JPS6426184U - - Google Patents
Info
- Publication number
- JPS6426184U JPS6426184U JP12050087U JP12050087U JPS6426184U JP S6426184 U JPS6426184 U JP S6426184U JP 12050087 U JP12050087 U JP 12050087U JP 12050087 U JP12050087 U JP 12050087U JP S6426184 U JPS6426184 U JP S6426184U
- Authority
- JP
- Japan
- Prior art keywords
- finger
- excitation
- holding member
- attachment device
- coil
- 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
- 230000005284 excitation Effects 0.000 claims 8
- 230000005347 demagnetization Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
Description
第１図はこの考案に係わるフインガ取付装置の
一実施例の構成を示す斜視図；第２図はフインガ
の取り付け部付近の構成を示す断面図；第３図は
フインガステーシヨンの構成を示す正面図；第４
図はフインガがラツクに保持された状態を示す正
面図；第５図はフインガ保持用制御回路の構成を
示すブロツク図；第６図は第２図とは異なる断面
でフインガの取り付け部付近の構成を示す断面図
；そして、第７図はフインガ脱着のための信号の
オン・オフ状態を示すタイミングチヤートである
。
図中、１０…フインガ取付装置、１２…ロボツ
トアーム、１４…フインガ取付部材、１６…フイ
ンガ保持部材、１８…電磁コイル、２０…フイン
ガ保持用制御回路、２２…フインガ部分、２４…
環状のフツク溝、２６…位置決めピン、２８…凹
部、３０…フインガステーシヨン、３２…フイン
ガラツク、３４…ラツク板、３６…挿入用凹所、
３８…ラツク内位置決めピン、４０…位置決め用
穴、４２…発行ダイオード、４４…フオトダイオ
ード、４６…管、４８…ピン、５０…管、５２…
ロボツトコントローラ、５４…信号検出回路、５
６…電源切換回路、５８…異常表示回路、６０…
バツテリ、６２…パトライト、６４…極性切換回
路、６６…停電検出回路、６８…遅延回路、７０
…エツジ検出回路、７２…時定数発生回路である
。
Figure 1 is a perspective view showing the configuration of an embodiment of the finger attachment device according to this invention; Figure 2 is a sectional view showing the configuration near the finger attachment part; Figure 3 is a front view showing the configuration of the finger station. Figure; 4th
The figure is a front view showing a state in which the finger is easily held; Figure 5 is a block diagram showing the configuration of the control circuit for holding the finger; Figure 6 is a cross section different from Figure 2, and shows the configuration near the attachment part of the finger. FIG. 7 is a timing chart showing on/off states of signals for attaching and detaching fingers. In the figure, 10... finger attachment device, 12... robot arm, 14... finger attachment member, 16... finger holding member, 18... electromagnetic coil, 20... finger holding control circuit, 22... finger portion, 24...
Annular hook groove, 26... positioning pin, 28... recess, 30... finger station, 32... finger hook, 34... rack plate, 36... insertion recess,
38... Positioning pin in rack, 40... Positioning hole, 42... Issuing diode, 44... Photo diode, 46... Tube, 48... Pin, 50... Tube, 52...
Robot controller, 54... Signal detection circuit, 5
6... Power supply switching circuit, 58... Abnormality display circuit, 60...
Battery, 62... Patrol light, 64... Polarity switching circuit, 66... Power failure detection circuit, 68... Delay circuit, 70
. . . edge detection circuit, 72 . . . time constant generation circuit.
