JP2024074317A - Separation type shock sensor - Google Patents

Abstract

To prevent unwanted external force from being applied to a robot arm to reduce an interference load applied to the robot arm and reduce return work time after a shock sensor is operated.SOLUTION: A separation type shock sensor includes: a disc-like annular adapter 10 provided in an annular form relative to a center axis CL, has an attachment surface 10A, and has a first through hole 10h centered on the center axis CL; and a cylindrical housing 20 which is coaxially provided with the annular adapter 10 and detachably attached to the annular adapter 10 and has a second through hole 20h centered on the center axis CL. The separation type shock sensor has: a lock mechanism which enables attachment/detachment between the annular adapter 10 and the cylindrical housing 20; a rotation prohibition mechanism for prohibiting mutual rotation around the center axis CL between the annular adapter 10 and the cylindrical housing 20 when they are overlapped; and a centering mechanism for matching a center of the annular adapter 10 with a center of the cylindrical housing 20.SELECTED DRAWING: Figure 3

Description

The present invention relates to a separate shock sensor.

JP 2009-248148 A (Patent Document 1) is an example of a prior art document that discloses a detachable shock sensor used to replace tools attached to the tip of a robot arm.

JP 2009-248148 A

In recent years, robot arms have become more and more flexible, so it is desirable to provide a separate shock sensor near the wrist axis rotation of the robot arm. If an external force greater than expected is applied to the tool while the robot arm is in operation, it is also necessary to provide a separate shock sensor to prevent unnecessary external forces from being applied to the tool and robot arm in order to protect the tool and robot arm.

This invention has been made to solve the above problems, and aims to provide a separate shock sensor that is capable of suppressing the application of unnecessary external forces to the robot arm, reducing the interference load on the robot arm, and reducing the recovery time after the shock sensor is activated.

[1] The separate shock sensor disclosed herein is a separate shock sensor having a mounting surface to which a tool is attached and an attachment surface to which the robot arm is attached, and is provided with a disk-shaped annular adapter that is arranged in an annular shape about a central axis, has the attachment surface, and has a first through hole centered on the central axis, and a cylindrical housing that is arranged coaxially with the annular adapter, is detachably attached to the annular adapter, and has a second through hole centered on the central axis.

The cylindrical housing has an annular flange that protrudes radially at the position where the annular adapter is attached so as to face the annular adapter, and a locking mechanism that enables the annular adapter to be attached and detached from the cylindrical housing is provided between the first outer peripheral surface of the annular adapter and the second outer peripheral surface of the annular flange.

A rotation prevention mechanism is provided between the first abutment surface of the annular adapter on the annular flange side and the second abutment surface of the annular flange on the annular adapter side to prevent the annular adapter and the cylindrical housing from rotating about the central axis when they are overlapped, and a centering mechanism is provided between the annular adapter and the annular flange to align the center of the annular adapter with the center of the cylindrical housing when they are overlapped.

[2]: In the separate shock sensor described in [1], the locking mechanism includes an engagement claw provided on one side of the first outer peripheral surface or the second outer peripheral surface, and an engagement groove member provided on the other side of the first outer peripheral surface or the second outer peripheral surface, having an engagement groove with which the engagement claw engages, and the engagement claw has a biasing mechanism that presses the engagement claw against the engagement groove so that the engagement state of the engagement claw in the engagement groove is maintained when the annular adapter and the annular flange are butted against each other, and releases the engagement claw from being pressed against the engagement groove when a predetermined external force or more is applied between the annular adapter and the annular flange.

[3]: In the separate shock sensor described in [1] or [2], the rotation prohibition mechanism includes a protruding member provided on one side of the first abutment surface or the second abutment surface, and a receiving recess provided on the other side of the first abutment surface or the second abutment surface for receiving the protruding member, and when the first abutment surface and the second abutment surface are separated, the protruding member is accommodated in a position retreated from the first abutment surface or the second abutment surface on which the protruding member is provided, and when the first abutment surface and the second abutment surface are butted against each other, the protruding member protrudes and is accommodated in the receiving recess, so that when the annular adapter and the cylindrical housing are overlapped, mutual rotation about the central axis is prohibited.

