JPH0547343B2 - - Google Patents
Info
- Publication number
- JPH0547343B2 JPH0547343B2 JP59107310A JP10731084A JPH0547343B2 JP H0547343 B2 JPH0547343 B2 JP H0547343B2 JP 59107310 A JP59107310 A JP 59107310A JP 10731084 A JP10731084 A JP 10731084A JP H0547343 B2 JPH0547343 B2 JP H0547343B2
- Authority
- JP
- Japan
- Prior art keywords
- elastic member
- support member
- tool
- robot
- tool holder
- 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
- 230000036316 preload Effects 0.000 claims description 8
- 238000005553 drilling Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/069—Work-clamping means for pressing workpieces against a work-table
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
- B23Q1/34—Relative movement obtained by use of deformable elements, e.g. piezoelectric, magnetostrictive, elastic or thermally-dilatable elements
- B23Q1/36—Springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0095—Gripping heads and other end effectors with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Jigs For Machine Tools (AREA)
- Drilling And Boring (AREA)
Description
【発明の詳細な説明】
〈産業上の利用分野〉
この発明は、ロボツトに精密作業や重作業をさ
せることができるロボツト用プリロード型工具ホ
ルダーに関する。DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a preloaded tool holder for a robot that allows the robot to perform precision work or heavy work.
〈従来の技術〉
最近、本発明者は、精密作業や重作業の可能な
ロボツトを提案した（特願昭58−134214号）。こ
のロボツトは、第５図に示すように、工具１を有
する先端をアクチユエータ（図示せず。）で移動
させて位置決め可能なメインアーム２の先端近傍
に、上記メインアーム２の先端の移動を許容する
サブアーム３の一端を取付ける一方、上記サブア
ーム３の他端を位置決め用基準部４に取付けてい
る。そして、上記メインアーム２の先端の移動を
許容するサブアーム３は、工具１の加工反力およ
び動的負荷によつてメインアーム２の位置が変位
しないように保持する。<Prior Art> Recently, the present inventor proposed a robot capable of precision work and heavy work (Japanese Patent Application No. 134214/1982). As shown in FIG. 5, this robot allows the tip of the main arm 2 to move near the tip of the main arm 2, which can be positioned by moving the tip with the tool 1 using an actuator (not shown). One end of the sub-arm 3 is attached to the positioning reference part 4, while the other end of the sub-arm 3 is attached to the positioning reference part 4. The sub-arm 3, which allows the distal end of the main arm 2 to move, holds the main arm 2 so that the position of the main arm 2 is not displaced by the processing reaction force of the tool 1 and dynamic load.
〈発明が解決しようとする問題点〉
しかしながら、上記ロボツトではメインアーム
２の外にサブアーム３が必要であるため、構造が
複雑で、コスト高になり、また、サブアーム３
は、多関節のヒンジ構造で、しかも加工反力、動
的負荷（振動等）を受けるので、多関節部などの
耐久性が低下し、常に精度の高い作業や重作業が
未だ困難である。<Problems to be solved by the invention> However, since the above-mentioned robot requires the sub-arm 3 in addition to the main arm 2, the structure is complicated and the cost is high.
has a multi-joint hinge structure and is subject to processing reaction forces and dynamic loads (vibrations, etc.), which reduces the durability of the multi-joint parts, making it still difficult to perform highly precise work or heavy work.
そこで、この発明は上記の問題点を解決するた
めになされたもので、目的は、構造が簡単で安価
であると共に、加工反力と動的負荷のロボツト側
への負担を軽減する点にある。 Therefore, this invention was made to solve the above problems, and its purpose is to have a simple and inexpensive structure, and to reduce the burden on the robot side of processing reaction force and dynamic load. .
〈問題点を解決するための手段〉
上記問題点を解決するため、この発明のロボツ
ト用プリロード型工具ホルダーは、一端がワーク
に接触させられるとともに、このワークに接離し
うるように工具が固定される支持部材と、この支
持部材の他端に一端を固定し、上記工具に作用す
る加工反力の方向に沿つて設けられた弾性部材
と、この弾性部材の他端に固定され、上記支持部
材を上記弾性部材を介して上記ワークに向けて押
圧するロボツトのアームとからなるロボツト用プ
リロード型工具ホルダーとからなることを特徴と
する。<Means for Solving the Problems> In order to solve the above problems, the preloaded tool holder for robots of the present invention has one end brought into contact with a workpiece, and a tool fixed to the workpiece so as to be able to come into contact with and separate from the workpiece. an elastic member having one end fixed to the other end of the support member and provided along the direction of the processing reaction force acting on the tool; and an elastic member fixed to the other end of the elastic member and having one end fixed to the other end of the support member. and a robot arm that presses the tool toward the work via the elastic member.
