KR860000575Y1 - Controlling device of moving range of industrial robot arm - Google Patents
Controlling device of moving range of industrial robot arm Download PDFInfo
- Publication number
- KR860000575Y1 KR860000575Y1 KR2019860001564U KR860001564U KR860000575Y1 KR 860000575 Y1 KR860000575 Y1 KR 860000575Y1 KR 2019860001564 U KR2019860001564 U KR 2019860001564U KR 860001564 U KR860001564 U KR 860001564U KR 860000575 Y1 KR860000575 Y1 KR 860000575Y1
- Authority
- KR
- South Korea
- Prior art keywords
- robot arm
- arm
- industrial robot
- controlling device
- moving range
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
내용 없음.No content.
Description
제1도는 본 고안에 따른 장치의 정면도.1 is a front view of the apparatus according to the present invention.
제2도는 본 고안에 따른 장치의 배면도.2 is a rear view of the device according to the present invention.
제3도는 본 고안의 장치가 적용설치된 산업용 로보트의 개략도이다.3 is a schematic diagram of an industrial robot to which the apparatus of the present invention is applied.
* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings
1 : 로버트아암 2 : 아암축1: Robert Arm 2: Arm Axis
3 : 원형판캠 4 : 리미트스위치3: round plate cam 4: limit switch
5 : 스위치지지대5: switch support
본 고안은 산업용로보트 아암의 작업운동영역을 일정한 범위이내로 제한하는 운동범위 설정장치에 관한 것이다.The present invention relates to a movement range setting device for limiting the working range of the industrial robot arm to within a certain range.
종래에는 로보트 아암이 작업을 하는 도중에 외부의 충격이나 기기자체의 결함 등으로 로보트 아암이 작업영역을 벗어나게 되는 경우, 작업 영역 이외에서의 로보트 아암이 운동을 저지할 수가 없기 때문에 다른 물체와의 충격 또는 본체와의 부딪힘에 의해 로보트 아암이 파손됨은 물론 고가의 주변기기까지도 손상을 입히게 되는 문제점이 있었다.Conventionally, when the robot arm is out of the work area due to external impact or defect of the device itself while the robot arm is working, the robot arm outside the work area cannot prevent movement, so the impact of other robots or There was a problem in that damage to the robot arm as well as expensive peripherals by the collision with the main body.
이에 본 고안에서는 로보트 아암축에 일련의 캠과 스크류를 착설하여 로보트 아암이 제한된 영역이외로 이동하는 경우 상기의 캠이 리미트스위치를 작동시켜 로보트 아암을 동작시키기 위한 공급전원을 차단시키므로서 로보트 아암운동을 정지시키게 하고, 이에 따라서 아암은 물론 주변 기기까지도 보호할 수 있도록 한 로보트 아암의 운동범위 설정장치를 제공하는 것으로서 이하, 첨부한 예시도면에 의거 본 고안을 상세히 설명하면 다음과 같다.Therefore, in the present invention, when a series of cams and screws are installed on the robot arm shaft and the robot arm moves outside the restricted area, the cam arm moves by limiting the power supply for operating the robot arm by operating the limit switch. As to provide a motion range setting device of the robot arm to stop and accordingly protect the arm as well as the peripheral device, the present invention will be described in detail below based on the accompanying drawings.
본 고안은 로보트 아암(1)의 아암축(2)에 원형판 캠(3)을 상기 아암(1)과 평행하게 설치하고, 원형판캠(3)과 동일한 높이로 상기 캠(3)의 측방에 위치한 리미트스위치(4)를 지지하는 스위치지지대(5)를 로보트아암(1)의 일측에 고정 설치하여 아암축(2)의 회동에 따라 원형판캠(3)이 리미트스위치(4)에 접촉하도록 한 구조로 되어있다.According to the present invention, a circular plate cam 3 is installed on the arm axis 2 of the robot arm 1 in parallel with the arm 1, and is located at the side of the cam 3 at the same height as the circular plate cam 3. The switch support 5 supporting the limit switch 4 is fixed to one side of the robot arm 1 so that the circular plate cam 3 contacts the limit switch 4 as the arm shaft 2 rotates. It is.
미설명 부호 A는 다른 하나의 로보트아암, 6은 세트스크류, 7은 돌출부 이다.Reference numeral A is another robot arm, 6 is a set screw, and 7 is a protrusion.
상기한 바와같은 구조로 이루어진 본 고안의 장치는 다관절 산업용 로보트에서 로보트아암(1)에 또다른 하나의 로보트 아암(A)을 구동시키기 위한 로보트아암축(3)이 설치되어 있고 상기 아암(A)의 운동범위를 전기적으로 제어하도록 한 것으로서 아암축(2)일축방의 로보트아암(1)에 스위치지지대(5)를 나사등으로 고정 부착시키고, 상기 스위치지지대(5)의 일단에 리미트스위치(4)를 설치한다.The device of the present invention having the structure as described above is equipped with a robot arm axis (3) for driving another robot arm (A) in the robot arm (1) in the articulated robot, and the arm (A The switch support 5 is fixedly attached to the robot arm 1 of the arm shaft 2 uniaxially with a screw or the like, and the limit switch 4 is attached to one end of the switch support 5. Install).