[4]: In the separate shock sensor described in any one of [1] to [3], the centering mechanism includes an annular convex portion provided concentrically with the central axis on one side of the first abutment surface or the second abutment surface, and an annular concave portion provided concentrically with the central axis on the other side of the first abutment surface or the second abutment surface, and when the first abutment surface and the second abutment surface are butted together, the annular convex portion is received in the annular concave portion, so that when the annular adapter and the cylindrical housing are overlapped, the center of the annular adapter and the center of the annular flange coincide with each other.

The separate shock sensor disclosed herein can prevent unnecessary external forces from being applied to the robot arm, reduce interference loads on the robot arm, and shorten the recovery time after the shock sensor is activated.

1 is an overall configuration diagram of an industrial robot device equipped with a separate shock sensor according to an embodiment of the present invention; 1 is an overall perspective view of a separate shock sensor according to an embodiment; FIG. 2 is an exploded perspective view of the separate shock sensor according to the embodiment. FIG. 2 is a perspective view of the annular adapter according to the embodiment, looking up. 3 is a cross-sectional view taken along line VV in FIG. 2. 3 is a cross-sectional view taken along line VI-VI in FIG. 2. FIG. 7 is a partial enlarged view of the area surrounded by VII in FIG. 6. FIG. 1 is a first diagram showing a schematic configuration of an emergency stop mechanism employed in a separate shock sensor according to an embodiment. FIG. 2 is a second diagram showing a schematic configuration of the emergency stop mechanism employed in the separate shock sensor of the embodiment.

The separate shock sensor 1 of this embodiment will be described below with reference to the drawings. In the embodiment described below, when numbers, quantities, etc. are mentioned, the scope of the present invention is not necessarily limited to those numbers, quantities, etc., unless otherwise specified. The same reference numbers are used for the same parts and corresponding parts, and duplicate descriptions may not be repeated. It is intended from the beginning that the configurations in the embodiment will be used in appropriate combinations.

(Overall configuration of industrial robot device 100)
The overall configuration of an industrial robot device 100 that employs a separate shock sensor 1 according to the present embodiment will be described with reference to Fig. 1. Fig. 1 is an overall configuration diagram of an industrial robot device 100 equipped with a separate shock sensor 1.

Industrial robot device 100, a separate shock sensor 1 is provided at the tip of a robot arm 2 that can move freely in six axial directions. A welding torch 3 is attached to the separate shock sensor 1. The robot arm 2 can move the welding torch 3 attached to the separate shock sensor 1 to a predetermined position in three-dimensional space by rotating the joints of each arm in the directions of the arrows shown in FIG. 1. The interior of the robot arm 2 is hollow, and a welding wire and cable 4 are inserted through it. The welding torch 3 attached to the separate shock sensor 1 performs arc welding on the workpiece. The power, shielding gas, cooling water, and welding wire supplied to the welding torch 3 are supplied through a cable 4 inserted through the robot arm 2.

(Separate shock sensor 1)
Next, the configuration of the separate shock sensor 1 of this embodiment will be described with reference to Fig. 2 to Fig. 7. Fig. 2 is an overall perspective view of the separate shock sensor 1, Fig. 3 is an exploded perspective view of the separate shock sensor 1, Fig. 4 is a perspective view looking up at the annular adapter 10, Fig. 5 is a cross-sectional view taken along line V-V in Fig. 2, Fig. 6 is a cross-sectional view taken along line VI-VI in Fig. 2, and Fig. 7 is a partially enlarged view of the area surrounded by VII in Fig. 6.

Referring to FIG. 2, the separate shock sensor 1 is a separate shock sensor 1 that has a mounting surface 30A on which a tool such as a welding torch 3 is mounted, and a mounting surface 10A that is attached to a robot arm 2.

Referring to FIG. 3, the separate shock sensor 1 includes a disk-shaped annular adapter 10 having a mounting surface 10A and a first through hole 10h centered on the central axis CL, and a cylindrical housing 20 coaxial with the annular adapter 10, detachably attached to the annular adapter 10, and having a second through hole 20h centered on the central axis CL. The power, shielding gas, cooling water, and welding wire supplied to the welding torch 3 are supplied through the first through hole 10h and the second through hole 20h.