〈作用〉
そして、上記工具の非作動状態において、ロボ
ツトのアームによつて、弾性部材を介して支持部
材をワークに押し付けて、弾性部材および支持部
材にプリロードをかけ、工具を作動させると、工
具に作用する加工反力および動的負荷が支持部材
と弾性部材とにバネ定数に応じて分配されて、ロ
ボツトのアームに伝えられ、ロボツトのアームの
分担する加工反力や動的負荷が軽減される。<Operation> Then, when the tool is in the non-operating state, the arm of the robot presses the support member against the workpiece via the elastic member, applies a preload to the elastic member and the support member, and operates the tool. The processing reaction force and dynamic load acting on the robot are distributed between the support member and the elastic member according to the spring constant and transmitted to the robot arm, reducing the processing reaction force and dynamic load shared by the robot arm. Ru.
〈実施例〉
以下、この発明の図示の実施例により詳細に説
明する。<Example> Hereinafter, the present invention will be described in detail with reference to illustrated examples.
第１図において、１１はワーク、１２はワーク
１１上に載置したプリロード型工具ホルダー、１
３は工具ホルダー１２に固定した工具の一例とし
ての自動送り機構付のドリリングツール、１４は
工具ホルダー１２をワーク１１に向けて押し付け
て保持するロボツトのアームである。 In FIG. 1, 11 is a workpiece, 12 is a preload type tool holder placed on the workpiece 11, and 1
3 is a drilling tool with an automatic feed mechanism as an example of a tool fixed to the tool holder 12, and 14 is a robot arm that presses and holds the tool holder 12 against the workpiece 11.
上記工具ホルダー１２は、主として鋼からなる
支持部材１５と、円柱状ゴムからなる弾性部材１
６とで構成される。上記支持部材１５は、円板状
のプレート１７の下面に120度の位相で３本の脚
部１８（２本のみを示す。）を固定してなり、こ
の脚部１８の先端をワーク１１に接触させてい
る。上記脚部１８の先端には、ゴムパツド１９を
設けて、ワーク１１を損傷しないようにしてい
る。また、上記プレート１７の中央部には、ドリ
リングツール１３を垂直に貫通させて固定してい
る。 The tool holder 12 includes a support member 15 mainly made of steel, and an elastic member 1 made of cylindrical rubber.
It consists of 6. The support member 15 has three legs 18 (only two are shown) fixed to the lower surface of a disc-shaped plate 17 at a phase of 120 degrees, and the tips of the legs 18 are attached to the workpiece 11. I am in contact with it. A rubber pad 19 is provided at the tip of the leg portion 18 to prevent damage to the workpiece 11. Further, a drilling tool 13 is fixed to the central portion of the plate 17 by vertically passing through it.
一方、上記工具ホルダー１２のプレート１７の
上面には、ドリリングツール１３のドリル２１と
平行にかつドリリングツール１３の周りに120度
の位相で３個の弾性部材１６（２個のみを示す。）
を載置している。上記弾性部材１６の位相と脚部
１８の位相とは若干ずれている。 On the other hand, on the upper surface of the plate 17 of the tool holder 12, three elastic members 16 (only two are shown) are arranged parallel to the drill 21 of the drilling tool 13 and at a phase of 120 degrees around the drilling tool 13.
is listed. The phase of the elastic member 16 and the phase of the leg portion 18 are slightly shifted.
上記弾性部材１６の上端面には、ロボツトのア
ーム１４の先端のＬ字形金具２２を載置してい
る。上記Ｌ字形金具２２の水平部２２ａには、貫
通孔２４を設けて、この貫通孔２４にドリリング
ツール１３を貫通させ、貫通孔２４の内周面とド
リリングツール１３との間に間隙が生じるように
している。 An L-shaped metal fitting 22 at the tip of the arm 14 of the robot is placed on the upper end surface of the elastic member 16. A through hole 24 is provided in the horizontal portion 22a of the L-shaped fitting 22, and the drilling tool 13 is passed through the through hole 24 so that a gap is created between the inner peripheral surface of the through hole 24 and the drilling tool 13. I have to.
