JPH032638B2 - - Google Patents
Info
- Publication number
- JPH032638B2 JPH032638B2 JP57054109A JP5410982A JPH032638B2 JP H032638 B2 JPH032638 B2 JP H032638B2 JP 57054109 A JP57054109 A JP 57054109A JP 5410982 A JP5410982 A JP 5410982A JP H032638 B2 JPH032638 B2 JP H032638B2
- Authority
- JP
- Japan
- Prior art keywords
- moving member
- movable member
- piece
- movable
- welding torch
- 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.)
- Expired - Lifetime
Links
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 238000003466 welding Methods 0.000 description 51
- 238000010586 diagram Methods 0.000 description 8
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000011810 insulating material Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 231100000989 no adverse effect Toxicity 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】
本発明は操作要素を支持する移動部材の位置を
適宜に制御する産業用ロボツトに関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an industrial robot that appropriately controls the position of a moving member that supports an operating element.
一般に産業用ロボツトにおいては数値データ又
はテイーチング操作による入力データに基いてマ
イクロコンピユータを作動させてロボツトを作動
させたり、或は固定の電気的シーケンス制御装置
によりロボツトを作動させたりしている。ところ
でロボツトの動作領域内に誤まつて障害物が置か
れているときには、例えば操作要素と障害物とが
当接して、操作要素や操作要素を支持する移動部
材などの破損が生じていた。このため、各部の破
損を防ぐための安全装置を施したロボツトが嘱望
されていた。しかも、例えば操作要素に作用する
外力が一方向に限定されることはまずなく、従つ
て操作要素などに不特定方向の外力が作用したと
きでも操作要素などを破損させないためには、操
作要素を外力の作用方向に逃がしてやる必要があ
る。この種のものとしては、従来、第１図および
第２図に示される構造の安全装置を備えたロボツ
トが提言されている。即ち、適宜に位置制御され
る移動部材１１′の先端開口部に球面凹状体５１
と球面凸状体５２とよりなる球面軸受５３を設
け、この球面凸状体５２の穿設孔５４を貫通して
操作要素２４′、例えば溶接トーチを配置し、か
つ溶接トーチ２４′をバネ５５によりZ2方向に付
勢して溶接トーチを傾動およびZ1方向に移動自在
に構成していた。さらに移動部材１１′の後端開
口部に絶縁材５６を介して円弧状をなす固定電極
５７を取付け、かつこの固定電極５７の位置する
溶接トーチの尾端部に放射状をなす第１の可動電
極５８，５８……と半径方向に延びる第２の可動
電極５９とと取付け、この可動電極５８，５９と
固定電極５７とこれらに接続された検出器６０，
６０とにより溶接トーチの接触状態が検出されて
いた。 Generally, in industrial robots, the robot is operated by operating a microcomputer based on numerical data or input data through a teaching operation, or the robot is operated by a fixed electrical sequence control device. By the way, when an obstacle is mistakenly placed in the operating area of the robot, for example, the operating element and the obstacle come into contact with each other, causing damage to the operating element and the movable member that supports the operating element. For this reason, there has been a demand for robots equipped with safety devices to prevent damage to various parts. Moreover, for example, the external force that acts on an operating element is rarely limited to one direction, and therefore, in order to prevent the operating element from being damaged even when an external force acts on the operating element in an unspecified direction, it is necessary to It is necessary to release it in the direction of the external force. As a robot of this type, a robot equipped with a safety device having the structure shown in FIGS. 1 and 2 has been proposed. That is, a spherical concave body 51 is provided at the tip opening of the movable member 11' whose position is appropriately controlled.
A spherical bearing 53 consisting of a spherical convex body 52 and a spherical convex body 52 are provided, an operating element 24', for example a welding torch, is disposed through a bored hole 54 of this spherical convex body 52, and the welding torch 24' is connected to a spring 55. The welding torch was configured to be biased in the Z 2 direction and to be tiltable and movable in the Z 1 direction. Further, a fixed electrode 57 having an arcuate shape is attached to the rear end opening of the movable member 11' via an insulating material 56, and a first movable electrode radially shaped is attached to the tail end of the welding torch where the fixed electrode 57 is located. 58, 58... and a second movable electrode 59 extending in the radial direction are attached, and the movable electrodes 58, 59, the fixed electrode 57, and the detector 60 connected thereto.
60, the contact state of the welding torch was detected.
即ち、例えば溶接トーチの先端部にＸ方向ある
いはＹ方向の力が作用した場合、溶接トーチは球
面軸受を中心に回動し、上記第１の可動電極と固
定電極とが接触する。また溶接トーチの先端部に
Z1方向の力が作用した場合、球面凸状体の穿設孔
を貫通する溶接トーチがバネに抗してZ1方向に移
動して、第２の可動電極と固定電極とが接触す
る。このように溶接トーチは外力の作用方向に変
位するが、可動電極と固定電極との接触により溶
接トーチの接触状態を検出するため、移動部材に
対する溶接トーチの変位量は極めて小さい値に制
御される。即ち溶接トーチの変位量が大きくなる
と、可動電極が必要以上に固定部材に押しつけら
れたり、あるいは溶接トーチの尾端部が移動部材
に当接したりして、可動電極や溶接トーチが破損
される。また球面軸受部において球面凸状部を円
滑に傾動させるためには、球面凸状体と球面凹状
体とを夫々高精度に加工しなければならず、しか
も球面凹状体により球面凸状体を抱持するために
は球面凹状体を半径方向又は軸方向に少なくとも
２分割に構成する必要があるが、このように分割
された球面凹状体の内面を円滑な球状に形成する
作業が面倒であつた。さらに溶接トーーチの先端
部にZ1方向の外力が作用した場合に、溶接トーチ
の移動を円滑に行なわせるために球面凸状体の穿
設孔を大きくすれば、溶接トーチ、即ち操作要素
の位置決めが不正確になるという欠点があつた。 That is, for example, when a force in the X direction or Y direction is applied to the tip of the welding torch, the welding torch rotates about the spherical bearing, and the first movable electrode and the fixed electrode come into contact with each other. Also, the tip of the welding torch
When a force in the Z1 direction is applied, the welding torch passing through the hole in the spherical convex body moves in the Z1 direction against the spring, and the second movable electrode and the fixed electrode come into contact. In this way, the welding torch is displaced in the direction in which the external force acts, but since the contact state of the welding torch is detected by the contact between the movable electrode and the fixed electrode, the amount of displacement of the welding torch with respect to the moving member is controlled to an extremely small value. . That is, when the amount of displacement of the welding torch becomes large, the movable electrode is pressed against the fixed member more than necessary, or the tail end of the welding torch comes into contact with the moving member, and the movable electrode and the welding torch are damaged. In addition, in order to tilt the spherical convex part smoothly in the spherical bearing part, the spherical convex body and the spherical concave body must be machined with high precision, and the spherical convex body must hold the spherical convex body. In order to hold the spherical concave body, it is necessary to divide the spherical concave body into at least two parts in the radial or axial direction, but it is troublesome to form the inner surface of the divided spherical concave body into a smooth spherical shape. . Furthermore, when an external force in the Z1 direction is applied to the tip of the welding torch, the hole in the spherical convex body can be made larger to allow the welding torch to move smoothly. The disadvantage was that it was inaccurate.
