JPS60221280A - Hand device for industrial robot - Google Patents
Hand device for industrial robotInfo
- Publication number
- JPS60221280A JPS60221280A JP7748484A JP7748484A JPS60221280A JP S60221280 A JPS60221280 A JP S60221280A JP 7748484 A JP7748484 A JP 7748484A JP 7748484 A JP7748484 A JP 7748484A JP S60221280 A JPS60221280 A JP S60221280A
- Authority
- JP
- Japan
- Prior art keywords
- hand
- hand device
- holder
- industrial robot
- attached
- 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
Links
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の技術分野〕
この発明は、生産ラインにおける産業用ロボットにおい
て、それぞれ異々つだ作業、たとえば「ワークの把手と
移動作業」、「ワークに対する孔あけ作業」、「ねじ締
め作業」、「塗装作業」あるいは「溶接作業」などのよ
うに、それぞれ異った作業を行ガうハンド装置に交換し
たときに、そのハンド装置が所定のものであるかどうが
を、交換した各ハンド装置目体にそれぞれ位置を変えて
設けた複数の操作子によυ、ハンドホルダに装着した複
数のリミットスイッチを０Ｎ−ＯＦＦ操作させることに
よって、そのハンド装置の認識番号を表示し所定のハン
ド装置であるかどうかを確認し得るようにした産業用ロ
ボットのハンド装置に関するものである。[Detailed Description of the Invention] [Technical Field of the Invention] This invention relates to an industrial robot in a production line that performs different tasks such as "handling and moving a workpiece", "drilling a hole in a workpiece", When replacing a hand device with a hand device that performs different tasks, such as “screw tightening work,” “painting work,” or “welding work,” it is important to check whether the hand device is the specified one. The identification number of the replaced hand device is displayed by operating the multiple limit switches attached to the hand holder to ON/OFF using multiple operators installed in different positions on the eyes of each replaced hand device. The present invention relates to a hand device for an industrial robot that can confirm whether or not it is a predetermined hand device.
従来、この椋産業用ロボットにおいては、実施する作業
に応じて、その作業に適応したハンド装置と交換するよ
うにしているが、交換したそのハンド装量が所定のもの
であるかどうかは、装着するハンド装置を作業員が眼で
見て確認しなければならないので、きわめて煩わしく、
そのハンド装置に適応したプログラムの選定を誤ること
もある。Conventionally, in this industrial robot, the hand device is replaced with a hand device that is suitable for the work depending on the work to be performed, but whether the replaced hand device is the specified one or not depends on the attached hand device. This is extremely troublesome as the worker has to visually check the hand device that is being used.
It is possible to make a mistake in selecting a program suitable for the hand device.
この発明は、かかる点に着目してなされたもので、ロボ
ットアームの先端に複数の・・ンド装置を着脱自在に装
着するための−・ンドホルダに複数のりピットスイッチ
を配設するとともに、上記ノ・ンドホルダに装着する一
ンド装置に設けた複数の操作子によって所定のりごット
スイッチ’１ＯＮ−ＯＦＦ操作させることにより、ノ１
ンドホルダに装着した・・ンド装置の認識番号全表示し
て所定の・・ンド装置であるかどうかを確認し得るよう
にした産業用ロボットのノ・ンド装置を提供しようとす
るものである。This invention has been made with attention to this point, and includes a plurality of glue pit switches arranged in a hand holder for removably mounting a plurality of hand devices on the tip of a robot arm, and a plurality of glue pit switches.・By operating a predetermined elevator switch '1 ON-OFF using a plurality of operators provided on a hand device attached to a hand holder, No.1 can be turned on and off.
This invention attempts to provide a controller for an industrial robot that can display the entire identification number of the controller attached to a controller holder to confirm whether or not it is a predetermined controller.