上部Ｌ字形金具２２の水平部２２ａの下部に
は、プレート１７および弾性部材１６を貫通する
ボルト２５をねじ込み、このボルト２５にナツト
２６を螺合して、プレート１７および弾性部材１
６をＬ字形金具２２に取付けて、工具ホルダー１
２をロボツトのアーム１４と共に移動できるよう
にしている。 A bolt 25 that passes through the plate 17 and the elastic member 16 is screwed into the lower part of the horizontal portion 22a of the upper L-shaped fitting 22, and a nut 26 is screwed onto the bolt 25.
6 to the L-shaped fitting 22, and attach the tool holder 1.
2 can be moved together with the arm 14 of the robot.
次に、上記構成のプリロード型工具ホルダーの
作用を第２，３，４図を参照しながら説明する。 Next, the operation of the preload type tool holder having the above structure will be explained with reference to FIGS. 2, 3, and 4.
第２図は工具ホルダー１２がワーク１１に接触
していない状態を示す模式図、第３図は工具ホル
ダー１２にプリロードＱをかけた状態を示す模式
図、第４図はドリリングツール１３が加工してい
る状態を示す模式図である。 Fig. 2 is a schematic diagram showing a state in which the tool holder 12 is not in contact with the workpiece 11, Fig. 3 is a schematic diagram showing a state in which a preload Q is applied to the tool holder 12, and Fig. 4 is a schematic diagram showing a state in which a preload Q is applied to the tool holder 12. FIG.
いま、たとえば弾性部材１６，１６，１６全体
のバネ定数K1＝ａ，支持部材１５のバネ定数K2
＝7aとする。 Now, for example, the spring constant K 1 =a of the elastic members 16, 16, 16 as a whole, and the spring constant K 2 of the support member 15.
=7a.
まず、第２図に示すように、工具ホルダー１２
を加工すべくワーク１１の上に移動する。 First, as shown in FIG.
move onto the workpiece 11 to process it.
次に、第１図，第３図に示すように、工具ホル
ダー１２の支持部材１５の脚部１８の先端をワー
ク１１に接触させ、ロボツトのアーム１４の先端
のＬ字形金具２２で工具ホルダー１２をワークに
向けて加圧して、工具ホルダー１２をワーク１１
上に固定すると共に、工具ホルダー１２にプリロ
ードＱをかける。このプリロードＱは、たとえば
Ｑ＝100Kgとする。 Next, as shown in FIGS. 1 and 3, the tip of the leg 18 of the support member 15 of the tool holder 12 is brought into contact with the workpiece 11, and the L-shaped fitting 22 at the tip of the arm 14 of the robot is attached to the tool holder 12. is applied toward the workpiece, and the tool holder 12 is moved toward the workpiece 11.
At the same time, a preload Q is applied to the tool holder 12. This preload Q is assumed to be, for example, Q=100Kg.
次に、ドリリングツール１３を駆動して、第４
図に示すように、ドリル２１でワーク１１の穴あ
け加工を行なうとする。そうすると、ドリル２１
に加工反力Ｐが作用し、ドリリングツール１３お
よび工具ホルダー１２のプレート１７（第１図参
照）を上方に向けて押し上げようとする。たとえ
ばこの加工反力Ｐ＝80Kgとする。この加工反力Ｐ
が工具ホルダー１２のプレート１７に作用する
と、工具ホルダー１２の支持部材１５が第４図に
示すように、第３図に示す状態から、加工反力Ｐ
の方向Ｘmmだけ伸び、弾性部材１６はＸmmだけ圧
縮される。支持部材１５は、この伸び量Ｘによ
り、圧縮力が加工反力Ｐの一部P2
P2＝K2X …(1)
だけ減少する。 Next, drive the drilling tool 13 to
As shown in the figure, it is assumed that a drill 21 is used to drill a hole in a workpiece 11. Then, drill 21
A processing reaction force P acts on the drilling tool 13 and the plate 17 (see FIG. 1) of the tool holder 12 to push it upward. For example, assume that this machining reaction force P=80 kg. This processing reaction force P
acts on the plate 17 of the tool holder 12, the support member 15 of the tool holder 12 changes from the state shown in FIG. 3, as shown in FIG.