本発明の目的は、前記従来の欠点を解消した産
業用ロボツトを提供することにある。 An object of the present invention is to provide an industrial robot that eliminates the above-mentioned conventional drawbacks.
以下、図示の実施例を参照して本発明を詳細に
説明する。今、多関節アーム式産業用ロボツトに
ついて述べると、第３図乃至第５図において、１
は固定部材２に対して水平方向に旋回自在に支持
された台枠、３および４は台枠１に対して夫々回
動自在に支持された下腕およびリンクレバー、５
はリンクレバー４に回転的に支持された後腕、６
は下腕３と後腕５とに夫々回転自在に支持された
上腕で、この上腕６、下腕３、リンクレバー４お
よび後腕５により平行リンク機構が形成されてい
る。上腕６の端部には移動部材１１が直接に又は
適宜の駆動機構を介して間接に支持されている。
７および８は台枠１に支持された第１および第２
の回転駆動機で、下腕３は減速機を介して第１の
回転駆動機７により上下方向に旋回され、上腕６
は減速機を介して第２の回転駆動機８により回動
されるリンクレバー４および後腕５を介して下腕
３と上腕６との軸支点として上下方向に旋回され
る。また台枠１は減速機を介して第３の回転駆動
機９により水平方向に旋回される。 Hereinafter, the present invention will be explained in detail with reference to illustrated embodiments. Now, when talking about multi-joint arm type industrial robots, in Figures 3 to 5, 1
3 and 4 are lower arms and link levers that are respectively rotatably supported with respect to the underframe 1; 5;
is a rear arm rotatably supported by link lever 4, 6
An upper arm is rotatably supported by a lower arm 3 and a rear arm 5, respectively, and the upper arm 6, lower arm 3, link lever 4, and rear arm 5 form a parallel link mechanism. A moving member 11 is supported at the end of the upper arm 6 directly or indirectly via a suitable drive mechanism.
7 and 8 are the first and second supports supported by the underframe 1.
In this rotary drive machine, the lower arm 3 is vertically rotated by the first rotary drive machine 7 via a speed reducer, and the upper arm 6
is pivoted in the vertical direction as a fulcrum of the lower arm 3 and upper arm 6 via the link lever 4 and the rear arm 5, which are rotated by the second rotary drive device 8 via a speed reducer. Further, the underframe 1 is rotated in the horizontal direction by a third rotary drive machine 9 via a reduction gear.
図示の場合、移動部材１１は、例えば水平旋回
機構１０を介して上腕６に支持され、かつこの移
動部材１１により適宜の操作要素２４、例えば消
耗性電極式の溶接トーチが支持されている。更に
詳述すると、第４図および第５図において、１２
は一端部に操作要素２４、例えば溶接トーチを支
持する第１の移動部材で、図示の場合、溶接トー
チ２４は第１の移動部材１２に螺着されている。
第１の移動部材１２の略軸芯部には貫通孔１２１
が穿設され、かつZ1方向の端部には半径方向に突
出する円盤状の膨出部１２２が形成されている。
なお膨出部１２２の外面は球面をした凸状１２３
に形成されている。１３は第１の移動部材１２を
支持するための第２の移動部材で、有底状部１３
１と円筒部１３２とが形成されている。また有底
状部１３１には貫通孔１３３が穿設されていて、
この貫通孔１３３を介して第１の移動部材１２の
膨出部１２２が第２の移動部材１３の円筒部１３
２に収容されて、膨出部１２２のフランジ面１２
４が第２の移動部材１３の有底状部１３１に当接
する。なお膨出部１２２の球面凸状部１２３の曲
率は円筒部１３２の半径と略同一に形成されてい
るため、第１の移動部材１２は第２の移動部材１
３に対して自在に傾動および摺動することができ
る。１４は圧縮バネ１９を係止するバネ押えで、
このバネ押え１４と第１の移動部材１２との間に
配設された圧縮バネ１９により第１の移動部材１
２が常時Z2方向に付勢されている。１５は蓋体
で、この蓋体１５と、バネ押え１４とが第２の移
動部材１３に一体的に締着され、かつ適宜の電気
的絶縁部材１６を介して支持ブラケツト１７に支
持されて水平旋回機構１０に連結されている。上
記１２乃至１７により移動部材１１が構成されて
いる。 In the illustrated case, the moving element 11 is supported on the upper arm 6, for example via a horizontal pivoting mechanism 10, and supports a suitable operating element 24, for example a welding torch with a consumable electrode. More specifically, in FIGS. 4 and 5, 12
is a first movable member which supports at one end an operating element 24 , for example a welding torch, which in the illustrated case is screwed onto the first movable member 12 .
A through hole 121 is provided approximately at the axial center of the first moving member 12.
is bored, and a disk-shaped bulge 122 that protrudes in the radial direction is formed at the end in the Z1 direction.
