal-status Critical Current

Links

Description

【図面の簡単な説明】
第１図は本考案の一実施例を示す断面図、第２
図は第１図中の―矢視図、第３図は第２図中
の―線断面図である。 図面中、１は関節軸、２は下腕、３は上腕、４
，５は軸受、６，８は歯車、７は駆動機、９はピ
ン、１０はロードセンサ、１１，１２は固定部、
１３はバネ性のある部材、１４は押ねじである。

Claims (1)

    【実用新案登録請求の範囲】
  1. 第１腕と第２腕とを関節軸を介して回動自在に
    結合したマニピユレータにおいて、前記関節軸に
    は前記第１腕に固着された第１歯車が嵌着すると
    共に該歯車に第２歯車が噛合し、更に前記第２歯
    車を軸支する軸受箱が前記第２腕内で、その反負
    荷側から揺動自在に支持され、かつ、その負荷側
    に予圧をかけたロードセンサが圧接されることを
    特徴とするマニピユレータ関節トルク検出機構。
JP9674686U 1986-06-26 1986-06-26 Expired JPH0447641Y2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP9674686U JPH0447641Y2 (ja) 1986-06-26 1986-06-26

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP9674686U JPH0447641Y2 (ja) 1986-06-26 1986-06-26

Publications (2)

Publication Number Publication Date
JPS636332U true JPS636332U (ja) 1988-01-16
JPH0447641Y2 JPH0447641Y2 (ja) 1992-11-10

Family

ID=30962849

Family Applications (1)

Application Number Title Priority Date Filing Date
JP9674686U Expired JPH0447641Y2 (ja) 1986-06-26 1986-06-26

Country Status (1)

Country Link
JP (1) JPH0447641Y2 (ja)

Also Published As

Publication number Publication date
JPH0447641Y2 (ja) 1992-11-10

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