, and the elastic member 16 is compressed by X mm. Due to this elongation X, the compressive force of the support member 15 is reduced by a portion of the processing reaction force P P 2 P 2 =K 2 X (1).
また、弾性部材１６は上記圧縮量Ｘにより、圧
縮力が加工反力Ｐの残りの一部P1
P1＝K1X …(2)
だけ増大する。 Further, the compression force of the elastic member 16 increases by the remaining part of the processing reaction force P, P 1 P 1 =K 1 X (2), due to the compression amount X described above.
すなわち Ｐ＝P1＋P2 ＝K1X＋K2X ＝（K1＋K2）Ｘ …(3) となる。 That is, P= P1 + P2 = K1X + K2X =( K1 + K2 )X...(3).
(3)式より、
Ｘ＝Ｐ／K1＋K2 …(4)
したがつて、
P1＝K1X
＝K1／K1＋K2・Ｐ …(5)
＝ａ／ａ＋7a・80
＝10（Kg）
P2＝K2X
＝K2／K1＋K2・Ｐ …(6)
＝7a／ａ＋7a・80
＝70 （Kg）
すなわち、加工反力Ｐが支持部材１５と弾性部
材１６とに、そのバネ定数K2，K1に応じて比例
配分されることになり、加工反力Ｐ＝80Kg（動的
負荷）のうちロボツトのアーム１４の分担する荷
重P1は10Kgとなる。したがつて、ロボツトのア
ーム１４にかかる動的負荷は少なくなり、ロボツ
トに重作業や精密作業をさせることができる。こ
のときロボツトのアーム１４にかかる全荷重は、
第４図に示すように（Ｑ＋P1）となり、また支
持部材１５がワーク１１に押し付けられる力は
（Ｑ−P2）となる。ロボツトのアーム１４にかか
る全荷重（Ｑ＋P1）のうちＱは静荷重であるた
め支障は殆んどない。なお、もし、Ｑ＜P2とな
ると、支持部材１５がワーク１１から離れるた
め、P2＜Ｑとしなければならない。 From formula ( 3 ), X = P/K 1 +K 2 …( 4 ) Therefore , P 1 =K 1 ( Kg ) P 2 = K 2 , and are proportionally distributed according to their spring constants K 2 and K 1 , and of the processing reaction force P=80 Kg (dynamic load), the load P 1 shared by the arm 14 of the robot is 10 Kg. Therefore, the dynamic load applied to the arm 14 of the robot is reduced, allowing the robot to perform heavy work or precision work. At this time, the total load applied to the robot arm 14 is
As shown in FIG. 4, the force is (Q+P 1 ), and the force with which the support member 15 is pressed against the workpiece 11 is (Q-P 2 ). Of the total load (Q+P 1 ) applied to the arm 14 of the robot, Q is a static load, so there is almost no problem. Note that if Q<P 2 , the support member 15 separates from the workpiece 11, so P 2 <Q must be satisfied.
上記実施例では、弾性部材１６をゴムにより形
成し、支持部材１５を主として鋼により形成し、
支持部材１５のバネ定数K2が弾性部材１５のバ
ネ定数K1よりも極めて大きいので、ロボツトの
アーム１４の加工反力Ｐに対する分担率が小さく
なり、好都合である。また、弾性部材１６をゴム
により形成したので、そのダンピング作用で振動
を減衰することもできる。 In the above embodiment, the elastic member 16 is made of rubber, the support member 15 is mainly made of steel,
Since the spring constant K 2 of the support member 15 is much larger than the spring constant K 1 of the elastic member 15, the share ratio of the processing reaction force P of the arm 14 of the robot becomes small, which is advantageous. Further, since the elastic member 16 is made of rubber, vibrations can be attenuated by its damping action.
上記実施例では、弾性部材としてゴムを用いた
が、スプリングを用いてもよい。また、支持部材
は脚部を４ケにしてもよく、また円筒状にしても
よく、種々の形態のものが可能である。工具はド
リルに限らず、グラインダーやミーリングマシン
であつてもよい。また、工具ホルダーは、ロボツ
トのアームと別体構造であつてもよい。 In the above embodiment, rubber is used as the elastic member, but a spring may also be used. Further, the support member may have four legs or may have a cylindrical shape, and various forms are possible. The tool is not limited to a drill, but may also be a grinder or a milling machine. Further, the tool holder may be constructed separately from the arm of the robot.