Note that the outer surface of the bulging portion 122 has a spherical convex shape 123.
is formed. 13 is a second moving member for supporting the first moving member 12;
1 and a cylindrical portion 132 are formed. Further, a through hole 133 is bored in the bottomed portion 131,
The bulging portion 122 of the first moving member 12 connects to the cylindrical portion 13 of the second moving member 13 through this through hole 133.
2, the flange surface 12 of the bulge 122
4 comes into contact with the bottomed portion 131 of the second moving member 13 . Note that since the curvature of the spherical convex portion 123 of the bulging portion 122 is formed to be approximately the same as the radius of the cylindrical portion 132, the first moving member 12 is similar to the second moving member 1.
It can freely tilt and slide with respect to 3. 14 is a spring holder that locks the compression spring 19;
The compression spring 19 disposed between the spring presser 14 and the first moving member 12 causes the first moving member 1 to
2 is always biased in the Z2 direction. Reference numeral 15 denotes a lid body, and this lid body 15 and a spring presser 14 are integrally fastened to the second moving member 13, and are supported by a support bracket 17 via a suitable electrically insulating member 16 so that the lid body 15 and the spring presser 14 are horizontally supported. It is connected to the turning mechanism 10. The moving member 11 is constituted by the above 12 to 17.
１８はバネ押え１４の略軸芯部をＺ方向に移動
自在に配設された駒で、図示の場合、Z1方向にフ
ランジ部１８１を有する円筒状に形成されてい
る。２０は蓋体１５と駒１８との間に配設された
圧縮バネで、このバネ力により駒１８は常時Z2方
向に付勢されて、第１の移動部材１２に当接して
いる。２１は蓋体１５と溶接トーチ２４との間に
配設されたフレキシブルガイドで、例えば断面円
形又は非円形の線材を螺旋状に形成したものや、
樹脂製のチユーブが用いられる。なお、図示の場
合、蓋体１５に螺設したネジ部１５１に消耗性電
極ワイヤを案内するための図示しないフレキシブ
ルコンジツトチユーブの端部が螺着される。また
２２は溶接用のシールドガスを供給するための接
続口で、この接続口２２に連通する空間は適宜の
気密部材２３１，２３２，２３３，２３４により
遮蔽され、駒１８のZ2方向の端部に穿設された孔
１８２を経て溶接トーチ２４へと連通されてい
る。２５は検出器で、例えば駒１８のフランジ１
８１の位置を検出するように配設されている。２
６はゴム製又は合成樹脂などの適宜の可撓性を有
するカバー、２７は溶接用の電力線で、適宜の絶
縁部材を介して、例えば蓋体１５に担体された後
に、溶接トーチに連結されている。 Reference numeral 18 denotes a piece disposed so as to be movable in the Z direction approximately on the axis of the spring presser 14, and in the illustrated case, it is formed in a cylindrical shape having a flange portion 181 in the Z1 direction. Reference numeral 20 denotes a compression spring disposed between the lid 15 and the piece 18, and the piece 18 is always urged in the Z2 direction by the force of this spring and comes into contact with the first moving member 12. Reference numeral 21 denotes a flexible guide disposed between the lid 15 and the welding torch 24, for example, a flexible guide made of a wire rod with a circular or non-circular cross section formed in a spiral shape,
A resin tube is used. In the illustrated case, an end portion of a flexible conduit tube (not shown) for guiding the consumable electrode wire is screwed into a threaded portion 151 screwed onto the lid 15. Further, 22 is a connection port for supplying shielding gas for welding, and the space communicating with this connection port 22 is shielded by appropriate airtight members 231, 232, 233, and 234, and the end of the piece 18 in the Z 2 direction The welding torch 24 is communicated with through a hole 182 drilled in the welding torch 24 . 25 is a detector, for example, the flange 1 of the piece 18
It is arranged to detect the position of 81. 2
Reference numeral 6 represents a cover having appropriate flexibility such as rubber or synthetic resin, and reference numeral 27 represents a power line for welding, which is connected to a welding torch after being supported on, for example, the lid 15 via an appropriate insulating member. There is.
上記構成において、移動部材１１の位置を適宜
に制御しつつ、例えば溶接トーチにより被溶接物
の溶接を行なう。この場合、バネ１９により付勢
される第１の移動部材１２の膨出部１２２が第２
の移動部材１３の有底状部１３１に当接するた
め、接続口２２より供給されるシールドガスは駒
１８の下部を経て溶接トーチ２４に至る。また図
示しない消耗性電極ワイヤはフレキシブルガイド
２１により案内されつつ溶接位置へと送給され、
かつ電力線２７を介して溶接トーチに給電されつ
つ溶接が行なわれる。 In the above configuration, the object to be welded is welded using, for example, a welding torch while controlling the position of the movable member 11 as appropriate. In this case, the bulge 122 of the first moving member 12 biased by the spring 19
Because the shielding gas is brought into contact with the bottomed portion 131 of the moving member 13 , the shielding gas supplied from the connection port 22 passes through the lower part of the piece 18 and reaches the welding torch 24 . Further, a consumable electrode wire (not shown) is guided by a flexible guide 21 and fed to a welding position,
Welding is performed while power is being supplied to the welding torch via the power line 27.