第１図〜第４図は何れもこの発明の一実施例を示すもの
で、第１図はロボットアームの先端部を示す正面図、第
２図は第１図の（Ｉｌｌ −ｆＩｌｌ線における断面図
、第６図は第１図の（Ｉｌ−：（ＩＩ：ｌ線における断
面図、第４図は・・ンドホルダに設けたりばットスイッ
チと各種・・ンド装置に設けた操作子との関連を示す説
明図である。（１）は産業用ロボット（図示せず）のア
ーム（２）の自由端部に操作軸（３）ヲ介して取付けら
れた・・ンドホルダで、この・ヘンドホルダ（１）の保
持部（１ａ）には各種／・ンド装置（５）全着脱自在に
装着し得るようにガされており、たとえば第４図（Ａｌ
に示すようにワーク（図示せず＞′ｆｔ両側から把持す
る一対の把持爪（ＪａＲ４ｂ）ｋ有する把持用ハンド装
置（５Ａ）、穴明は用−・ンド装置（５Ｂ）、ボルト締
め用・・ンド装置（５ＣＭたけ研削砥石用・・ンド装置
（５Ｄ痔が着脱自在に装着されるように構成されている
。また、上記ハンドホルダ（１）の空胴（１人）内には
複数のリピットスイッチ（６ａ）〜（６ｎ）が配設され
て卦り、さらに、この各りばットスイッチには、上記・
・ンドホルダ（１）の保持部（１ａ）に挿入保持された
各７、ンド装置（５）の軸部（７）には、第４図に示す
ように上記所定のリハットスイッチ（６ａ）〜（６ｎ）
ｋＯＮ〜ＯＦＦ操作させる複数の操作子（８ａ）〜（
８ｎ）が突設され、第４図（Ａｔに示すように、把持用
ハンド装置（５Ａ）の軸部（７Ａ）にはリハットスイッ
チ（６ａ）〜（６ｎ）ｅ ＯＮ操作する操作子（８ａ）
〜（８ｈ）が突設され、また第４図（Ｄ＋に示すように
研削砥石用ハンド装置（５Ｄ）の軸部（７Ｄ）にはりピ
ットスイッチ（６ｂ）（６ｃ）（６ｎ）ｋ ＯＮ操作す
る操作子（８ｂ）（８ｃＸ８ｎ）が突設され、それぞれ
のハンド装置（５）ヲハンドホルダ（１）の保持部（１
ａ）に装着したときに、所定のリハットスイッチ（６ａ
）〜（６ｎ） ｋ ＯＮ操作して・・ンドホルダ（１）
に装着したハンド装置（５）の認識番号を、たとえば表
示ランプ（図示せず）により表示して所定のハンド装置
であるかどうかを確認するようにしたものである。なお
、各−・ンド装置（５）の操作子（８ａ）〜（８ｎ）所
定のりばットスイッチ（６ａ）〜（６ｎ）をＯＮ操作し
てその−・ンド装置（５）の認識番号を表示する動作は
、１回だけでなく、２回以上繰返して認識番号を表示し
たとき、その認識番号が同一の場合にのみロボットを動
作させるように構成することも可能である。Figures 1 to 4 all show an embodiment of the present invention. Figure 1 is a front view showing the tip of the robot arm, and Figure 2 is a cross-sectional view taken along line (Ill-fIll) of Figure Figure 6 is a sectional view taken along the (Il-:(II:l) line in Figure 1, and Figure 4 shows the relationship between the butt switch provided on the hand holder and the operators provided on various hand devices. (1) is a hand holder attached to the free end of an arm (2) of an industrial robot (not shown) via an operating shaft (3); The holding part (1a) is equipped with various types of /end devices (5) so that they can all be detachably attached, for example, as shown in Figure 4 (Al
As shown in , a gripping hand device (5A) with a pair of gripping claws (JaR4b) that grips the workpiece (>'ft (not shown) from both sides) is used for drilling holes, a hand device (5B) is used for tightening bolts, etc. The hand holder (1) has a plurality of rings in the cavity (1 person). Pit switches (6a) to (6n) are provided, and each pit switch is equipped with the above-mentioned
・As shown in FIG. 4, the predetermined rehat switches (6a) to 7 are inserted and held in the holding part (1a) of the hand holder (1) and the shaft part (7) of the hand device (5). (6n)
A plurality of operators (8a) to (8a) for operating kON to OFF.
