JPS61112858U - - Google Patents
Info
- Publication number
- JPS61112858U JPS61112858U JP19651884U JP19651884U JPS61112858U JP S61112858 U JPS61112858 U JP S61112858U JP 19651884 U JP19651884 U JP 19651884U JP 19651884 U JP19651884 U JP 19651884U JP S61112858 U JPS61112858 U JP S61112858U
- Authority
- JP
- Japan
- Prior art keywords
- grinding tool
- arm
- robot
- grinding
- moving
- 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.)
- Granted
Links
- 230000002265 prevention Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
Landscapes
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Description
第１図及び第２図は本考案の実施例で、第１図
は全体の構成図、第２図は移動機構を主に示す構
成図、第３図は従来の構成図である。
図中、１は産業用ロボツト、１ａはアーム、２
はグラインダ、３ａはばり、５は電流センサ、７
はマイクロコンピユータ、８はロボツトコントロ
ーラ、１１は移動機構、１１ａはスライド機構、
１１ｃはモータ、１１ｄはリミツトスイツチであ
る。
1 and 2 show an embodiment of the present invention; FIG. 1 is an overall configuration diagram, FIG. 2 is a configuration diagram mainly showing the moving mechanism, and FIG. 3 is a conventional configuration diagram. In the figure, 1 is an industrial robot, 1a is an arm, and 2
is a grinder, 3a is a burr, 5 is a current sensor, 7
is a microcomputer, 8 is a robot controller, 11 is a movement mechanism, 11a is a slide mechanism,
11c is a motor, and 11d is a limit switch.
Claims (1)
削工具を取付け、この研削工具を駆動電源に接続
し、研削負荷にもとづく上記研削工具への駆動電
流に対応して上記アームの進行速度を制御するロ
ボツトコントローラを備えたものにおいて、上記
研削工具を上記アームの進行方向及びその逆方向
に動かす移動機構を上記ハンド部に付加し、上記
ロボツトコントローラとは別回路で上記駆動電流
に対応して上記移動機構をモータ駆動にて移動さ
せるサーボ機構を備え、上記移動機構の移動の少
なくとも終端を検出して上記ロボツトコントロー
ラを制御する手段を備えたことを特徴とする研削
過負荷防止装置。 A robot that attaches a grinding tool to a hand portion at the tip of an arm of an industrial robot, connects this grinding tool to a drive power source, and controls the advancing speed of the arm in response to the drive current to the grinding tool based on the grinding load. In the device equipped with a controller, a moving mechanism for moving the grinding tool in the advancing direction of the arm and in the opposite direction is added to the hand part, and a circuit separate from the robot controller controls the moving mechanism in response to the drive current. A grinding overload prevention device comprising: a servo mechanism for moving the robot controller by driving a motor; and means for detecting at least the end of the movement of the moving mechanism to control the robot controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19651884U JPH0243659Y2 (en) | 1984-12-28 | 1984-12-28 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19651884U JPH0243659Y2 (en) | 1984-12-28 | 1984-12-28 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61112858U true JPS61112858U (en) | 1986-07-17 |
| JPH0243659Y2 JPH0243659Y2 (en) | 1990-11-20 |
Family
ID=30754308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19651884U Expired JPH0243659Y2 (en) | 1984-12-28 | 1984-12-28 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0243659Y2 (en) |
-
1984
- 1984-12-28 JP JP19651884U patent/JPH0243659Y2/ja not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0243659Y2 (en) | 1990-11-20 |