産業用ロボツトの稼動時に、即ち溶接時又は非
溶接時に溶接トーチの先端部に外力が作用した場
合について説明する。第６図乃至第８図におい
て、第６図は溶接トーチに外力が作用しないとき
の状態図で、この状態において、例えば溶接トー
チの先端部にX1方向の外力が作用したものとす
る。第１の移動部材１２の膨出部１２２の曲面凸
状部１２３の曲率は第２の移動部材１３の円筒部
１３２の半径と略同一に形成されているため、第
１の移動部材１２は反時計方向に傾動しようとす
る。この場合、第１の移動部材１２がバネ１９に
よりZ2方向に付勢されていて、膨出部１２２のフ
ランジ面１２４が第２の移動部材１３の有底状部
１３１に当接しているため、膨出部１２２の球心
点；O1がZ1方向に距離；ΔZ1だけ変位した位置；
O2で適宜に傾動する。この場合、第７図に示さ
れるごとく駒１８はZ1方向に距離；ΔZ2だけ移動
される。また溶接トーチの先端部にZ1方向の外力
が作用した場合、第８図に示されるごとく、第１
の移動部材１２の膨出部１２２が円筒部１３２に
沿つてZ1方向に、例えば距離；ΔZ3だけを変位す
る。 A case will be described in which an external force is applied to the tip of the welding torch during operation of the industrial robot, that is, during welding or non-welding. 6 to 8, FIG. 6 is a state diagram when no external force is applied to the welding torch, and in this state, it is assumed that, for example, an external force in the X1 direction is applied to the tip of the welding torch. Since the curvature of the curved convex portion 123 of the bulging portion 122 of the first moving member 12 is formed to be approximately the same as the radius of the cylindrical portion 132 of the second moving member 13, the first moving member 12 is Attempt to tilt clockwise. In this case, the first moving member 12 is urged in the Z2 direction by the spring 19, and the flange surface 124 of the bulging portion 122 is in contact with the bottomed portion 131 of the second moving member 13. , the spherical center point of the bulge 122; the distance where O 1 is in the Z 1 direction; the position where ΔZ 1 is displaced;
Tilt appropriately with O2 . In this case, the piece 18 is moved in the Z1 direction by a distance ΔZ2 , as shown in FIG. Furthermore, when an external force in the Z1 direction is applied to the tip of the welding torch, the first
The bulging portion 122 of the moving member 12 is displaced along the cylindrical portion 132 in the Z1 direction, for example, by a distance ΔZ3 .
なお、第１の移動部材１２の膨出部は球面凸状
に形成されているので、第１の移動部材１２は第
２の移動部材１３に対していかなる方向にも傾動
することができ、しかも膨出部１２２は円盤状に
形成されると共に、この円盤状の膨出部１２２に
常時当接する駒１８の当接面は筒状に形成されて
いるため、第１の移動部材１２の傾動方向の如何
に拘わらず駒１８はZ1方向に移動する。即ち第７
図に示されるごとく球心点がΔZ1だけZ1方向に変
位するよう第１の移動部材１２が傾動するものと
すれば、傾動方向の如何に拘わらず駒１８はΔZ2
だけZ1方向に移動する。 In addition, since the bulging portion of the first moving member 12 is formed in a spherical convex shape, the first moving member 12 can tilt in any direction with respect to the second moving member 13. The bulging portion 122 is formed in a disk shape, and the contact surface of the piece 18 that constantly contacts the disk-shaped bulging portion 122 is formed in a cylindrical shape, so that the tilting direction of the first moving member 12 Regardless of what happens, the piece 18 moves in the Z1 direction. That is, the seventh
As shown in the figure, if the first moving member 12 is tilted so that the ball center point is displaced by ΔZ 1 in the Z 1 direction, the piece 18 will be displaced by ΔZ 2 regardless of the tilting direction.
Only move in Z 1 direction.
このように溶接トーチの先端部に外力が作用し
た場合、外力の作用方向に拘らず、駒は一定の方
向、即ちZ1方向に移動し、しかもこの駒は柱状に
形成されているので膨出部１２２が傾動した際
に、柱状の駒１８は膨出部１２２の傾動方向に拘
らず、Z1方向に大きく変位される。この駒の軸線
方向の位置を検出する検出器の出力状態を適宜に
選定することにより、単一の検出器で溶接トーチ
の自在方向の異常状態を検出することができる。 When an external force is applied to the tip of the welding torch in this way, the piece moves in a fixed direction, that is, the Z1 direction, regardless of the direction of the external force.Moreover, since this piece is formed in a columnar shape, it will bulge. When the portion 122 is tilted, the columnar piece 18 is largely displaced in the Z1 direction regardless of the direction in which the bulged portion 122 is tilted. By appropriately selecting the output state of the detector that detects the position of the piece in the axial direction, it is possible to detect an abnormal state of the welding torch in any direction with a single detector.
さらに、柱状の駒１８は、第２の移動部材１３
の円筒部１３２と略同軸で、軸線方向にのみ変位
するから、この柱状の駒１８の位置を検出するた
めの単一の検出器の配設が容易であり、かつ装置
として必要な半径方向、即ちＸ方向およびＹ方向
のスペースが小さくて済むので、装置のコンパク
ト化を図ることができる。 Further, the columnar piece 18 is connected to the second moving member 13
Since it is approximately coaxial with the cylindrical portion 132 of the columnar piece 18 and is displaced only in the axial direction, it is easy to install a single detector for detecting the position of the columnar piece 18, and the radial direction required for the device is That is, since the space in the X direction and the Y direction is small, the apparatus can be made more compact.
また、第１の移動部材１２と第２の移動部材１
３の穿設孔１３３との遊度と駒１８および第１の
移動部材１２のＺ方向の遊度とを適宜に選定する
ことができるので、仮に溶接トーチの先端部に衝
撃力が作用した場合でも溶接トーチや第１の移動
部材などが他の部材に対して外力の作用方向に自
在に変位し、各部が破損される虞れはない。なお
第９図および第１０図は夫々第７図および第８図
に相当する詳細図であるが、図示のごとく、溶接
トーチなどが外力により適宜に変位した場合で
も、図示しない消耗性電極ワイヤはフレキシブル
ガイドにより案内されているため消耗性電極ワイ
ヤが他の部材と当接したりすることがなく、従つ
て溶接トーチなどに作用する外力を取除くと、溶
接トーチなどは第４図に示される初期状態に自動
的に復帰する。勿論、溶接トーチの異常状態を検
出した場合、異常信号により溶接作業や溶接作業
に関連する他の作業を中断したり、あるいは異常
警報の表示をしたりすることができる。 Moreover, the first moving member 12 and the second moving member 1
Since the degree of play with the drilled hole 133 of No. 3 and the degree of play in the Z direction of the piece 18 and the first moving member 12 can be appropriately selected, even if an impact force is applied to the tip of the welding torch, However, there is no risk that the welding torch, the first movable member, etc. may be freely displaced in the direction in which the external force is applied with respect to other members, and that each part will be damaged. Note that FIGS. 9 and 10 are detailed views corresponding to FIGS. 7 and 8, respectively, but as shown in the figures, even if the welding torch etc. is appropriately displaced by external force, the consumable electrode wire (not shown) Since the consumable electrode wire is guided by a flexible guide, it does not come into contact with other parts. Therefore, when the external force acting on the welding torch is removed, the welding torch etc. returns to the initial state shown in Figure 4. automatically return to the state. Of course, if an abnormal state of the welding torch is detected, the abnormality signal can be used to interrupt the welding operation or other operations related to the welding operation, or to display an abnormality alarm.
