JP2009006465A5 - - Google Patents

Claims (7)

A plurality of first connector parts (male or female) fixed to an arm of the robot, and a second connector part (female or male) connected and fixed to any one of the first connector parts (male or female); A direct operation device for operating the robot ,
The second connector portion is
And bondable junction and a built-in piezoelectric switch the first connector part for detecting a connection between the first connector portion,
A force sensor provided in the joint;
A rod that is coupled to the force sensor unit and has a rotation mechanism of at least two degrees of freedom , and a hook portion that is rotatably inserted into a hole at the tip ;
The force sensor unit, the direct operating device and outputs to detect a force acting on the hook. The plurality of first connector parts are different in arrangement of connection terminals from the second connector part, and the second connector part is connectable to the connection terminals of the plurality of first connector parts. The direct operation device according to claim 1, wherein: Wherein the plurality of number of the first connector portion is three, each of said first connector portion, in a cross section perpendicular to the longitudinal axis of the arm of the robot, said each connection terminal faces outside of said arm, and 3. The direct operating device according to claim 2, wherein each connection terminal is arranged so that the direction of each connection terminal is perpendicular to the direction of the connection terminal of the adjacent first connector portion . It said second connector portion is a can be installed in any of the three first connector portion, each of said first connector portion to the identification of the second connector part is attached the first connector portion 4. The direct operation device according to claim 3, wherein a signal is output . The direct operation device according to claim 4 , wherein the hook portion includes an LED indicating that the force sensor portion is in a normal state . A power distribution work robot equipped with the direct operation device according to any one of claims 1 to 5,
A power distribution work robot which is operated by a force acting on the hook portion . A power distribution work robot equipped with the direct operation device according to claim 4 or 5,
The robot is connected to a control device;
The controller is
Wireless communication means for receiving sensor information of the force sensor and the attachment position identification signal from the direct operation device by wireless communication ;
An impedance control unit for generating an operation position command amount to the robot based on sensor information of the force sensor,
A position / speed control unit that inputs a position command of the impedance control unit and performs position / speed control processing; and
A power distribution work robot, comprising: a servo amplifier that controls a motor of each joint of the robot according to an output of the position / speed control unit.