(Annular adapter 10)
The annular adaptor 10 includes an annular body 11 having a first through hole 10h, an engagement claw 12 provided on a first outer circumferential surface 11a of the annular body 11, and an annular plate 18 that biases the engagement claw 12. The functions of the engagement claw 12 and the annular plate 18 will be described later.

Referring to FIG. 4, a cylindrical receiving recess 13 is provided on the first abutment surface 10p on the annular flange 21 side of the cylindrical housing 20 of the annular adapter 10. The function of this receiving recess 13 will be described later. In addition to the receiving recess 13, an opening 14 is also provided.

The first abutment surface 10p of the annular body 11 of the annular adapter 10 has an annular recess 15 along the edge of the first through hole 10h. This annular recess 15 is composed of a top surface 15a and a side surface 15b, and at least the annular side surface 15b is arranged concentrically with the central axis CL.

(Cylindrical housing 20)
Referring to Figures 3 and 5, the cylindrical housing 20 has a main body housing 24 in which a second through hole 20h is provided, and on the annular adaptor 10 side of this main body housing 24, an annular flange 21 is provided facing the annular adaptor 10 and extending radially.

A protruding member 50 is provided on the second abutment surface 21p of the annular flange 21 on the annular adapter 10 side. The function of this protruding member 50 will be described later. An engagement groove member 22 is provided on the outer peripheral surface of the annular flange 21. The function of this engagement groove member 22 will also be described later. An adapter ring 30 for connecting the welding torch 3 is provided on the opposite side of the main housing 24 to the annular adapter 10 (the side where the welding torch 3 is attached).

The second abutment surface 21p of the main housing 24 of the cylindrical housing 20 has an annular protrusion 23 along the edge of the second through hole 20h. At least the annular outer peripheral surface 23b of the annular protrusion 23 is arranged concentrically with the central axis CL.

(Rotation prevention mechanism)
5, a description will be given of a rotation prohibition mechanism employed in the separate shock sensor 1. This rotation prohibition mechanism is provided between the first contact surface 10p of the annular adapter 10 and the second contact surface 21p of the annular flange 21, and is a mechanism for prohibiting mutual rotation about the central axis CL when the annular adapter 10 and the annular flange 21 are overlapped.

As described above, the first abutment surface 10p of the annular adapter 10 is provided with a cylindrical receiving recess 13, and the second abutment surface 21p of the annular flange 21 is provided with a protruding member 50. The receiving recess 13 and the protruding member 50 form a rotation prevention mechanism.

Specifically, the protruding member 50 includes a stopper plate 51, a connecting shaft 52, a head 53, a magnet 54, and a coil spring 55. The magnet 54 is housed inside the head 53.

The annular flange 21 has a storage recess 25 exposed on the second contact surface 21p, and a first communication hole 26, a second communication hole 27, and a third communication hole 28 arranged along the direction in which the central axis CL extends from the center of the storage recess 25. The first communication hole 26 has a smaller diameter than the storage recess 25 and the second communication hole 27. The second communication hole 27 has a smaller diameter than the third communication hole 28.

The head 53 having the magnet 54 is accommodated in the accommodation recess 25, the coil spring 55 is accommodated in the second communication hole 27, and the stopper plate 51 is accommodated in the third communication hole 28. The head 53 and the stopper plate 51 are connected by the connecting shaft 52.

As shown in FIG. 3, when the first contact surface 10p and the second contact surface 21p are separated, the protruding member 50 is in a position retracted from the first contact surface 10p, that is, completely accommodated in the accommodation recess 25. This is due to the force of the coil spring 55 attempting to expand (the downward force in FIG. 5).

Next, as shown in FIG. 5, when the first abutment surface 10p and the second abutment surface 21p are butted together, the head 53 having the magnet 54 is attracted to the receiving recess 13 by magnetic force. As a result, as shown in the figure, the head 53 moves toward the receiving recess 13 against the spring force of the coil spring 55, and is maintained housed in the receiving recess 13. As a result, when the annular adapter 10 and the annular flange 21 are overlapped, mutual rotation about the central axis CL is prohibited.