第１１図は本発明の他の実施例の要部を示す図
であつて、操作要素２４と第１の移動部材１２と
の夫々の軸線が一致しない場合を示している。 FIG. 11 is a diagram showing a main part of another embodiment of the present invention, and shows a case where the axes of the operating element 24 and the first moving member 12 do not coincide with each other.
図示の場合第１の移動部材１２の膨出部１２２
は1/2球状凸部に形成されている。また第２の移
動部材１３の有底状部１３１は、円筒部１３２に
連なる1/2球状凹部に形成されている。第２の移
動部材１３の円筒部内をＺ方向に移動自在な駒１
８は円筒状に形成され、この駒１８の上端部内周
面に形成されたテーパー部に検出器である。例え
ばリミツトスイツチ２５の接触子が当接する。こ
のように形成すれば円筒部１３２における駒１８
の位置が回転方向にずれたとしても駒の位置検出
に何ら悪影響を及ぼすことはない。これにも拘わ
らず、円筒部１３２に、例えば軸方向の溝を形成
し、駒１８にこの溝に係入する突起を設けて、駒
１８が円筒部１３２の軸方向に可動ではあるが、
回転方向に対して拘束されるように構成すること
もできる。なお、２８は第２の移動部材１３内の
空気抜きであつて、第１の移動部材１２および駒
１８の移動が円滑に行なわれる。 In the case shown, the bulge 122 of the first moving member 12
is formed into a 1/2 spherical convex portion. Further, the bottomed portion 131 of the second moving member 13 is formed in a 1/2 spherical recessed portion continuous to the cylindrical portion 132. Piece 1 movable in the Z direction within the cylindrical portion of the second moving member 13
8 is formed into a cylindrical shape, and a detector is provided at a tapered portion formed on the inner circumferential surface of the upper end of this piece 18. For example, the contacts of the limit switch 25 come into contact. If formed in this way, the piece 18 in the cylindrical portion 132
Even if the position of the piece deviates in the rotational direction, there is no adverse effect on the detection of the position of the piece. Despite this, for example, an axial groove is formed in the cylindrical portion 132, and a protrusion that engages in this groove is provided on the piece 18, so that the piece 18 is movable in the axial direction of the cylindrical portion 132.
It can also be configured to be restricted in the direction of rotation. Note that 28 is an air vent inside the second moving member 13, and allows the first moving member 12 and the piece 18 to move smoothly.
第１２図は本発明の他の実施例の要部を示す図
であつて、第１の移動部材１２の膨出部１２２と
第２の移動部材１３の有底状部１３１および円筒
部１３２とは第１２２図に示されるものと同一で
ある。更に、第１の移動部材１２に第２の移動部
材１３よりも大径の突出部１２５を形成し、第２
の移動部材１３に案内されて軸方向に移動自在な
筒状の駒１８の下端と第１の移動部材の突出部１
２５とを当接させている。 FIG. 12 is a diagram showing the main parts of another embodiment of the present invention, in which the bulging part 122 of the first moving member 12, the bottomed part 131 and the cylindrical part 132 of the second moving member 13, is the same as shown in FIG. 122. Furthermore, a protrusion 125 having a larger diameter than the second moving member 13 is formed on the first moving member 12, and the second moving member 12
The lower end of the cylindrical piece 18 which is guided by the moving member 13 and is movable in the axial direction, and the protrusion 1 of the first moving member
25 are in contact with each other.
第１３図は本発明の他の実施例の要部を示す図
であつて、第１の移動部材１２の膨出部１２２に
は鍔状の外周凸状１２３が形成されている。これ
ら山高状および鍔状の外周凸状１２３の外径は、
第２の移動部材１３の円周部１３２の内径よりも
僅かに小さいように形成されている。駒１８は円
柱状に形成され、この駒１８には圧力流体により
作動されるシリンダー２９のロツド２９１が連結
されていて、駒１８が常時Z2方向に付勢されてい
る。この場合、圧力流体として、圧縮空気や圧縮
ガスなどのごとく気体を用いれば比較的小さい圧
力調整を微細に行なうことができ、しかも駒１８
を介して流体圧作動シリンダーに衝撃力が作用し
た場合には、圧力気体部でシヨツクを吸収しうる
ので好ましい。 FIG. 13 is a diagram showing a main part of another embodiment of the present invention, in which a bulge 122 of the first moving member 12 is formed with a flange-like outer peripheral convex shape 123. The outer diameter of these ridge-like and flange-like outer circumferential convex shapes 123 is:
It is formed to be slightly smaller than the inner diameter of the circumferential portion 132 of the second moving member 13 . The piece 18 is formed in a cylindrical shape, and a rod 291 of a cylinder 29 operated by pressure fluid is connected to the piece 18, so that the piece 18 is always urged in the Z2 direction. In this case, if a gas such as compressed air or compressed gas is used as the pressure fluid, relatively small pressure adjustments can be made finely, and the piece 18
When an impact force is applied to the hydraulic cylinder through the cylinder, the pressure gas section can absorb the shock, which is preferable.
