发明名称 |
Robot which is capable of receiving impact load. |
摘要 |
<p>When an impact load is applied to a workpiece which is held by the robot, the impact force can be absorbed. The robot includes a grip 3 for holding a workpiece to which an impact load is applied and a buffer mechanism disposed between the grip 3 and arm 2 for supporting the grip 3. A buffer mechanism 4 includes two parallel link mechanisms 5, 6 for enabling the grip 3 to be moved in various directions and hydraulic actuator mechanisms 7, 8 for relaxing the actuation of the parallel link mechanisms 5, 6. When an impact force is applied to the grip 3, two parallel link mechanisms 5, 6 are actuated so that the grip 3 is slightly displaced while the hydraulic actuator mechanisms 5, 6 relax the actuation of the parallel link mechanisms 7, 8. Therefore, the impact force which is applied to the grip 3 can be absorbed. Additionally, after the impact force is applied to the grip 3, the buffer mechanism 4 can immediately be returned automatically to the initial position. <IMAGE></p> |
申请公布号 |
EP0683019(A1) |
申请公布日期 |
1995.11.22 |
申请号 |
EP19940107615 |
申请日期 |
1994.05.17 |
申请人 |
MITSUBISHI NAGASAKI MACHINERY MFG. CO., LTD. |
发明人 |
TODO, YOSHINORI;SAKAMOTO, MASAMI;USHIJIMA, NORIAKI;SONODA, AKIRA;MIURA, YUKIO;ARAKI, KYOUSUKE |
分类号 |
B21J13/08;B25J9/10;B25J19/00;(IPC1-7):B25J19/00 |
主分类号 |
B21J13/08 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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