상기 리미트스위치(4)는 로보트의 전체적인 제어부와 연결되어 스위치(4)를 거쳐 공급되는 전기적 에너지에 의해 전체 로보트의 작동을 ON-OFF시키도록 하는 한편, 원형판캠(3)은 아암축(2)에 삽입되어 상기 캠(3)의 측면으로 부터 체결되는 세트스크류(6)로서 아암축(2)의 일정위치에 고정되어 아암축(2)과 함께 회동하게 된다.The limit switch 4 is connected to the overall control of the robot to turn the operation of the entire robot ON-OFF by the electrical energy supplied through the switch 4, while the circular plate cam 3 is the arm shaft (2) It is inserted into the set screw 6 is fastened from the side of the cam (3) is fixed to a certain position of the arm shaft (2) is rotated with the arm shaft (2).
아암축(2)이 회동함에 따라 원형판캠(3)도 함께 회동하게 되어 로보트아암(A)의 회동설정범위를 넘어서면 원형판캠(3)의 돌출부(7)가 리미트스위치(4)와 접촉하게 되어 로보트의 전원을 차단시키거나 브레이크를 작동시켜 로보트아암(A)의 작동을 정지시키게 된다.As the arm shaft 2 rotates, the circular plate cam 3 also rotates so that the projection 7 of the circular plate cam 3 comes into contact with the limit switch 4 when the rotational setting range of the robot arm A is exceeded. The robot arm is cut off or the brake is operated to stop the operation of the robot arm (A).
작동설정범위와 접촉점의 변화에 따라 원형판캠(3)의 형상과 아암축(2)에 셋팅위치를 조절할 수도 있다.The shape of the circular plate cam 3 and the setting position on the arm shaft 2 may be adjusted according to the change of the operating setting range and the contact point.
이상의 설명에서와 같이 본 고안에 따른 장치를 사용하므로써 로보트 아암의 운동범위를 일정한 설정범위 이내로 제한하므로써 고가의 로보트 파손 및 손상등으로부터 보호하는 한편, 상황에 따라 운동설정범위와 셋팅위치를 적절하게 조절시키므로서 적용도를 높이는 등의 효과를 얻을 수 있다.By using the device according to the present invention as described above, by limiting the robot arm movement range within a certain setting range to protect from expensive robot damage and damage, while appropriately adjusting the movement setting range and setting position according to the situation By increasing the degree of application, such effects can be obtained.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019860001564U KR860000575Y1 (en) | 1984-05-30 | 1986-02-12 | Controlling device of moving range of industrial robot arm |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019840005075 | 1984-05-30 | ||
| KR1019840003147A KR860000127A (en) | 1984-06-05 | 1984-06-05 | Motion range setting device of industrial robot arm |
| KR2019860001564U KR860000575Y1 (en) | 1984-05-30 | 1986-02-12 | Controlling device of moving range of industrial robot arm |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR2019840005075 Division | 1984-05-30 | 1984-05-30 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| KR860000575Y1 true KR860000575Y1 (en) | 1986-04-12 |
Family
ID=27348428
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR2019860001564U KR860000575Y1 (en) | 1984-05-30 | 1986-02-12 | Controlling device of moving range of industrial robot arm |
Country Status (1)
| Country | Link |
|---|---|
| KR (1) | KR860000575Y1 (en) |
-
1986
- 1986-02-12 KR KR2019860001564U patent/KR860000575Y1/en not_active IP Right Cessation
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TW260633B (en) | ||
| CA2163607A1 (en) | Machine tool having a tool mounted eccentrically on a rotatable turntable | |
| AU1771188A (en) | Rotary impacting apparatus | |
| KR860000575Y1 (en) | Controlling device of moving range of industrial robot arm | |
| FR2671129B1 (en) | DEVICE FOR CONTROLLING A BLIND MOTOR OR THE LIKE WITH TWO DIRECTIONS OF ROTATION. | |
| EP0235305A4 (en) | Brake system for industrial robots. | |
| SE9900697L (en) | Adjustment device for a ceiling air inverter | |
| PT712678E (en) | ELECTRO-HYDROMECANIC THREAD OPENING MACHINE | |
| KR840000340A (en) | Industrial Robot | |
| SU1357192A1 (en) | Arrangement for automatic positioning on the stop of working member of machine tool | |
| JP2557345B2 (en) | Switch mechanism for electric screwdriver | |
| KR0135105Y1 (en) | The limiting device in the apparatus for opening and shutting the cover for the vinylhouse | |
| DE69803412D1 (en) | Fast control device for a high-voltage switching device, in particular earthing switch | |
| KR900000215Y1 (en) | Cutter for automatic welding wire | |
| KR200154057Y1 (en) | Limiting apparatus | |
| KR200169299Y1 (en) | Rotation angle control device of pendent arm | |
| KR200145441Y1 (en) | Lamp | |
| ES2116845A1 (en) | Device for actuating automatic shutdown of machines, such as robots | |
| SU1505703A1 (en) | Templet of duplicating device for positioning tool in the process of working | |
| JPS6119396B2 (en) | ||
| JPS6161937A (en) | Frequency switcher for engine generator | |
| DE3686005D1 (en) | PROGRAMMING DEVICE FOR A WASHING MACHINE. | |
| KR950005418A (en) | Drilling beam | |
| SU1523936A1 (en) | Device for determining aerodynamic characteristics of compressor grates | |
| SU1074635A1 (en) | Apparatus for securing elongated billets on the machine working position |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A201 | Request for examination | ||
| E701 | Decision to grant or registration of patent right | ||
| REGI | Registration of establishment | ||
| FPAY | Annual fee payment |
Payment date: 19880215 Year of fee payment: 9 |
|
| LAPS | Lapse due to unpaid annual fee |