上記のごとく、第４図、第１１図および第１３
図に示されるごとく、検出器を配設すれば検出器
に他の部材が当接して破損されるという虞れがな
い。第４図および第１１図などに示されるごと
く、第１の移動部材の可動部および駒が第２の移
動部材の円筒部内に収納されていれば、ゴミなど
が混入する虞れがなく、従つて第１の移動部材お
よび駒の円滑な移動が維持される。第４図、第１
１図、および第１２図に示されるごとく第１の移
動部材の膨出部を形成すれば溶接トーチおよび第
１の移動部材の傾動および摺動が円滑に行なわれ
る。第４図および第１３図に示されるごとく、第
１の移動部材に膨出部を設け、かつ第２の移動部
材の有底状部を平坦面状に形成すれば製作が容易
である。第１２図に示されるごとく第１の移動部
材に大径の突出部１２５を設ければ、第１の移動
部材の傾動時に移動される駒の変位が拡大される
ので微少な傾動状態を検出することができる。第
１２図に示されるごとく検出器を外方より操作自
在に配設すれば検出状状態の微調整をすることが
できる。さらに付勢手段としてバネ部材を用いれ
ば安価であるが第１３図に示されるごとく構成し
たり、あるいは付勢手段として電磁石を用いるこ
とができる。第４図に示されるごとく、操作要
素、例えば溶接トーチと第１の移動部材の膨出部
との夫々の軸線が略一致するように構成すれば各
部の半径方向への出張りが比較的小さいために、
溶接用などのロボツトとして好適である。なお、
第１１図に示されるごとく操作要素、例えば溶接
トーチと第１の移動部材の膨出部との夫々の軸線
が一致しないように配設することができる。この
場合、操作要素の自由端から移動部材までの嵩高
さを小さくすることができる利点がある。 As mentioned above, Figures 4, 11 and 13
As shown in the figure, if the detector is provided, there is no risk that the detector will be damaged due to contact with other members. As shown in FIGS. 4 and 11, if the movable part and the piece of the first moving member are housed in the cylindrical part of the second moving member, there is no risk of foreign matter getting mixed in, and the Thus, smooth movement of the first moving member and the piece is maintained. Figure 4, 1st
If the bulge portion of the first movable member is formed as shown in FIGS. 1 and 12, the welding torch and the first movable member can be smoothly tilted and slid. As shown in FIGS. 4 and 13, manufacturing is easy if the first moving member is provided with a bulging portion and the bottomed portion of the second moving member is formed into a flat surface. If the first movable member is provided with a large-diameter protrusion 125 as shown in FIG. 12, the displacement of the piece moved when the first movable member is tilted will be magnified, making it possible to detect minute tilting conditions. Can be done. If the detector is arranged so that it can be operated from the outside as shown in FIG. 12, the detection state can be finely adjusted. Furthermore, if a spring member is used as the biasing means, it is inexpensive, but it is also possible to construct the structure as shown in FIG. 13, or to use an electromagnet as the biasing means. As shown in FIG. 4, if the respective axes of the operating element, such as a welding torch, and the bulging portion of the first movable member are configured to substantially coincide with each other, the protrusion of each part in the radial direction is relatively small. for,
It is suitable as a robot for welding, etc. In addition,
As shown in FIG. 11, the operating elements, such as the welding torch and the bulge of the first moving member, may be arranged so that their respective axes do not coincide. In this case, there is an advantage that the height from the free end of the operating element to the moving member can be reduced.
上記説明において、検出器として差動トラン
ス、光センサー、磁気センサーなど適宜の接触形
又は非接触形のものを用いることができる。また
操作要素としては溶接トーチの他、塗装用スプレ
ーガン、組立工具、つかみ工具などを適宜に選定
することができる。なお本発明を円筒座標式、直
交座標式などの適宜のロボツトに適用することも
できる。 In the above description, an appropriate contact type or non-contact type detector such as a differential transformer, optical sensor, magnetic sensor, etc. can be used as the detector. In addition to the welding torch, a spray gun for painting, an assembly tool, a gripping tool, etc. can be appropriately selected as operating elements. Note that the present invention can also be applied to an appropriate robot such as a cylindrical coordinate system or a rectangular coordinate system.
なお、本発明は上記実施例に限定されるもので
はなく、実施例の各部を同等の部材で置換した
り、実施例の各部を適宜に組合せたりすることに
より種々の変形を行なうことができる。 It should be noted that the present invention is not limited to the above embodiments, and various modifications can be made by replacing each part of the embodiments with equivalent members or appropriately combining the parts of the embodiments.
以上、本発明によれば操作要素はロボツトの動
作時に位置がずれることがないように支持されて
いるので所望の作業を行なうことができ、かつ操
作要素は移動部材に対して傾動および摺動自在に
構成されているため、不慮の要因により操作要素
に外力が作用した場合に、操作要素が外力の作用
方向に自在に変位し、従つて各部が破損される虞
れがなく、しかもこの場合、柱状の駒は第２の移
動部材の円筒部と略同軸で、軸線方向にのみ変位
し、かつ柱状の駒は第１の移動部材の膨出部が傾
動した際に軸線方向に大きく変位するため、外力
の作用方向の如何に拘らず、単一の検出器で異常
状態を検出することができる。しかもこの単一の
検出器の配設が容易であり、かつ装置として必要
な半径方向、即ちＸ方向およびＹ方向のスペース
が小さくて済むので、装置のコンパクト化を図る
ことができ、かつまた移動部材と操作要素とは相
互に傾動および摺動自在に構成されているにも拘
わらず、付勢手段により相互に高精度に位置決め
されるためロボツトとして所望の作業を行なうこ
とができる。 As described above, according to the present invention, the operating element is supported so as not to shift during the operation of the robot, so that the desired work can be performed, and the operating element is tiltable and slidable with respect to the movable member. Therefore, when an external force is applied to the operating element due to an unexpected factor, the operating element can be freely displaced in the direction in which the external force is applied, so there is no risk of damage to the various parts, and in this case, The columnar piece is approximately coaxial with the cylindrical portion of the second moving member and is displaced only in the axial direction, and the columnar piece is largely displaced in the axial direction when the bulging portion of the first moving member is tilted. , an abnormal state can be detected with a single detector regardless of the direction in which the external force acts. Moreover, this single detector is easy to install, and the space required for the device in the radial direction, that is, in the X and Y directions, is small, so the device can be made compact and can be moved. Even though the members and the operating elements are configured to be able to tilt and slide relative to each other, they are positioned relative to each other with high precision by the biasing means, so that the robot can perform desired operations.
