Title:
ROBOT MANIPULATOR
Document Type and Number:
Japanese Patent JP2015213976
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To achieve mechanical self-weight compensation mechanism for compensating the torque applied on a joint by the self-weight of a link, with a simple configuration.SOLUTION: A driving pulley 10 is provided at a first joint 2 in a manner rotatable with respect to a support part 15, and a driven pulley 8 is provided at a second joint 4 in a manner rotatable with the same rotation angle according to the rotation of a front arm link 5, and the driving pulley 10 and the driven pulley 8 synchronously rotate by a timing belt 9. At the first joint 2, a cam 11 for front arm compensation and a spring 12 for front arm compensation are provided for imparting torque to the front arm link 5 in a direction to cancel a load applied to the second joint 4 by the self-weight of the front arm link 5. The cam 11 for front arm compensation and the spring 12 for front arm compensation impart the torque according to the rotation angle of the front arm link 5 to the front arm link 5 via the driving pulley 10, the driven pulley 8 and the timing belt 9. A mechanical self-weight compensation mechanism of this type, being different from a conventional one, does not use a link mechanism, so that it can be achieved with a simple configuration.
Inventors:
OGATA MASARU
Application Number:
JP2014097506A
Publication Date:
December 03, 2015
Filing Date:
May 09, 2014
Export Citation:
Assignee:
CANON KK
International Classes:
B25J19/00
Attorney, Agent or Firm:
Kazuo Chikajima
Takashi Daejeon
Takashi Daejeon
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