When the first abutment surface 10p and the second abutment surface 21p are separated, the protruding member 50 is completely accommodated in the accommodation recess 25 due to the force of the coil spring 55 tending to expand. In this embodiment, the annular body 11 in which the receiving recess 13 is provided is made of a magnetic material, which makes it possible to attract the head 53 having the magnet 54 to the receiving recess 13. However, if the annular body 11 is not made of a magnetic material, it is advisable to place a magnetic material on the bottom surface of the receiving recess 13.

In this embodiment, a cylindrical receiving recess 13 is provided on the first contact surface 10p of the annular adapter 10, and a protruding member 50 is provided on the second contact surface 21p of the annular flange 21. However, a protruding member 50 may be provided on the first contact surface 10p of the annular adapter 10, and a cylindrical receiving recess 13 may be provided on the second contact surface 21p of the annular flange 21.

(Locking mechanism 200)
The lock mechanism 200 employed in the separate shock sensor 1 will be described with reference to Figures 6 and 7. Figure 6 is a cross-sectional view taken along line VI-VI in Figure 2, and Figure 7 is a partially enlarged view of the area surrounded by VII in Figure 6.

This locking mechanism 200 is a mechanism that allows the annular adapter 10 and the cylindrical housing 20 to be attached and detached between the first outer peripheral surface 11a of the annular adapter 10 and the second outer peripheral surface 21a of the annular flange 21.

As described above, the first outer peripheral surface 11a of the annular adapter 10 is provided with the engagement claws 12. As can be clearly seen in Figs. 2 and 3, the engagement claws 12 are provided at three locations at a pitch of 120°. The number of engagement claws 12 can be changed as appropriate. The engagement claws 12 include an L-shaped main body portion 12a, a claw portion 12p provided at the tip portion of the main body portion 12a and protruding toward the first outer peripheral surface 11a, and a shaft portion 12b that axially supports the main body portion 12a so that it can rotate. The shaft portion 12b is fixed to the annular main body 11.

Referring to FIG. 7, the upper surface 12u of the main body 12a is provided with a generally triangular protrusion 12m that protrudes upward. An annular plate 18 is disposed on the upper surface 12u of the main body 12a, and this annular plate 18 is fixed to the annular main body 11.

Referring again to FIG. 6, the second outer peripheral surface 21a of the annular flange 21 is provided with an engagement groove member 22. As shown in FIG. 3, the engagement groove member 22 is provided in three locations at a pitch of 120°. The number of engagement groove members 22 can be changed as appropriate. The engagement groove member 22 includes an L-shaped main body portion 22a and an engagement groove 22h provided on the outer peripheral surface of the main body portion 22a. The engagement groove member 22 is fixed to the second outer peripheral surface 21a of the annular flange 21.

In the engagement claw 12 and engagement groove member 22 having the above configuration, in the normal state, the engagement claw 12 is pressed downward by the annular plate 18. Therefore, as shown in FIG. 6, when the annular adapter 10 and the annular flange 21 are butted together, the claw portion 12p of the engagement claw 12 is pressed against the engagement groove 22h of the engagement groove member 22 to engage, and this engaged state is maintained.

On the other hand, if a tool is attached to the attachment surface 30A and an unexpected external force is applied to the tool, the claw portion 12p of the engagement claw 12 is disengaged from the engagement groove 22h, and the cylindrical housing 20 is separated from the annular adapter 10. This makes it possible to reduce damage to the tool and to the robot arm 2. This mechanism functions as a shock sensor. Note that the annular adapter 10 and the cylindrical housing 20 can be connected to each other with a connecting member (elastic body, wire, chain, etc.) not shown in the figure to prevent the cylindrical housing 20 from falling.

Although a configuration was adopted in which an engagement claw 12 is provided on the first outer peripheral surface 11a of the annular adapter 10 and an engagement groove member 22 is provided on the second outer peripheral surface 21a of the annular flange 21, a configuration in which an engagement groove member 22 is provided on the first outer peripheral surface 11a of the annular adapter 10 and an engagement claw 12 is provided on the second outer peripheral surface 21a of the annular flange 21 may also be adopted.