Claims (1)
フインガを他のフインガに交換可能に保持するフ
インガ取付装置であつて、 前記ロボツトアームの先端に接続され、磁路形
成材料から形成されたフインガ保持部材と、 このフインガ保持部材に着脱自在に取り付けら
れ、フインガが固着されているフインガ取付部材
と、 前記フインガ保持部材に設けられ、フインガ取
付部材をフインガ保持部材に磁力により吸引させ
る励磁手段とを具備し、 前記フインガ取付部材は、残留磁気特性の大き
な材料から形成されている事を特徴とするフイン
ガ取付装置。 (2) 前記励磁手段は、フインガ保持部材内に配
設された励磁コイルと、この励磁コイルに通電す
る通電手段とを備えている事を特徴とする実用新
案登録請求の範囲第１項に記載のフインガ取付装
置。 (3) 前記フインガ保持部材には、前記励磁手段
による励磁が解除された後に、フインガ保持部材
を消磁する消磁手段が備えられている事を特徴と
する実用新案登録請求の範囲第２項に記載のフイ
ンガ取付装置。 (4) 前記消磁手段は、フインガ保持部材内に配
設された消磁コイルと、この消磁コイルに前記励
磁時における通電極性とは逆の極性で通電する逆
極性通電手段とを備えている事を特徴とする実用
新案登録請求の範囲第３項に記載のフインガ取付
装置。 (5) 前記励磁コイルと消磁コイルとは、同一の
コイルから構成されている事を特徴とする実用新
案登録請求の範囲第４項に記載のフインガ取付装
置。[Claims for Utility Model Registration] (1) A finger attachment device that is provided at the tip of a robot arm and holds a predetermined finger so as to be replaceable with another finger, which is connected to the tip of the robot arm and has a magnetic path. a finger holding member formed from a forming material; a finger mounting member detachably attached to the finger holding member to which the finger is fixed; and an excitation means for attracting the finger by the user, wherein the finger mounting member is made of a material having a large residual magnetic property. (2) The excitation means includes an excitation coil disposed within the finger holding member and an energization means for energizing the excitation coil, as set forth in claim 1 of the utility model registration claim. finger attachment device. (3) The finger holding member is provided with demagnetizing means for demagnetizing the finger holding member after the excitation by the excitation means is released, as set forth in claim 2 of the utility model registration claim. finger attachment device. (4) The degaussing means includes a degaussing coil disposed within the finger holding member, and a reverse polarity energizing means for energizing the degaussing coil with a polarity opposite to the energizing polarity at the time of excitation. A finger attachment device according to claim 3 of the utility model registration claim, characterized in that: (5) The finger attachment device according to claim 4, wherein the excitation coil and the demagnetization coil are composed of the same coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1987120500U JPH0453910Y2 (en) | 1987-08-07 | 1987-08-07 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1987120500U JPH0453910Y2 (en) | 1987-08-07 | 1987-08-07 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6426184U true JPS6426184U (en) | 1989-02-14 |
| JPH0453910Y2 JPH0453910Y2 (en) | 1992-12-17 |
Family
ID=31366664
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1987120500U Expired JPH0453910Y2 (en) | 1987-08-07 | 1987-08-07 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0453910Y2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03117541U (en) * | 1990-03-12 | 1991-12-04 | ||
| JP2018110224A (en) * | 2016-12-28 | 2018-07-12 | ▲彦▼全 林 | Assembly structure for suction nozzle connection |
| JP2018110225A (en) * | 2016-12-28 | 2018-07-12 | ▲彦▼全 林 | Assembly structure for suction nozzle connection |
| WO2021075266A1 (en) * | 2019-10-16 | 2021-04-22 | 三菱電機株式会社 | Machining head and laser machining device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5222271A (en) * | 1975-08-14 | 1977-02-19 | Toshiba Corp | Automatic hand-exchange apparatus for industrial robot |
| JPS5959382A (en) * | 1982-04-19 | 1984-04-05 | レンナ−ト・パルマ− | Fixture for tool |
| JPS6165792A (en) * | 1984-09-05 | 1986-04-04 | キヤノン株式会社 | Exchange system of hand for robot |
-
1987
- 1987-08-07 JP JP1987120500U patent/JPH0453910Y2/ja not_active Expired
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5222271A (en) * | 1975-08-14 | 1977-02-19 | Toshiba Corp | Automatic hand-exchange apparatus for industrial robot |
| JPS5959382A (en) * | 1982-04-19 | 1984-04-05 | レンナ−ト・パルマ− | Fixture for tool |
| JPS6165792A (en) * | 1984-09-05 | 1986-04-04 | キヤノン株式会社 | Exchange system of hand for robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03117541U (en) * | 1990-03-12 | 1991-12-04 | ||
| JP2018110224A (en) * | 2016-12-28 | 2018-07-12 | ▲彦▼全 林 | Assembly structure for suction nozzle connection |
| JP2018110225A (en) * | 2016-12-28 | 2018-07-12 | ▲彦▼全 林 | Assembly structure for suction nozzle connection |
| WO2021075266A1 (en) * | 2019-10-16 | 2021-04-22 | 三菱電機株式会社 | Machining head and laser machining device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0453910Y2 (en) | 1992-12-17 |
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