〈発明の効果〉
以上の説明で明らかなように、この発明によれ
ば、ロボツト用プリロード型工具ホルダーをロボ
ツトのアーム側の弾性部材と、ワーク側で工具が
固定される支持部材とにより構成しているので、
簡単安価な構造で加工反力や動的負荷が弾性部材
と支持部材との両バネ定数に応じて分配され、ロ
ボツトのアームが分担する加工反力や動的負荷が
軽減され、分担率が小さくなり、ロボツトに精密
作業や重作業の加工を行なわせることができる。<Effects of the Invention> As is clear from the above description, according to the present invention, a preloaded tool holder for a robot is constructed of an elastic member on the arm side of the robot and a support member to which the tool is fixed on the workpiece side. Because
With a simple and inexpensive structure, the processing reaction force and dynamic load are distributed according to the spring constants of both the elastic member and the support member, reducing the processing reaction force and dynamic load shared by the robot arm, and the sharing ratio is small. This allows robots to perform precision work and heavy-duty processing.
第１図はこの発明の１実施例の正面図、第２，
３，４図は上記実施例の動作を説明する模式図、
第５図は従来例の模式図である。
１１…ワーク、１２…工具ホルダー、１３…ド
リリングツール、１４…アーム、１５…支持部
材、１６…弾性部材。
Fig. 1 is a front view of one embodiment of the present invention;
3 and 4 are schematic diagrams explaining the operation of the above embodiment,
FIG. 5 is a schematic diagram of a conventional example. DESCRIPTION OF SYMBOLS 11... Workpiece, 12... Tool holder, 13... Drilling tool, 14... Arm, 15... Support member, 16... Elastic member.
Claims (1)
のワークに接離しうるように工具が固定される支
持部材と、 この支持部材の他端に一端を固定し、上記工具
に作用する加工反力の方向に沿つて設けられた弾
性部材と、 この弾性部材の他端に固定され、上記支持部材
を上記弾性部材を介して上記ワークに向けて押圧
するロボツトのアームとからなるロボツト用プリ
ロード型工具ホルダー。 ２ 上記支持部材のバネ定数は上記弾性部材のバ
ネ定数よりも大きいことを特徴とする上記特許請
求の範囲第１項に記載のロボツト用プリロード型
工具ホルダー。 ３ 上記工具は上記弾性部材近傍の上記支持部材
の部分に固定されていることを特徴とする上記特
許請求の範囲第２項に記載のロボツト用プリロー
ド型工具ホルダー。 ４ 上記弾性部材はゴムであることを特徴とする
上記特許請求の範囲第３項に記載のロボツト用プ
リロード型工具ホルダー。[Claims] 1. A support member having one end brought into contact with a workpiece and to which a tool is fixed so as to be able to approach and separate from the workpiece; one end fixed to the other end of the support member and acting on the tool. A robot arm comprising an elastic member provided along the direction of processing reaction force, and a robot arm fixed to the other end of the elastic member to press the support member toward the workpiece via the elastic member. Preload type tool holder. 2. The preloaded tool holder for a robot according to claim 1, wherein a spring constant of the support member is larger than a spring constant of the elastic member. 3. The preloaded tool holder for a robot according to claim 2, wherein the tool is fixed to a portion of the support member near the elastic member. 4. The preloaded tool holder for a robot according to claim 3, wherein the elastic member is made of rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59107310A JPS60249548A (en) | 1984-05-26 | 1984-05-26 | Preload tool holder for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59107310A JPS60249548A (en) | 1984-05-26 | 1984-05-26 | Preload tool holder for robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60249548A JPS60249548A (en) | 1985-12-10 |
| JPH0547343B2 true JPH0547343B2 (en) | 1993-07-16 |
Family
ID=14455838
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59107310A Granted JPS60249548A (en) | 1984-05-26 | 1984-05-26 | Preload tool holder for robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60249548A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62218054A (en) * | 1986-03-20 | 1987-09-25 | Hitachi Constr Mach Co Ltd | Work device equipped with load sensor |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS578046A (en) * | 1980-06-11 | 1982-01-16 | Hitachi Ltd | Thread fastening device |
-
1984
- 1984-05-26 JP JP59107310A patent/JPS60249548A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS578046A (en) * | 1980-06-11 | 1982-01-16 | Hitachi Ltd | Thread fastening device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60249548A (en) | 1985-12-10 |
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