JPS63147284U - - Google Patents
Info
- Publication number
- JPS63147284U JPS63147284U JP4110287U JP4110287U JPS63147284U JP S63147284 U JPS63147284 U JP S63147284U JP 4110287 U JP4110287 U JP 4110287U JP 4110287 U JP4110287 U JP 4110287U JP S63147284 U JPS63147284 U JP S63147284U
- Authority
- JP
- Japan
- Prior art keywords
- contact
- robot hand
- robot
- fixed
- holding part
- 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
- 239000000523 sample Substances 0.000 claims description 5
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
Description
第１図乃至第３図は夫々本考案のロボツトハン
ドの接続装着時、接続直前時、解放時の縦断面図
、第４図は接触部とコンタクトプローブの取付け
状態を示す簡略斜視図、第５図Ａ，Ｂは従来のロ
ボツトハンドの主要部の一部切截側面図、第６図
はその要部拡大図、第７図は従来のロボツトハン
ドにおける横方向の過負荷にによる変形を示す概
略断面図、第８図は本考案のロボツトハンドが搭
載されるロボツト全体の構成図である。
１……固定部、２……保持部、３……ピストン
、５……ジヨー、７……固定シヤフト、８……ピ
ボツト、１０……ロボツトハンド、１１，２２…
…（カービツク）カツプリング、１４……探りピ
ン、１７，３２……ばね、２１……接触部、２３
……コンタクトプローブ、２４……シヤフト、２
５……結合金具、２６……ハンド部、２９……位
置決め穴、３３……外周部、３４……溝、４０…
…ロボツト、４１……ロボツト本体、４２……テ
イーチング・プログラミング・ユニツト、４３…
…オペレーテイング・ユニツト、４４……コント
ローラ、４５……ケーブル。
1 to 3 are longitudinal sectional views of the robot hand of the present invention when it is connected and attached, just before connection, and when it is released, respectively; FIG. 4 is a simplified perspective view showing the attached state of the contact part and contact probe; and FIG. Figures A and B are partially cutaway side views of the main parts of a conventional robot hand, Figure 6 is an enlarged view of the main parts, and Figure 7 is a schematic diagram showing deformation due to lateral overload in a conventional robot hand. The sectional view, FIG. 8, is a diagram showing the entire structure of a robot on which the robot hand of the present invention is mounted. 1... Fixed part, 2... Holding part, 3... Piston, 5... Jyo, 7... Fixed shaft, 8... Pivot, 10... Robot hand, 11, 22...
...(Kabitsuk) Coupling, 14...Search pin, 17, 32...Spring, 21...Contact part, 23
... Contact probe, 24 ... Shaft, 2
5... Connecting metal fitting, 26... Hand part, 29... Positioning hole, 33... Outer circumferential part, 34... Groove, 40...
...Robot, 41...Robot body, 42...Teaching programming unit, 43...
...Operating unit, 44...Controller, 45...Cable.
Claims (1)
扱う物品に直接接触する交換側の保持部とに大別
されるロボツトハンドにおいて、接合装着時に上
記保持部と固定部とが互いに対向接触する非直線
上の部分に複数の電気的接触部を設け、保持部に
対する横方向の過負荷により該複数の電気的接触
部のうちいずれか１つでも解離又は接触した際に
は、該ロボツトの動作を停止させるような制御信
号を上記ロボツト本体側に出力するよう構成した
ことを特徴とするロボツトハンド。 (2) 複数の電気的接触部を、上記固定部の外周
部に植立された複数のコンタクトプローブと、上
記保持部のうちこれらのコンタクトプローブに夫
々接触する個所に設けられた接触部とで構成した
ことを特徴とする実用新案登録請求の範囲第１項
記載のロボツトハンド。 (3) コンタクトプローブの取付け個所に、過負
荷により上記保持部が横方向に傾いた際の上記接
触部の突入を受入れるための溝を設けたことを特
徴とする実用新案登録請求の範囲第２項記載のロ
ボツトハンド。[Claims for Utility Model Registration] (1) In a robot hand that is roughly divided into a fixed part that is fixed to the robot body and a replacement holding part that comes into direct contact with the object being handled, the above-mentioned holding part and A plurality of electrical contact parts are provided in a non-linear portion where the fixed part faces and contacts each other, and any one of the plurality of electrical contact parts dissociates or contacts due to a lateral overload on the holding part. In some cases, a robot hand is characterized in that the robot hand is configured to output a control signal to the robot body to stop the operation of the robot. (2) The plurality of electrical contact portions are formed by a plurality of contact probes planted on the outer periphery of the fixed portion and contact portions provided at locations of the holding portion that contact these contact probes, respectively. 1. A robot hand according to claim 1 of claim 1, which is characterized in that the robot hand is constructed as follows. (3) Utility model registration claim 2, characterized in that a groove is provided at the attachment point of the contact probe to accommodate the insertion of the contact portion when the holding portion is tilted laterally due to overload. Robot hand described in section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4110287U JPS63147284U (en) | 1987-03-20 | 1987-03-20 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4110287U JPS63147284U (en) | 1987-03-20 | 1987-03-20 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63147284U true JPS63147284U (en) | 1988-09-28 |
Family
ID=30855790
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4110287U Pending JPS63147284U (en) | 1987-03-20 | 1987-03-20 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63147284U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018051696A (en) * | 2016-09-29 | 2018-04-05 | ファナック株式会社 | Hand device |
-
1987
- 1987-03-20 JP JP4110287U patent/JPS63147284U/ja active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018051696A (en) * | 2016-09-29 | 2018-04-05 | ファナック株式会社 | Hand device |
| CN107877489A (en) * | 2016-09-29 | 2018-04-06 | 发那科株式会社 | Arm device |
| US10589420B2 (en) | 2016-09-29 | 2020-03-17 | Fanuc Corporation | Hand device |
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