JPS62121096U

JPS62121096U -

Info

Publication number: JPS62121096U
Application number: JP877986U
Authority: JP
Priority date: 1986-01-24
Filing date: 1986-01-24
Publication date: 1987-07-31

Description

[Brief explanation of the drawing]

第１図は本考案の一実施例の断面図、第２図は
その作動を示す断面図、第３図は別の実施例の断
面図、第４図および第５図はその作動の断面図お
よび正面図、第６図Ａ，Ｂは外力を検知する設定
力と外力による変位量との関係を示す特性図、第
７図はロボツトの一例の側面図、第８図および第
９図は従来例の断面図および正面図、第１０図お
よび第１１図は従来例の作動を示す断面図である
。２……支持側部材、３……ドツグ、４……ドツ
グバー、６，２４……リミツトスイツチ、１０…
…チヤツク、１２……取付片、１４……ワーク側
部材、１６……軸部、１７……球面座。 Fig. 1 is a sectional view of one embodiment of the present invention, Fig. 2 is a sectional view showing its operation, Fig. 3 is a sectional view of another embodiment, and Figs. 4 and 5 are sectional views of its operation. 6A and 6B are characteristic diagrams showing the relationship between the setting force for detecting external force and the amount of displacement due to external force, FIG. 7 is a side view of an example of the robot, and FIGS. 8 and 9 are conventional A sectional view and a front view of the example, and FIGS. 10 and 11 are sectional views showing the operation of the conventional example. 2... Support side member, 3... Dog, 4... Dog bar, 6, 24... Limit switch, 10...
...Chuck, 12...Mounting piece, 14...Work side member, 16...Shaft portion, 17...Spherical seat.

Claims

[Claims for Utility Model Registration] 1. A mounting piece having a shaft portion formed with a spherical seat and to which a workpiece side member is attached; and a mounting piece that is attached to a support side member and elastically presses the outer surface of the shaft portion to create friction. For three-direction detection, comprising: a chuck that holds the mounting piece by force; and a detection means that has an end abutted against the spherical seat and directly or indirectly detects displacement of the shaft. Shock sensor. 2. The shock sensor for three-direction detection according to claim 1, wherein a notch is formed in the chuck and the chuck is configured to be elastically pressed against the shaft portion. 3. A practical device in which the detection means is comprised of a dog bar that is inserted into the chuck from the axial direction and whose one end is pressed against the spherical seat by a spring force, a dog attached to the other end of the dog bar, and a limit switch that detects the displacement of the dog. Scope of patent registration request No. 1
The shock sensor for three-direction detection according to item 1 or 2. 4. The shock sensor for three-direction detection according to claim 1 or 2, wherein the detection means is a limit switch that is inserted into the chuck from the axial direction and comes into contact with the spherical seat.