(Centering mechanism)
The centering mechanism will be described with reference to Figures 3 to 5. This centering mechanism is a mechanism between the annular adapter 10 and the annular flange 21 for aligning the center of the annular adapter 10 with the center of the cylindrical housing 20 when the annular adapter 10 and the cylindrical housing 20 are overlapped with each other.

As described above, the annular body 11 of the annular adapter 10 has an annular recess 15 provided along the edge of the first through hole 10h on the first abutment surface 10p of the annular body 11 of the annular adapter 10. This annular recess 15 is composed of a top surface 15a and a side surface 15b, and at least the annular side surface 15b is provided concentrically with the central axis CL.

The second abutment surface 21p of the main housing 24 of the cylindrical housing 20 has an annular protrusion 23 along the edge of the second through hole 20h. At least the annular outer peripheral surface 23b of the annular protrusion 23 is arranged concentrically with the central axis CL.

The inner diameter of the side surface 15b of the annular recess 15 and the outer diameter of the outer peripheral surface 23b of the annular protrusion 23 are set to be approximately the same diameter.

Based on the configuration of the annular recess 15 and the annular protrusion 23, when the first abutment surface 10p and the second abutment surface 21p are butted together, the annular protrusion 23 is received in the annular recess 15, so that when the annular adapter 10 and the cylindrical housing 20 are overlapped, the center of the annular adapter 10 and the center of the cylindrical housing 20 can be easily aligned.

In the above embodiment, the first contact surface 10p of the annular adapter 10 is provided with an annular recess 15, and the second contact surface 21p of the cylindrical housing 20 is provided with an annular protrusion 23. However, it is also possible to provide the first contact surface 10p of the annular adapter 10 with an annular protrusion 23, and the second contact surface 21p of the cylindrical housing 20 with an annular recess 15.

According to the above-described embodiment of the separate shock sensor 1, a locking mechanism 200 is provided between the first outer peripheral surface 11a of the annular adapter 10 and the second outer peripheral surface 21a of the annular flange 21 to allow the annular adapter 10 and the cylindrical housing 20 to be attached and detached, a rotation prevention mechanism is provided between the first abutment surface 10p on the annular flange 21 side of the annular adapter 10 and the second abutment surface 21p on the annular adapter 10 side of the annular flange 21 to prevent the annular adapter 10 and the cylindrical housing 20 from rotating about the central axis CL when the annular adapter 10 and the cylindrical housing 20 are overlapped, and a centering mechanism is provided between the annular adapter 10 and the annular flange 21 to align the center of the annular adapter 10 and the center of the cylindrical housing 20 when the annular adapter 10 and the cylindrical housing 20 are overlapped.

With this configuration, if an unexpected external force is applied to the tool, the claw portion 12p of the engagement claw 12 is disengaged from the engagement groove 22h, and the cylindrical housing 20 is separated from the annular adapter 10. This makes it possible to reduce damage to the tool and the robot arm 2.

Furthermore, when the cylindrical housing 20 is attached to the annular adapter 10, a rotation prevention mechanism is provided between the annular adapter 10 and the cylindrical housing 20, and a centering mechanism is provided to align the center of the annular adapter 10 with the center of the cylindrical housing 20, making it possible to easily attach the cylindrical housing 20 to the annular adapter 10 with high positioning accuracy.

As a result, it is possible to prevent unnecessary external forces from being applied to the robot arm, reduce interference loads on the robot arm, and shorten the recovery work time after the shock sensor is activated.

(Emergency stop mechanism)
Next, the schematic configuration of the emergency stop mechanism employed in the separate shock sensor of the above embodiment will be described with reference to Figures 8 and 9. Figure 8 is a first diagram showing the schematic configuration of the emergency stop mechanism 60, and Figure 9 is a second diagram showing the schematic configuration of the emergency stop mechanism 70.

The schematic configuration of the emergency stop mechanism 60 will be described with reference to Figure 8. This emergency stop mechanism 60 is provided between the first abutment surface 10p of the annular adapter 10 and the second abutment surface 21p of the annular flange 21.