第１図は従来例の要部を示す縦断面図、第２図
は第１図の−線断面図、第３図は本発明の実
施例を示す斜視図、第４図は第３図の要部を示す
正面断面図、第５図は第４図の側面図、第６図は
第４図の要部概略図、第７図および第８図は第６
図の状態説明図であつて、第７図は第１の移動部
材に水平外力が作用したときの図、第８図は第１
の移動部材に垂直上方への外力が作用したときの
図、第９図および第１０図は第４図の状態説明図
で、夫々第７図および第８図に相当する図、第１
１図乃至第１３図は夫々本発明の他の実施例の要
部を示す正面断面図である。
１１……移動部材、１２……第１の移動部材、
１２２……膨出部、１２３……凸状部、１３……
第２の移動部材、１３１……有底状部、１３２…
…円筒部、１８……駒、２４……操作要素、２５
……検出器。
FIG. 1 is a vertical cross-sectional view showing the main parts of the conventional example, FIG. 5 is a side view of FIG. 4, FIG. 6 is a schematic diagram of the main part of FIG. 4, and FIGS. 7 and 8 are sectional views of FIG.
FIG. 7 is a diagram showing the state when a horizontal external force is applied to the first moving member, and FIG. 8 is a diagram explaining the state of the first moving member.
Figures 9 and 10 are diagrams showing the state of Figure 4 when an external force is applied vertically upward to the moving member, and correspond to Figures 7 and 8, respectively.
1 to 13 are front sectional views showing essential parts of other embodiments of the present invention. 11... Moving member, 12... First moving member,
122...Bulging part, 123...Convex part, 13...
Second moving member, 131... Bottomed portion, 132...
... Cylindrical part, 18 ... Piece, 24 ... Operation element, 25
……Detector.
Claims (1)
移動部材を支持する第２の移動部材とよりなる移
動部材の位置を適宜に制御する産業用ロボツトに
おいて、第２の移動部材を有底状の円筒に形成す
ると共に該有底状部に該円筒の軸線方向に貫通す
る孔を穿設し、第１の移動部材の自由端部を少な
くとも第２の移動部材の貫通孔を介して有底状部
および円筒部に臨ませて第１の移動部材が第２の
移動部材の軸線方向および軸線と傾動する方向に
可動となるよう第１の移動部材の自由端部に膨出
部を形成し、第１の移動部材の自由端部に当接し
て第２の移動部材の円筒と略同軸でかつ軸線方向
に可動な柱状の駒を配設し、前記駒と第１の移動
部材の膨出部とを第２の移動動部材の有底状部の
方向に付勢させる付勢手段を配設し、かつ第１の
移動部材が前記付勢手段の付勢力に抗して第２の
移動部材に対して所定量以上変位したときに前記
駒の軸線方向の位置を検出して異常信号を出力す
る単一の検出器を配設してなる産業用ロボツト。 ２ 前記第２の移動部材の有底状部は、平面状に
形成され、かつ前記第１の移動部材の膨出部は有
底状部に当接する平面部と第２の移動部材の円筒
に内接する頭部とよりなる特許請求の範囲第１項
に記載の産業用ロボツト。 ３ 前記頭部は、第２の移動部材の円筒に内接す
る球状に形成されてなる特許請求の範囲第２項に
記載の産業用ロボツト。 ４ 前記第２の移動部材の有底状部は、前記円筒
に連なる1/2球状凹部に形成され、かつ前記第１
の移動部材の膨出部は有底状部に当接する1/2球
状凸部に形成されてなる特許請求の範囲第１項に
記載の産業用ロボツト。 ５ 前記駒は、円筒状に形成されてなる特許請求
の範囲第１項乃至第４項のいずれかに記載の産業
用ロボツト。[Scope of Claims] 1. An industrial robot that appropriately controls the position of a movable member consisting of a first movable member that supports an operating element and a second movable member that supports the first movable member. The movable member is formed into a cylinder with a bottom, and a hole is bored through the bottomed portion in the axial direction of the cylinder, and the free end of the first movable member is connected to at least the second movable member. A free end of the first movable member faces the bottomed portion and the cylindrical portion through the through hole and is movable in the axial direction of the second movable member and in a direction tilted relative to the axis. A bulge is formed in the first movable member, and a columnar piece is disposed in contact with the free end of the first movable member and is substantially coaxial with the cylinder of the second movable member and movable in the axial direction. A biasing means for biasing the bulging portion of the first movable member in the direction of the bottomed portion of the second movable member is disposed, and the first movable member is responsive to the biasing force of the biasing means. An industrial robot comprising a single detector that detects the position of the piece in the axial direction and outputs an abnormal signal when the piece is displaced by a predetermined amount or more with respect to a second moving member. 2. The bottomed portion of the second moving member is formed into a planar shape, and the bulging portion of the first moving member is connected to the planar portion that abuts the bottomed portion and the cylinder of the second moving member. An industrial robot according to claim 1, comprising an inscribed head. 3. The industrial robot according to claim 2, wherein the head is formed in a spherical shape inscribed in the cylinder of the second moving member. 4. The bottomed portion of the second moving member is formed in a 1/2 spherical recess connected to the cylinder, and
2. The industrial robot according to claim 1, wherein the bulging portion of the moving member is formed as a 1/2 spherical convex portion that comes into contact with the bottomed portion. 5. The industrial robot according to any one of claims 1 to 4, wherein the piece is formed in a cylindrical shape.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5410982A JPS58171279A (en) | 1982-03-31 | 1982-03-31 | Industrial robot |
| GB08309062A GB2118524B (en) | 1982-03-31 | 1983-03-31 | Industrial robot |
| FR8305374A FR2524364B1 (en) | 1982-03-31 | 1983-03-31 | INDUSTRIAL ROBOT FOR MANUFACTURING CHAIN |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5410982A JPS58171279A (en) | 1982-03-31 | 1982-03-31 | Industrial robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP29164789A Division JPH0377781A (en) | 1989-11-09 | 1989-11-09 | Robot for welding |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS58171279A JPS58171279A (en) | 1983-10-07 |
| JPH032638B2 true JPH032638B2 (en) | 1991-01-16 |
Family
