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    • 1. 发明专利
    • LIMIT SWITCH DEVICE FOR WRIST OF INDUSTRIAL ROBOT
    • JPH05169389A
    • 1993-07-09
    • JP33658891
    • 1991-12-19
    • KOBE STEEL LTD
    • NAGAHAMA TAKAHIDEFUJII SHUNICHI
    • B25J9/10B25J13/08B25J17/02B25J19/00B25J19/02
    • PURPOSE:To secure a wiring space by inducting the rotation of a tuning part up to the outside of a rocking part via a first detecting shaft, a bevel gear mechanism and a second detecting shaft, while making a turning part detection piece at the other end side of the second detection shaft cane into contact with a limit switch for the turning part at the rocking part at the outside of the rocking part, and getting position information of the turning part. CONSTITUTION:Rotation of a turning part 3 is inducted up to the outside of a rocking part 2 via a first detection shaft 21, two bevel gear mechanisms 22, 23 and a second detection shaft 24. At the outside of this rocking part 2, a turning part, detecting piece 25 attached to the other end side of the second detection shaft 24 is made contact with two turning part limit switches 26a, 26b attached to the rocking part 2, through which position information of the turning part 3 is thus securable. With this constitution, these limit switches can be set up in a robot base end side as setting up two reduction mechanisms 10, 18 at the robot tip end side and, what is more, any interference between a first turning shaft 5a and a second turning shaft 6a is avoidable.
    • 3. 发明专利
    • INDUSTRIAL ROBOT
    • JPH05318344A
    • 1993-12-03
    • JP13240292
    • 1992-05-25
    • KOBE STEEL LTD
    • NAGAHAMA TAKAHIDEFUJII SHUNICHISHIBAIKE MASAKIMINATO TATSUJI
    • B25J5/02B25J9/06
    • PURPOSE:To position a carriage to a rail with certainty by attaching a robot body to this carriage aright so as to make its own weight moment toward one side of the rail act on the carriage even if it takes any position. CONSTITUTION:In correspondence with a direction of its own weight moment M of a robot body 1 acting on a carriage 4, each of guide rollers 28 and 14 is set up in respective positions being pressed to both upper and lower surfaces of a rail 5 at the backside of the carriage. This upper guide roller 28 is made to be free of rotation around a turning shaft 28a at a specified position. Likewise the lower guide roller 14 is attached to a lower end of a rod 15 through a turning shaft 14a. This rod 15 is attached to a carriage body 2 rotatably around a shaft of the rod 15 and slidably in both vertical directions. In addition, a step part 15a is formed in an intermediate part of the rod 15, and in an interval between a top face of this step part 15a and the carriage body 2, a spring 16, energizing the rod 15 downward, is installed in an upper end circumference of the rod 15.