JPH02130786U - - Google Patents

Info

Publication number
JPH02130786U
JPH02130786U JP3977689U JP3977689U JPH02130786U JP H02130786 U JPH02130786 U JP H02130786U JP 3977689 U JP3977689 U JP 3977689U JP 3977689 U JP3977689 U JP 3977689U JP H02130786 U JPH02130786 U JP H02130786U
Authority
JP
Japan
Prior art keywords
workpiece
tool
height
work
time
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.)
Pending
Application number
JP3977689U
Other languages
Japanese (ja)
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed filed Critical
Priority to JP3977689U priority Critical patent/JPH02130786U/ja
Publication of JPH02130786U publication Critical patent/JPH02130786U/ja
Pending legal-status Critical Current

Links

Description

【図面の簡単な説明】[Brief explanation of drawings]

第１図ないし第３図はこの考案の一実施例を示
すもので、第１図は作業ロボツトの要部を示す側
面図、第２図は第１図の平面図、第３図はビス打
ち作業の状態を示す要部拡大平面図、第４図は従
来の作業ロボツトを示す斜視図である。 １１……作業ロボツト、１２……ハンド部、１
４……リニアガイド機構、１５……駆動用シリン
ダ、１６……ビス打ちガン、１６ａ……ガンヘツ
ド、１７……取付けステー、１８……高さ検出位
置決め機構、１８ａ，１８ｂ……レーザーセンサ
、１９……ワーク確認ロツド、１９ａ……当接ヘ
ツド、２０……第１ドグ、２１……第２ドグ、２
２……第１リミツトスイツチ、２３……第２リミ
ツトスイツチ、２４……綬衝ばね、Ｗ……スチー
ルボツクス。 Figures 1 to 3 show an embodiment of this invention, with Figure 1 being a side view showing the main parts of the working robot, Figure 2 being a plan view of Figure 1, and Figure 3 showing the screws. FIG. 4 is an enlarged plan view of main parts showing the working state, and FIG. 4 is a perspective view showing a conventional working robot. 11... Working robot, 12... Hand part, 1
4... Linear guide mechanism, 15... Drive cylinder, 16... Screw gun, 16a... Gun head, 17... Mounting stay, 18... Height detection positioning mechanism, 18a, 18b... Laser sensor, 19 ...Work confirmation rod, 19a...Abutting head, 20...First dog, 21...Second dog, 2
2...First limit switch, 23...Second limit switch, 24...Ribbon spring, W...Steel box.

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] ライン上を移動するワークに対して所定の作業
を行なう工具を備え、この工具をワークと機械的
に一定時間連結して作業を行なう作業ロボツトに
おいて、前記ライン近傍に移動不能な状態に設置
されるとともに、移動するワークの存在およびワ
ークの高さを検出する手段と、検出したワークの
高さに応じて作業を行う高さを決定し、かつ決定
した高さに前記工具を位置決めする手段と、ワー
クの存在を検出し続けている間に、所定の作業を
繰返し行なうように前記工具を駆動する手段と、
一回毎の作業時間に合せて一定時間だけワークと
の相対位置関係を変更することなく前記工具をワ
ークに追従させる手段とを有することを特徴とす
る作業ロボツト。 A work robot that is equipped with a tool that performs a predetermined task on a workpiece that moves on a line, and that is mechanically connected to the workpiece for a certain period of time to perform the work, and is installed in an immovable state near the line. Also, means for detecting the presence of a moving workpiece and the height of the workpiece, means for determining a height at which the work is to be performed according to the detected height of the workpiece, and positioning the tool at the determined height; means for driving the tool to repeatedly perform a predetermined operation while continuing to detect the presence of the workpiece;
A working robot characterized by comprising means for causing the tool to follow the workpiece for a certain period of time in accordance with the working time of each operation without changing the relative positional relationship with the workpiece.
JP3977689U 1989-04-04 1989-04-04 Pending JPH02130786U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP3977689U JPH02130786U (en) 1989-04-04 1989-04-04

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP3977689U JPH02130786U (en) 1989-04-04 1989-04-04

Publications (1)

Publication Number Publication Date
JPH02130786U true JPH02130786U (en) 1990-10-29

Family

ID=31548981

Family Applications (1)

Application Number Title Priority Date Filing Date
JP3977689U Pending JPH02130786U (en) 1989-04-04 1989-04-04

Country Status (1)

Country Link
JP (1) JPH02130786U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008012597A (en) * 2006-07-03 2008-01-24 Aji Kk Apparatus and method for assembling

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5142256A (en) * 1974-10-07 1976-04-09 Nippon Steel Corp NAGARESAGYONIOKERUROBOTSUTOSHISUTEMU
JPS58206389A (en) * 1982-05-28 1983-12-01 日産自動車株式会社 Controller for robot
JPS6144585A (en) * 1984-08-06 1986-03-04 三洋機工株式会社 Work follow-up type robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5142256A (en) * 1974-10-07 1976-04-09 Nippon Steel Corp NAGARESAGYONIOKERUROBOTSUTOSHISUTEMU
JPS58206389A (en) * 1982-05-28 1983-12-01 日産自動車株式会社 Controller for robot
JPS6144585A (en) * 1984-08-06 1986-03-04 三洋機工株式会社 Work follow-up type robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008012597A (en) * 2006-07-03 2008-01-24 Aji Kk Apparatus and method for assembling

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