ID=12961429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5410982A Granted JPS58171279A (en) | 1982-03-31 | 1982-03-31 | Industrial robot |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JPS58171279A (en) |
| FR (1) | FR2524364B1 (en) |
| GB (1) | GB2118524B (en) |
Families Citing this family (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR890002025B1 (en) * | 1982-02-26 | 1989-06-08 | 미쯔비시 덴끼 가부시기바이샤 | Welding torch |
| JPS6038686U (en) * | 1983-08-22 | 1985-03-18 | 株式会社 三山 | Safety device for focus head in laser cutting machine |
| JPS60135193A (en) * | 1983-12-22 | 1985-07-18 | 三菱電機株式会社 | Hand device for industrial robot |
| JPS60108493U (en) * | 1983-12-26 | 1985-07-23 | 渋谷工業株式会社 | Laser nozzle protection device |
| DE3418720A1 (en) * | 1984-05-19 | 1985-11-21 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | SAFETY DEVICE FOR HANDLING DEVICES FOR SWITCHING OFF THE MOTOR DRIVE IN A COLLISION |
| CA1235440A (en) * | 1984-09-07 | 1988-04-19 | Rumble Equipment Limited | Safety mounting device |
| US4514616A (en) * | 1984-09-11 | 1985-04-30 | Rumble Equipment Limited | Safety mounting device |
| US4700932A (en) * | 1985-02-21 | 1987-10-20 | Tokai Sogo Sekkei Kabushiki Kaisha | Anti-impact safety apparatus for robot |
| US4639184A (en) * | 1985-03-06 | 1987-01-27 | Process Equipment Company | Safety coupling device for robotic tooling |
| DE3520562A1 (en) * | 1985-06-07 | 1986-12-11 | Wilhelm 2000 Hamburg Dinse | DEVICE FOR SAFETY SHUTDOWN FOR MACHINE TOOLS, IN PARTICULAR AUTOMATIC WELDING GUNS |
| DE3545505C2 (en) * | 1985-12-20 | 1995-08-10 | Kuka Schweissanlagen & Roboter | Method and device for locating and tracking a fillet weld in gas-shielded arc welding |
| DE3620391A1 (en) * | 1986-06-18 | 1987-12-23 | Wzl Lab Fuer Werkzeugmaschinen | Device for detachably connecting a tool, gripper, measuring instrument or other working system to the arm of a robot or the like |
| EP0307550A1 (en) * | 1987-09-11 | 1989-03-22 | Schmid & Wezel | Compliant interchangeable tool support for a robot |
| US5102280A (en) | 1989-03-07 | 1992-04-07 | Ade Corporation | Robot prealigner |
| DE8914370U1 (en) * | 1989-12-06 | 1991-04-18 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Welding tool for spot welding with multi-axis manipulators |
| US5018705A (en) * | 1990-05-29 | 1991-05-28 | Caterpillar Inc. | Break away torch holder for cutting machines |
| DE4109830C2 (en) * | 1991-03-26 | 1993-11-11 | Adolf Schnell | Overload limiter for a robot arm |
| US5361881A (en) * | 1993-12-10 | 1994-11-08 | W. Tregaskiss, Ltd. | Breakaway clutch |
| AT411882B (en) | 2002-10-08 | 2004-07-26 | Fronius Int Gmbh | SHUT-OFF BOX FOR A ROBOT SYSTEM |
| AT508792B1 (en) | 2009-09-10 | 2011-08-15 | Fronius Int Gmbh | COLLISION PROTECTION DEVICE |
| US10131012B2 (en) * | 2015-03-26 | 2018-11-20 | Arben Cenko | Collision sensing system for rotary welding torch |
| WO2018176084A1 (en) * | 2017-03-27 | 2018-10-04 | Keyhole Tig Limited | Wire guide for a welding consumable |
| CN113369576A (en) * | 2021-06-03 | 2021-09-10 | 龚兴 | Cutting machine with automatic cutting pressure adjusting function for shipbuilding |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5321539A (en) * | 1976-08-11 | 1978-02-28 | Toshiba Corp | Mark sensor |
| JPS5346677B2 (en) * | 1975-08-04 | 1978-12-15 | ||
| JPS5723992A (en) * | 1980-07-18 | 1982-02-08 | Hitachi Electronics | Video generator |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3171012A (en) * | 1962-03-26 | 1965-02-23 | Laurel A Morehead | Automatic groove follower for welding apparatus |
| GB1224180A (en) * | 1968-09-19 | 1971-03-03 | Welders Ltd A I | Improvements in or relating to means for controlling the travel of a tool or the like along a predetermined path |
| JPS5346677U (en) * | 1976-09-27 | 1978-04-20 | ||
| DE2749603C3 (en) * | 1977-11-05 | 1986-07-31 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Handling device with an arrangement for switching off its drive |
| FR2462743A1 (en) * | 1979-08-02 | 1981-02-13 | Ass Ouvriers Instr Precision | MANUAL CONTROL DEVICE, IN PARTICULAR HANDLE FOR CONTROLLING MOVEMENTS OF A MOTORIZED ORGAN |
| DE3004014A1 (en) * | 1980-02-04 | 1981-08-06 | Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg | OVERLOAD SAFETY DEVICE FOR A HANDLING DEVICE |
| DE3003990C2 (en) * | 1980-02-04 | 1982-08-12 | Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg | Safety device between a holding arm and a tool carrier of a handling device |
-
1982
- 1982-03-31 JP JP5410982A patent/JPS58171279A/en active Granted
-
1983
- 1983-03-31 FR FR8305374A patent/FR2524364B1/en not_active Expired
- 1983-03-31 GB GB08309062A patent/GB2118524B/en not_active Expired
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5346677B2 (en) * | 1975-08-04 | 1978-12-15 | ||
| JPS5321539A (en) * | 1976-08-11 | 1978-02-28 | Toshiba Corp | Mark sensor |
| JPS5723992A (en) * | 1980-07-18 | 1982-02-08 | Hitachi Electronics | Video generator |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2118524B (en) | 1985-12-11 |
| FR2524364A1 (en) | 1983-10-07 |
| GB2118524A (en) | 1983-11-02 |
| JPS58171279A (en) | 1983-10-07 |
| FR2524364B1 (en) | 1987-12-24 |
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