As shown in FIG. 4 (At), the shaft (7A) of the grasping hand device (5A) has rehat switches (6a) to (6n)e, and an operator (8a) for turning ON the gripping hand device (5A). )
- (8h) are provided protrudingly, and as shown in FIG. Operators (8b) (8cX8n) are protrudingly provided, and the respective hand devices (5) are attached to the holding portion (1) of the hand holder (1).
a), the specified rehat switch (6a
) ~ (6n) k Turn ON...nd holder (1)
The identification number of the hand device (5) attached to the hand device (5) is displayed, for example, by a display lamp (not shown) to confirm whether it is a predetermined hand device. In addition, the operation of turning on the operators (8a) to (8n) and the predetermined lift switches (6a) to (6n) of each of the two-end devices (5) to display the identification number of that one-and-one device (5). It is also possible to configure the robot to operate only when the identification numbers are displayed not only once but twice or more and the identification numbers are the same.
この発明の産業用ロボットのハンド装置は上述したよう
に、ロボットアーム（２）のハンドホルダ（１）に所定
のハンド装置（５）全装着すると、そのハンド装置（５
）の所定の操作子（８ａ）〜（８ｎ）が所定のリハツト
スイツチ（６ａ）〜（６ｎ） ｋ ＯＮ操作してハンド
ホルダ（１）に装着したその・・ンド装置（５）の認識
番号を表示することができるので、装着したハンド装置
の確認を簡単かつ確実に行なうことが可能となシ、産業
用ロボットの稼動率の同上に貢献するところきわめて犬
である。As described above, the hand device of the industrial robot of this invention is such that when the predetermined hand device (5) is fully attached to the hand holder (1) of the robot arm (2), the hand device (5)
) are turned on to display the identification number of the hand holder (1) attached to the hand holder (1). This makes it possible to easily and reliably check the attached hand device, which greatly contributes to improving the operating rate of industrial robots.
【図面の簡単な説明】
図は何れもこの考案の一実施例を示すもので、第１図は
ロボットアームの先端部を示す正面図、第２図は第１図
の（Ｉｌｌ −（Ｉｌｌ線における断面図、第３図は第
１図の（１１−（１１線における断面図、第４図囚。
（Ｂｌ 、 （Ｃ１、（Ｄ＋はハンドホルダに設けたリ
ハットスイッチと、各種ハンド装置に設けた操作子との
関連を示す説明図である。
図において、（１）はハンドホルダ、（１ａ）は保持部
、（２）はロボットのアーム、（３）は操作軸、（４ａ
） （４ｂ ）は把持爪、（５）は・・ンド装置、（
６ａ）〜（６ｎ）はりばットスイッチ、（７Ａ８７Ｂ）
は・・ンド装置（５）の軸部、（８ａ）〜（８ｎ）は操
作子である。なお、図中同一符号は同一部分を示す。
代理人 弁理士 木 村 三 朗[BRIEF DESCRIPTION OF THE DRAWINGS] The figures show one embodiment of this invention, and FIG. 1 is a front view showing the tip of the robot arm, and FIG. 3 is a sectional view taken along line 11-(11 in FIG. 1, FIG. 4). It is an explanatory diagram showing the relationship with the provided operator. In the figure, (1) is a hand holder, (1a) is a holding part, (2) is a robot arm, (3) is an operation axis, (4a)
) (4b) is the gripping claw, (5) is the ... holding device, (
6a) ~ (6n) Haributsu switch, (7A87B)
. . . A shaft portion of the hand device (5), and (8a) to (8n) are operators. Note that the same reference numerals in the figures indicate the same parts. Agent Patent Attorney Sanro Kimura
Claims (2)
自在に装着するためのハンドホルダに複数のリミットス
イッチ全配設するとともに、上記ハンドホルダに装着す
るハンド装置に設けた複数の操作子によって所定のりビ
ットスイッチを０Ｎ−ＯＦＦ操作してハンドホルダに装
着したハンド装置の認識番号を表示するようにしたこと
を特徴とする産業用ロボットのハンド装置。(1) A plurality of limit switches are all installed on a hand holder for removably attaching a plurality of hand devices to the tip of the robot arm, and a plurality of limit switches are provided on the hand device attached to the hand holder. A hand device for an industrial robot, characterized in that an identification number of the hand device attached to a hand holder is displayed by operating a glue bit switch ON-OFF.
