JP6175646B2 - 工具交換装置用のマスター装置 - Google Patents
工具交換装置用のマスター装置 Download PDFInfo
- Publication number
- JP6175646B2 JP6175646B2 JP2013073769A JP2013073769A JP6175646B2 JP 6175646 B2 JP6175646 B2 JP 6175646B2 JP 2013073769 A JP2013073769 A JP 2013073769A JP 2013073769 A JP2013073769 A JP 2013073769A JP 6175646 B2 JP6175646 B2 JP 6175646B2
- Authority
- JP
- Japan
- Prior art keywords
- tool
- master device
- robot
- frame
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003780 insertion Methods 0.000 claims description 65
- 230000037431 insertion Effects 0.000 claims description 65
- 238000001514 detection method Methods 0.000 claims description 35
- 230000002093 peripheral effect Effects 0.000 description 22
- 238000005192 partition Methods 0.000 description 15
- 230000008878 coupling Effects 0.000 description 11
- 238000010168 coupling process Methods 0.000 description 11
- 238000005859 coupling reaction Methods 0.000 description 11
- 229910052751 metal Inorganic materials 0.000 description 10
- 239000002184 metal Substances 0.000 description 10
- 229920005989 resin Polymers 0.000 description 5
- 239000011347 resin Substances 0.000 description 5
- 229910052782 aluminium Inorganic materials 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000004918 carbon fiber reinforced polymer Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 229920002430 Fibre-reinforced plastic Polymers 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229920006351 engineering plastic Polymers 0.000 description 2
- 239000011151 fibre-reinforced plastic Substances 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- FYYHWMGAXLPEAU-UHFFFAOYSA-N Magnesium Chemical compound [Mg] FYYHWMGAXLPEAU-UHFFFAOYSA-N 0.000 description 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 229910052749 magnesium Inorganic materials 0.000 description 1
- 239000011777 magnesium Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000000638 solvent extraction Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229920005992 thermoplastic resin Polymers 0.000 description 1
- 229920001187 thermosetting polymer Polymers 0.000 description 1
- 239000010936 titanium Substances 0.000 description 1
- 229910052719 titanium Inorganic materials 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Description
Claims (4)
- ツールをロボットに交換可能に取り付ける工具交換装置用のマスター装置であって、該ロボットに連結可能なロボット連結部と、該ロボット連結部に連結されるフレームとを有する装置本体と、前記ツールに取り付けられているツール接続装置の外面上で開放した凹状又は穴状の空洞部に挿込可能な挿込部を有する連結部と、ツールに取り付けられるツール接続装置に設けられた被位置決部に嵌合可能な複数の位置決部と、該複数の位置決部のうちの少なくとも二つ以上の位置決部に内装される位置検知センサとを備えることを特徴とする工具交換装置用のマスター装置。
- 前記位置決部は、凹状の被位置決部に挿入可能なピン状に形成される請求項1に記載の工具交換装置用のマスター装置。
- 前記位置決部は、ピン状の被位置決部を挿入可能な凹状に形成される請求項1に記載の工具交換装置用のマスター装置。
- 前記複数の位置決部のそれぞれは、前記フレームの中心部周りで互いに間隔をあけて配置される請求項1乃至3のいずれか1項に記載の工具交換装置用のマスター装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013073769A JP6175646B2 (ja) | 2013-03-29 | 2013-03-29 | 工具交換装置用のマスター装置 |
CN201480016346.9A CN105189052A (zh) | 2013-03-29 | 2014-03-04 | 工具更换装置用的主装置 |
KR1020157024481A KR102173420B1 (ko) | 2013-03-29 | 2014-03-04 | 공구 교환 장치용의 마스터 장치 |
PCT/JP2014/055428 WO2014156508A1 (ja) | 2013-03-29 | 2014-03-04 | 工具交換装置用のマスター装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013073769A JP6175646B2 (ja) | 2013-03-29 | 2013-03-29 | 工具交換装置用のマスター装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014198349A JP2014198349A (ja) | 2014-10-23 |
JP6175646B2 true JP6175646B2 (ja) | 2017-08-09 |
Family
ID=52355613
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013073769A Active JP6175646B2 (ja) | 2013-03-29 | 2013-03-29 | 工具交換装置用のマスター装置 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP6175646B2 (ja) |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5978096U (ja) * | 1982-11-19 | 1984-05-26 | トヨタ自動車株式会社 | ロボツト用持ち替えハンド装置 |
JPS629887A (ja) * | 1985-07-08 | 1987-01-17 | フアナツク株式会社 | 自動ハンド交換装置 |
JPS6352985A (ja) * | 1986-08-12 | 1988-03-07 | マンネスマン・アクチエンゲゼルシャフト | 工業用ロボットにおける工具の自動着脱のための交換装置 |
JPH03117584A (ja) * | 1989-09-29 | 1991-05-20 | Applied Robotics Inc | 自動工具交換装置 |
-
2013
- 2013-03-29 JP JP2013073769A patent/JP6175646B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
JP2014198349A (ja) | 2014-10-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2014156508A1 (ja) | 工具交換装置用のマスター装置 | |
JP2014217909A (ja) | 工具交換装置用のマスター装置 | |
US9806457B2 (en) | Articulated robot with connection member for connecting wire body arranged on arm | |
JP2008194801A (ja) | クランプ装置 | |
JP2009030674A (ja) | 位置検出センサの取付機構 | |
EP2811223B1 (en) | Bicycle light | |
KR20140034941A (ko) | 클램프 장치 | |
EP3318757B1 (en) | Air compressor | |
TWI475169B (zh) | 殘壓釋放閥 | |
JP6026960B2 (ja) | 工具交換装置用のマスター装置 | |
US10947998B2 (en) | Fluid pressure cylinder | |
US11286695B2 (en) | Vehicle door handle mounting structure | |
US20180316142A1 (en) | Case closing structure | |
JP2014198347A (ja) | 工具交換装置用のマスター装置 | |
CN218338525U (zh) | 无菌罩及包括其的手术系统 | |
JP6175646B2 (ja) | 工具交換装置用のマスター装置 | |
KR101444092B1 (ko) | 전기적 도체를 변류기 하우징으로 분리 가능하게 부착하기 위한 장치 | |
JP6518995B2 (ja) | 工具交換装置用のマスター装置 | |
CA2651143A1 (en) | Self-centering fastener with mating seal flange | |
JP6184860B2 (ja) | ペダルユニット | |
JP6150042B2 (ja) | 工具交換装置用のマスター装置 | |
JP2014129843A (ja) | シリンダの取付構造 | |
JP2007189839A (ja) | グロメット | |
JP4622738B2 (ja) | フロアコンセント装置 | |
JP6048314B2 (ja) | プラグカバー |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20151225 |
|
A625 | Written request for application examination (by other person) |
Free format text: JAPANESE INTERMEDIATE CODE: A625 Effective date: 20151225 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20160729 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20160923 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20161128 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20170512 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20170612 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6175646 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |