JPH023391U - - Google Patents

Info

Publication number
JPH023391U
JPH023391U JP7744188U JP7744188U JPH023391U JP H023391 U JPH023391 U JP H023391U JP 7744188 U JP7744188 U JP 7744188U JP 7744188 U JP7744188 U JP 7744188U JP H023391 U JPH023391 U JP H023391U
Authority
JP
Japan
Prior art keywords
elastic body
hollow elastic
robot
processing tool
industrial robot
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
Application number
JP7744188U
Other languages
Japanese (ja)
Other versions
JPH0634951Y2 (en
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed filed Critical
Priority to JP1988077441U priority Critical patent/JPH0634951Y2/en
Publication of JPH023391U publication Critical patent/JPH023391U/ja
Application granted granted Critical
Publication of JPH0634951Y2 publication Critical patent/JPH0634951Y2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Description

【図面の簡単な説明】[Brief explanation of drawings]

第１図はこの考案の一実施例である安全装置を
示す構造図、第２図は第１図に示す安全装置が適
用された多関節形溶接ロボツトの斜視図、第３図
は衝突方向がＸ方向である場合の安全装置の動作
を説明するための説明図、第４図は衝突方向がＹ
方向である場合の安全装置の動作を説明するため
の説明図、第５図はこの考案の他の実施例である
安全装置を示す構造図、第６図は提案例における
安全装置を示す構造図、第７図は第６図の―
矢視拡大図である。 ５……移動制御軸、６……溶接トーチ、１４…
…密着圧縮ばね、１６……触針、１８……接点部
材、２０……投光器、２１……受光器、Ｘ，Ｙ…
…方向。 Fig. 1 is a structural diagram showing a safety device that is an embodiment of this invention, Fig. 2 is a perspective view of an articulated welding robot to which the safety device shown in Fig. 1 is applied, and Fig. 3 shows the direction of collision. An explanatory diagram to explain the operation of the safety device when the collision direction is in the X direction.
FIG. 5 is a structural diagram showing a safety device according to another embodiment of this invention, and FIG. 6 is a structural diagram showing a safety device in a proposed example. , Figure 7 is the same as in Figure 6.
It is an enlarged view of the arrow. 5...Movement control axis, 6...Welding torch, 14...
...Tight compression spring, 16...Stylus, 18...Contact member, 20...Emitter, 21...Receiver, X, Y...
…direction.

Claims (1)

【実用新案登録請求の範囲】 (1) 加工器具とワークとを制御手段により相対
的に位置制御して自動加工作業を行う工業用ロボ
ツトにおいて、 前記加工器具とロボツト最終制御軸とを機械的
に接続し、軸芯と交差する方向に所定以上の外力
が加えられると弾性湾曲する中空弾性体と、 前記中空弾性体の一方端に設けられ、前記中空
弾性体の内壁にほぼ平行に伸びた触針と、 前記中空弾性体の他方端に設けられ、前記触針
の先端を取囲むようにして設けられた接点部材と
、 前記中空弾性体の弾性湾曲により前記触針と前
記接点部材とが接触されると、前記工業用ロボツ
トの作動を停止させるロツク機械とを備えたこと
を特徴とする工業用ロボツトにおける安全装置。 (2) 加工器具とワークとを制御手段により相対
的に位置制御して自動加工作業を行う工業用ロボ
ツトにおいて、 前記加工器具とロボツト最終制御軸とを機械的
に接続し、軸芯と交差する方向に所定以上の外力
が加えられると弾性湾曲する中空弾性体と、 前記中空弾性体の一方端に設けられ、前記中空
弾性体の内壁にほぼ平行に光を照射する投光器と
、 前記中空弾性体の他方端に設けられ、前記投光
器から照射された光を受光する受光器と、 前記中空弾性体の弾性湾曲により前記受光器が
前記投光器より照射された光を受光できなくなる
と、前記工業用ロボツトの作動を停止させるロツ
ク機構とを備えたことを特徴とする工業用ロボツ
トにおける安全装置。[Claims for Utility Model Registration] (1) In an industrial robot that performs automatic processing work by controlling the relative positions of a processing tool and a workpiece by a control means, the processing tool and the final control axis of the robot are mechanically connected to each other. a hollow elastic body which is connected and elastically curves when an external force of a predetermined value or more is applied in a direction crossing the axis; and a contact provided at one end of the hollow elastic body and extending substantially parallel to the inner wall of the hollow elastic body. a needle; a contact member provided at the other end of the hollow elastic body so as to surround the tip of the stylus; and the stylus and the contact member are brought into contact by elastic curvature of the hollow elastic body. and a locking machine for stopping the operation of the industrial robot. (2) In an industrial robot that performs automatic processing work by controlling the relative positions of a processing tool and a workpiece by a control means, the processing tool and the final control axis of the robot are mechanically connected to intersect with the axis center. a hollow elastic body that elastically curves when a predetermined or more external force is applied in a direction; a light projector that is provided at one end of the hollow elastic body and irradiates light substantially parallel to an inner wall of the hollow elastic body; a light receiver provided at the other end of the light projector to receive the light emitted from the light projector; A safety device for an industrial robot, characterized by comprising a lock mechanism for stopping the operation of the robot.
JP1988077441U 1988-06-10 1988-06-10 Safety equipment for industrial robots Expired - Lifetime JPH0634951Y2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1988077441U JPH0634951Y2 (en) 1988-06-10 1988-06-10 Safety equipment for industrial robots

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1988077441U JPH0634951Y2 (en) 1988-06-10 1988-06-10 Safety equipment for industrial robots

Publications (2)

Publication Number Publication Date
JPH023391U true JPH023391U (en) 1990-01-10
JPH0634951Y2 JPH0634951Y2 (en) 1994-09-14

Family

ID=31302425

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1988077441U Expired - Lifetime JPH0634951Y2 (en) 1988-06-10 1988-06-10 Safety equipment for industrial robots

Country Status (1)

Country Link
JP (1) JPH0634951Y2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000050294A1 (en) * 1999-02-22 2000-08-31 Power Brain Corporation Limited Dual-function saddle cover used as back support for bicycles
JP2011136374A (en) * 2009-12-25 2011-07-14 Fujitsu Ltd Mechanism body, external force detection method, and mechanism body control method

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007105343A (en) * 2005-10-17 2007-04-26 Dynam Co Ltd Attachment and detachment mechanism of parlor chair

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5986994U (en) * 1982-12-01 1984-06-12 フアナツク株式会社 industrial robot
JPS6288590A (en) * 1985-10-11 1987-04-23 日本電信電話株式会社 Robot hand

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5986994U (en) * 1982-12-01 1984-06-12 フアナツク株式会社 industrial robot
JPS6288590A (en) * 1985-10-11 1987-04-23 日本電信電話株式会社 Robot hand

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000050294A1 (en) * 1999-02-22 2000-08-31 Power Brain Corporation Limited Dual-function saddle cover used as back support for bicycles
JP2011136374A (en) * 2009-12-25 2011-07-14 Fujitsu Ltd Mechanism body, external force detection method, and mechanism body control method

Also Published As

Publication number Publication date
JPH0634951Y2 (en) 1994-09-14

Similar Documents

Publication Publication Date Title
US6285920B1 (en) Method of robot teaching with motion constraints
JPS6355418B2 (en)
JPH023391U (en)
KR102148251B1 (en) Removable teaching device
JPH09150382A (en) Direct teaching device for robot
JPH0319683U (en)
JP2500717Y2 (en) Welding robot teaching tips
JPH0641821Y2 (en) Teaching tool for playback robot
JPH0370877U (en)
JPH0613776Y2 (en) Robot processing tool
JPH0140625Y2 (en)
JPH03104589A (en) Manipulator type robot
JPH0418790Y2 (en)
JPH0310476B2 (en)
JPS60605U (en) Industrial robot equipped with wrist movement correction device
WO2021064809A1 (en) Robot control device and direct teaching method for robot
JPH04200979A (en) Teaching method for welding robots
JPS63138974U (en)
JPS6011791U (en) Safety devices in industrial robots
JP2024104968A (en) Welding system and welding method
JPH02107437U (en)
CN112894207A (en) Visual welding seam tracking system of welding robot
JPS61185103U (en)
JPH0480681U (en)
Hattori et al. Algorithms for arc welding robots