リミットスイッチを選択的に操作する操作子を設けたこ
とを特徴とする特許請求の範囲第１項記載の産業用ロボ
ットのハンドｉｔ。(2) On the shaft of each hand device attached to the hand holder,
The industrial robot hand IT according to claim 1, further comprising an operator for selectively operating a limit switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7748484A JPS60221280A (en) | 1984-04-19 | 1984-04-19 | Hand device for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7748484A JPS60221280A (en) | 1984-04-19 | 1984-04-19 | Hand device for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60221280A true JPS60221280A (en) | 1985-11-05 |
Family
ID=13635253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7748484A Pending JPS60221280A (en) | 1984-04-19 | 1984-04-19 | Hand device for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60221280A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014158942A (en) * | 2008-03-27 | 2014-09-04 | St Jude Medical Atrial Fibrillation Division Inc | Robotic catheter system |
| US9295527B2 (en) | 2008-03-27 | 2016-03-29 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system with dynamic response |
| US9314310B2 (en) | 2008-03-27 | 2016-04-19 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system input device |
| US9314594B2 (en) | 2008-03-27 | 2016-04-19 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter manipulator assembly |
| US9330497B2 (en) | 2011-08-12 | 2016-05-03 | St. Jude Medical, Atrial Fibrillation Division, Inc. | User interface devices for electrophysiology lab diagnostic and therapeutic equipment |
| US9439736B2 (en) | 2009-07-22 | 2016-09-13 | St. Jude Medical, Atrial Fibrillation Division, Inc. | System and method for controlling a remote medical device guidance system in three-dimensions using gestures |
| US9888973B2 (en) | 2010-03-31 | 2018-02-13 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Intuitive user interface control for remote catheter navigation and 3D mapping and visualization systems |
| US10231788B2 (en) | 2008-03-27 | 2019-03-19 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system |
| JP2020055093A (en) * | 2018-09-26 | 2020-04-09 | 株式会社アールティ | Multi-joint robot |
-
1984
- 1984-04-19 JP JP7748484A patent/JPS60221280A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10231788B2 (en) | 2008-03-27 | 2019-03-19 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system |
| US9295527B2 (en) | 2008-03-27 | 2016-03-29 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system with dynamic response |
| US9301810B2 (en) | 2008-03-27 | 2016-04-05 | St. Jude Medical, Atrial Fibrillation Division, Inc. | System and method of automatic detection of obstructions for a robotic catheter system |
| US9314310B2 (en) | 2008-03-27 | 2016-04-19 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system input device |
| US9314594B2 (en) | 2008-03-27 | 2016-04-19 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter manipulator assembly |
| US11717356B2 (en) | 2008-03-27 | 2023-08-08 | St. Jude Medical, Atrial Fibrillation Division, Inc. | System and method of automatic detection of obstructions for a robotic catheter system |
| JP2014158942A (en) * | 2008-03-27 | 2014-09-04 | St Jude Medical Atrial Fibrillation Division Inc | Robotic catheter system |
| US10426557B2 (en) | 2008-03-27 | 2019-10-01 | St. Jude Medical, Atrial Fibrillation Division, Inc. | System and method of automatic detection of obstructions for a robotic catheter system |
| US9439736B2 (en) | 2009-07-22 | 2016-09-13 | St. Jude Medical, Atrial Fibrillation Division, Inc. | System and method for controlling a remote medical device guidance system in three-dimensions using gestures |
| US10357322B2 (en) | 2009-07-22 | 2019-07-23 | St. Jude Medical, Atrial Fibrillation Division, Inc. | System and method for controlling a remote medical device guidance system in three-dimensions using gestures |
| US9888973B2 (en) | 2010-03-31 | 2018-02-13 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Intuitive user interface control for remote catheter navigation and 3D mapping and visualization systems |
| US9330497B2 (en) | 2011-08-12 | 2016-05-03 | St. Jude Medical, Atrial Fibrillation Division, Inc. | User interface devices for electrophysiology lab diagnostic and therapeutic equipment |
| JP2020055093A (en) * | 2018-09-26 | 2020-04-09 | 株式会社アールティ | Multi-joint robot |
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