A first cable 61 and a second cable 62 are provided on the first contact surface 10p of the annular adapter 10, which are connected to a controller (not shown) of the industrial robot device 100. The first cable 61 and the second cable 62 are arranged at a predetermined distance. A first connection recess terminal 61a having a recessed shape is provided at the tip of the first cable 61, and a second connection recess terminal 62a having a recessed shape is provided at the tip of the second cable 62.

A conductive member 63 is provided on the second contact surface 21p of the annular flange 21 at a position where the first connection recess terminal 61a and the second connection recess terminal 62a face each other. The conductive member 63 includes a first connection protrusion terminal 63a at a position where the first connection recess terminal 61a faces each other, and a second connection protrusion terminal 63b at a position where the second connection recess terminal 61b faces each other. The first connection protrusion terminal 63a and the second connection recess terminal 61b are electrically conductive.

When the annular adapter 10 is connected to the cylindrical housing 20, the first abutment surface 10p of the annular adapter 10 and the second abutment surface 21p of the annular flange 21 abut against each other. This is the normal operating state. The first connection protrusion terminal 63a is fitted into the first connection recess terminal 61a, and the second connection protrusion terminal 63b is fitted into the second connection recess terminal 62a. This allows the controller of the industrial robot device 100 to recognize that the first cable 61 and the second cable 62 are in a conductive state.

On the other hand, when the cylindrical housing 20 is separated from the annular adapter 10, the first abutment surface 10p of the annular adapter 10 and the second abutment surface 21p of the annular flange 21 are separated. This state is an abnormal operating state. The first connection protrusion terminal 63a is detached from the first connection recess terminal 61a, and the second connection protrusion terminal 63b is detached from the second connection recess terminal 62a. As a result, the controller of the industrial robot device 100 recognizes that the first cable 61 and the second cable 62 are not conducting, and brings the industrial robot device 100 to an emergency stop.

Next, the schematic configuration of the emergency stop mechanism 70 will be described with reference to FIG. 9. Like the emergency stop mechanism 60, the emergency stop mechanism 70 is also provided between the first abutment surface 10p of the annular adapter 10 and the second abutment surface 21p of the annular flange 21.

A first cable 71 and a second cable 72 are provided on the first contact surface 10p of the annular adapter 10, which are connected to a controller (not shown) of the industrial robot device 100. A reed switch 73 that can be opened and closed by magnetic force is provided between the first cable 71 and the second cable 72.

A magnet 74 is provided on the second abutment surface 21p of the annular flange 21 at a position facing the reed switch 73. For example, when the magnet 74 is close to the reed switch 73, the reed switch 73 is in the ON state, and the first cable 71 and the second cable 72 are in a conductive state. On the other hand, when the magnet 74 is at a certain distance away from the reed switch 73, the reed switch 73 is in the OFF state, and the first cable 71 and the second cable 72 are in a non-conductive state.

When the annular adapter 10 is connected to the cylindrical housing 20, the first abutment surface 10p of the annular adapter 10 and the second abutment surface 21p of the annular flange 21 are in abutment. This is the normal operating state. The magnet 74 is close to the reed switch 73. This allows the controller of the industrial robot device 100 to recognize that the first cable 71 and the second cable 72 are in a conductive state.

On the other hand, when the cylindrical housing 20 is separated from the annular adapter 10, the first abutment surface 10p of the annular adapter 10 and the second abutment surface 21p of the annular flange 21 are separated from each other. This is an abnormal operating state. The magnet 74 is at a certain distance from the reed switch 73. As a result, the controller of the industrial robot device 100 recognizes that the first cable 71 and the second cable 72 are not conducting, and brings the industrial robot device 100 to an emergency stop.

In this way, the separate shock sensor of this embodiment preferably includes the emergency stop mechanism described above, which not only prevents unnecessary external forces from being applied to the robot arm, but also makes it possible to bring the operation of the industrial robot device 100 to an emergency stop.

The above describes the separated shock sensor of the present disclosure in the embodiments, but the embodiments disclosed herein are illustrative in all respects and are not restrictive. The scope of the present invention is defined by the claims, and includes all modifications within the meaning and scope of the claims.

