KR880001356Y1 - Pen holder of robot - Google Patents
Pen holder of robot Download PDFInfo
- Publication number
- KR880001356Y1 KR880001356Y1 KR2019850006043U KR850006043U KR880001356Y1 KR 880001356 Y1 KR880001356 Y1 KR 880001356Y1 KR 2019850006043 U KR2019850006043 U KR 2019850006043U KR 850006043 U KR850006043 U KR 850006043U KR 880001356 Y1 KR880001356 Y1 KR 880001356Y1
- Authority
- KR
- South Korea
- Prior art keywords
- robot
- ring
- pen
- spring
- force
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
Abstract
내용 없음.No content.
Description
제 1 도는 본 고안의 전체 사시도.1 is an overall perspective view of the present invention.
제 2 도는 본 고안의 펜홀더 단면도.2 is a cross-sectional view of the pen holder of the present invention.
* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings
1 : 스프링 홀더 2 : 몸체1: spring holder 2: body
3 : 스프링 4 : 록키3: spring 4: rocky
5 : 링 6 : 0-링5: ring 6: 0-ring
7 : 링하우징 8 : 헨드부착구7: ring housing 8: hand attachment
본 고안은 PTP(Point to Point) 방식에 의해 제어되는 로보트를 이용하여 글씨를 쓰는 작업이나 용접납땜등의 작업을 할때에 펜에나 용접봉이 평면상을 움직여야하며 이때 만약 펜이나 용접봉이 고정되어 있을 경우 로보트 본체에 무리하게 힘이 가해지기 때문에 이와같은 무리한 힘을 가해지지않도록 하기 위한 진동착탈이 가능한 로보트용 펜홀더에 관한 것이다. 종래에도 이와같은 것이 고안되기는 했으나 그 조작성이 복잡하고 외관형상및 중량이 무거워 좋지않았고 상하진동량이 적고 교환이 힘들도록되어 있는 결점이 있었다.The present invention requires the pen or welding rod to move on a plane when writing or welding soldering using a robot controlled by PTP (Point to Point) method. In this case, since the force is applied to the robot body excessively, the present invention relates to a robot pen holder capable of vibrating and detaching so as not to apply such an excessive force. Although such a thing has been devised in the related art, its operability is complicated, its appearance and its weight are heavy, and it is not good, and its up and down vibration amount is difficult and the exchange is difficult.
본고안은 이와같은 종래의 결점을 해소하기 위하여 안출한 것으로써 첨부된 도면에 의해 상세히 설명하면 다음과 같다. PTP 방식의 제어에 의하여 글씨를 쓰는 작업을 로보트에 지령할 경우 로보트는 임의의 편상을 직선으로 움직일 수 없고 곡선으로 움직여야하므로 로보트가 평면과의 사이에서 무리한 힘을 받는 경우가 발생하게 되는데 이 무리한 힘을 로보트 본체가 받지않도록하기 위해서는 상하로 진동이 가해져야 한다.The present invention is devised to solve such a conventional drawback and will be described in detail with reference to the accompanying drawings. When commanding the writing to the robot by PTP control, the robot cannot move any piece in a straight line but must move in a curve. Therefore, the robot receives excessive force between planes. In order to prevent the robot body from receiving the vibration up and down should be applied.
따라서 스프링 홀더(1)와 몸체(2)의 사이에 스프링(3)을 끼워 넣어 외부에서 무리한 힘이 가해질 경우 펜이 위로 후퇴하게 되어 로보트에 직접 무리한 힘이 가해지지않게하며 또 힘이 제거되면 록커(4)와 링(5)과 0-링(6)과 링하우징(7)이 펜과 함께 스프링(3)의 힘에 의하여 전진하게되고 몸체(2)의 벽면에 닿게되면 정지하게되고 펜을 다쓴 경우 교환할 수 있도록 링 하우징(7)과 록커(4)사이에 링(5) 및 0-링(6)을 끼워넣은 후 록커(4)를 조이게되면 링(5)이 압착되어 0-링(6)을 누르게 된다.Therefore, if the spring (3) is inserted between the spring holder (1) and the body (2), if excessive force is applied from the outside, the pen will be retracted upward, and the force will not be applied directly to the robot. (4) and ring (5) and 0-ring (6) and ring housing (7) are advanced together with the pen by the force of the spring (3) and stop when touching the wall of the body (2) Insert the ring 5 and the 0-ring 6 between the ring housing 7 and the locker 4 so that it can be replaced if it is worn out, and then tighten the locker 4 to squeeze the ring 5 to the 0-ring. Press (6).
따라서 원상태로 있던 0-링(6)은 이때 찌그러지게되며 힘에 의해 펜을 단단히 고정하게 된다.Thus, the 0-ring 6, which was in the original state, is crushed at this time and firmly holds the pen by force.
고정된 펜을 몸체(2)에 넣고 스프링을 넣은 후 스프링 홀더(1)을 손으로 조이게되며 펜이 장착된다. 펜의 착탈시에는 스프링 홀더(1)을 풀어 꺼낸 후 록커(4)를 약간만 풀면 0-링(6)이 다시 원형상태로 되돌아 오게되므로 펜을 힘들이지 않고 쉽게 빼낼 수 있게되는 것이다. 따라서 펜의 착탈및 장착이 가능하게되고 상하 진동이 될 수 있으므로 PTP 제어방식의 로보트의 헨드에 부착사용하면 글씨를 쓰는 작업도 할 수 있을뿐 아니라 이 홀더의 중량및 상하진동량을 좋게할 수가 있으며 로보트에 무리한 힘이 가해지지않게되므로 로보트의 효율적인 운용이 가능하며 착탈시 보조기구를 사용하지 않고 손으로 쉽게 할 수 있는 것이다.Insert the fixed pen into the body (2), insert the spring and then tighten the spring holder (1) by hand and the pen is mounted. When the pen is attached and detached, the spring holder 1 is removed and then the locker 4 is slightly loosened, so that the 0-ring 6 is returned to the original state so that the pen can be easily taken out without effort. Therefore, the pen can be attached and detached, and the vibration can be made up and down. Therefore, when attached to the hand of the PTP-controlled robot, it can not only write letters but also improve the weight and vibration of the holder. Since excessive force is not applied to the robot, it is possible to operate the robot efficiently and easily by hand without using assistive devices when detaching.
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR2019850006043U KR880001356Y1 (en) | 1985-05-23 | 1985-05-23 | Pen holder of robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR2019850006043U KR880001356Y1 (en) | 1985-05-23 | 1985-05-23 | Pen holder of robot |
Publications (2)
Publication Number | Publication Date |
---|---|
KR860014561U KR860014561U (en) | 1986-12-08 |
KR880001356Y1 true KR880001356Y1 (en) | 1988-04-09 |
Family
ID=19242349
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR2019850006043U KR880001356Y1 (en) | 1985-05-23 | 1985-05-23 | Pen holder of robot |
Country Status (1)
Country | Link |
---|---|
KR (1) | KR880001356Y1 (en) |
-
1985
- 1985-05-23 KR KR2019850006043U patent/KR880001356Y1/en not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
KR860014561U (en) | 1986-12-08 |
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Payment date: 19970829 Year of fee payment: 12 |
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