JPS63127894U - - Google Patents
Info
- Publication number
- JPS63127894U JPS63127894U JP1985887U JP1985887U JPS63127894U JP S63127894 U JPS63127894 U JP S63127894U JP 1985887 U JP1985887 U JP 1985887U JP 1985887 U JP1985887 U JP 1985887U JP S63127894 U JPS63127894 U JP S63127894U
- Authority
- JP
- Japan
- Prior art keywords
- arm
- elastic member
- conductive
- elastic
- robot manipulator
- 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
- 238000001514 detection method Methods 0.000 claims description 7
- 238000002955 isolation Methods 0.000 claims description 2
- 230000005489 elastic deformation Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Description
第１図ａ，ｂは本考案の一実施例に係る接触検
知装置をアームの先端部に装着された塗装ガンの
周囲に設けた場合であつて、同図ａを正面図、同
図ｂは同図ａにおけるＡ―Ａ′矢視断面図、第２
図は上記接触検知装置の破断した状態での斜視図
、第３図は上記接触検知装置に接続することので
きる検知回路図、第４図ａ，ｂはそれぞれ上記接
触検知装置で他の物体の接触を検知する場合の説
明図である。
（符号の説明）、１…アーム、３，９…保護部
材、４…ブラケツト、５，８…銅板（導電部材）
、６…絶縁板（隔離部材）、６ａ…貫通孔、７…
導電スポンジ（弾性部材）、Ｂ…接触検知装置、
Ｃ…検知回路。
Figures 1a and 1b show a case in which a contact detection device according to an embodiment of the present invention is installed around a paint gun attached to the tip of an arm; Figure 1a is a front view, and Figure 1b is a front view. A cross-sectional view taken along arrow A-A' in the same figure a, 2nd
The figure is a perspective view of the contact detection device in a broken state, FIG. 3 is a detection circuit diagram that can be connected to the contact detection device, and FIGS. FIG. 3 is an explanatory diagram when detecting contact. (Explanation of symbols), 1... Arm, 3, 9... Protective member, 4... Bracket, 5, 8... Copper plate (conductive member)
, 6... Insulating plate (isolation member), 6a... Through hole, 7...
Conductive sponge (elastic member), B...contact detection device,
C...Detection circuit.
Claims (1)
有する弾性部材と導電部材とを隔離部材を介して
層状に配置し、外力が作用して上記弾性部材が弾
性変形により所定量以上たわんだ時に、上記弾性
部材と導電部材とが電気的に導通状態となり、他
の物体にアームが接触したことを検知するごとく
なしたロボツト・マニプレータの接触検知装置。 A conductive elastic member and a conductive member are arranged in layers on the arm of the robot manipulator with an isolation member interposed therebetween, and when an external force acts on the elastic member and the elastic member bends by more than a predetermined amount due to elastic deformation, the elastic member A contact detection device for a robot manipulator in which the arm and the conductive member are electrically connected to each other, thereby detecting contact of the arm with another object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985887U JPS63127894U (en) | 1987-02-13 | 1987-02-13 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985887U JPS63127894U (en) | 1987-02-13 | 1987-02-13 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63127894U true JPS63127894U (en) | 1988-08-22 |
Family
ID=30814828
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1985887U Pending JPS63127894U (en) | 1987-02-13 | 1987-02-13 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63127894U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103817707A (en) * | 2012-11-19 | 2014-05-28 | 株式会社安川电机 | Robot device |
-
1987
- 1987-02-13 JP JP1985887U patent/JPS63127894U/ja active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103817707A (en) * | 2012-11-19 | 2014-05-28 | 株式会社安川电机 | Robot device |
| JP2014100753A (en) * | 2012-11-19 | 2014-06-05 | Yaskawa Electric Corp | Robot device |
| US9272415B2 (en) | 2012-11-19 | 2016-03-01 | Kabushiki Kaisha Yaskawa Denki | Robot device |
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