1 Separate shock sensor, 2 Robot arm, 3 Welding torch, 4 Cable, 10 Annular adapter, 10A Mounting surface, 10h First through hole, 10p First contact surface, 11 Annular main body, 11a First outer peripheral surface, 12 Engagement claw, 12a, 22a Main body, 12b Shaft, 12m Projection, 12p Claw, 12u Top surface, 13 Receiving recess, 14 Opening, 15 Annular recess, 15a Top surface, 15b Side surface, 18 Annular plate, 20 Cylindrical housing, 20h Second through hole, 21 Annular flange, 21a Second outer peripheral surface, 21p Second contact surface, 22 Engagement groove member, 22h Engagement groove, 23 Annular protrusion, 23b Outer peripheral surface, 24 Main body housing, 25 Storage recess, 26 First communication hole, 27 Second communication hole, 28 Third communication hole, 30 adapter ring, 30A mounting surface, 50 protruding member, 51 stopper plate, 52 connecting shaft, 53 head, 54 magnet, 55 coil spring, 60, 70 emergency stop mechanism, 61, 71 first cable, 62, 72 second cable, 61a first connection recess terminal, 62a second connection recess terminal, 63 conductive member, 63a first connection protrusion terminal, 63b second connection protrusion terminal, 73 reed switch, 74 magnet, 100 industrial robot device, 200 lock mechanism, CL central axis.

Claims (4)

A separate shock sensor having a mounting surface to which a tool is attached and a mounting surface to which a robot arm is attached,
a disk-shaped annular adapter provided annularly about a central axis, the disk-shaped annular adapter having the mounting surface and a first through hole centered on the central axis;
a cylindrical housing provided coaxially with the annular adapter and detachably attached to the annular adapter, the cylindrical housing having a second through hole centered on the central axis;
Equipped with
The cylindrical housing includes:
a radially extending annular flange at a position where the annular adapter is attached so as to face the annular adapter;
a lock mechanism for enabling the annular adapter to be attached to and detached from the cylindrical housing is provided between a first outer circumferential surface of the annular adapter and a second outer circumferential surface of the annular flange,
a rotation preventing mechanism is provided between a first abutment surface of the annular adapter on the annular flange side and a second abutment surface of the annular flange on the annular adapter side to prevent the annular adapter and the cylindrical housing from rotating relative to each other about the central axis when the annular adapter and the cylindrical housing are overlapped;
a centering mechanism is provided between the annular adapter and the annular flange for aligning a center of the annular adapter with a center of the cylindrical housing when the annular adapter and the cylindrical housing are overlapped with each other;
Separate shock sensor. The locking mechanism includes:
An engagement claw provided on one side of the first outer circumferential surface or the second outer circumferential surface;
an engagement groove member provided on the other side of the first outer peripheral surface or the second outer peripheral surface and having an engagement groove with which the engagement claw engages;
The engaging claw is
a biasing mechanism that presses the engagement claws against the engagement grooves so that the engagement state of the engagement claws in the engagement grooves is maintained when the annular adaptor and the annular flange are butted against each other, and that releases the engagement claws from being pressed against the engagement grooves when a predetermined or greater external force is applied between the annular adaptor and the annular flange;
2. The isolated shock sensor of claim 1. The rotation prevention mechanism includes:
A protruding member provided on one side of the first contact surface or the second contact surface;
a receiving recess provided on the other side of the first contact surface or the second contact surface and configured to receive the protruding member;
The protruding member is
When the first contact surface and the second contact surface are separated from each other, the protrusion member is accommodated in a position retreated from the first contact surface or the second contact surface on which the protrusion member is provided,
When the first abutment surface and the second abutment surface are butted against each other, the protruding member protrudes and is accommodated in the receiving recess, so that when the annular adapter and the cylindrical housing are overlapped with each other, mutual rotation about the central axis is prohibited.
2. The isolated shock sensor of claim 1. The centering mechanism includes:
an annular protrusion provided concentrically with the central axis on one side of the first contact surface or the second contact surface;
an annular recess provided concentrically with the central axis on the other side of the first contact surface or the second contact surface,
When the first contact surface and the second contact surface are abutted against each other, the annular protrusion is received in the annular recess,
When the annular adapter and the cylindrical housing are overlapped with each other, a center of the annular adapter and a center of the annular flange are aligned with each other.
2. The isolated shock sensor of claim 1.

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