JPH0329288U - - Google Patents

Info

Publication number
JPH0329288U
JPH0329288U JP8847589U JP8847589U JPH0329288U JP H0329288 U JPH0329288 U JP H0329288U JP 8847589 U JP8847589 U JP 8847589U JP 8847589 U JP8847589 U JP 8847589U JP H0329288 U JPH0329288 U JP H0329288U
Authority
JP
Japan
Prior art keywords
robot
magnetic force
magnetic
control device
hand
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
Application number
JP8847589U
Other languages
Japanese (ja)
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 JP8847589U priority Critical patent/JPH0329288U/ja
Publication of JPH0329288U publication Critical patent/JPH0329288U/ja
Pending legal-status Critical Current

Links

Description

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

第１図はこの考案の実施例を示す構成説明図、
第２図はロボツトマグネチツクハンドの詳細を示
す説明図、第３図は第２図のＡ−Ａ線断面図、第
４図および第５図は吸着体の具体的な構成を示す
縦断面図、第６図はロボツトマグネチツクハンド
の異なる実施例を示す断面図である。 １……ロボツト本体、２……ロボツトマグネチ
ツクハンド、３……電磁石制御信号線、４……磁
力センサ信号線、５……電磁石およびセンサ制御
装置、６……ロボツトコントローラ、２１……永
久磁石、２３……吸着体、２５ａ〜２５ｄ……磁
力センサ。 FIG. 1 is a configuration explanatory diagram showing an embodiment of this invention;
Fig. 2 is an explanatory diagram showing details of the robot magnetic hand, Fig. 3 is a sectional view taken along the line A-A in Fig. 2, and Figs. 4 and 5 are longitudinal sectional views showing the specific structure of the adsorbent. , and FIG. 6 are cross-sectional views showing different embodiments of the robot magnetic hand. DESCRIPTION OF SYMBOLS 1... Robot body, 2... Robot magnetic hand, 3... Electromagnet control signal line, 4... Magnetic force sensor signal line, 5... Electromagnet and sensor control device, 6... Robot controller, 21... Permanent magnet , 23...adsorption body, 25a-25d...magnetic force sensor.

Claims (1)

【実用新案登録請求の範囲】 (1) ロボツト本体と、このロボツト本体に形成
されたロボツトマグネチツクハンドと、このハン
ドから送出される磁力センサ信号が入力されると
ともにハンドに電磁石制御信号を出力する制御装
置と、この制御装置から送出される磁力センサ制
御信号とロボツト本体からの動作状態信号が入力
され、両信号からロボツト本体を停止させるのか
、動作を継続させるかを判断してその結果からロ
ボツト本体に停止や増速指令を与えるロボツトコ
ントローラとを備えたことを特徴とするロボツト
制御装置。 (2) ロボツトマグネチツクハンドは永久磁石と
、この永久磁石の周囲に配設され、永久磁石の磁
力の打消方向か、磁力の増加方向かに電磁力を発
生する電磁力と、両磁石の磁力を検知する磁力セ
ンサとを備えたことを特徴とする請求項１に記載
のロボツト制御装置。[Claims for Utility Model Registration] (1) A robot body, a robot magnetic hand formed on the robot body, and a magnetic sensor signal sent from the hand being input and an electromagnetic control signal being output to the hand. The magnetic force sensor control signal sent from the control device and the operating status signal from the robot body are input to the control device, and from both signals it is determined whether to stop the robot body or to continue its operation, and based on the result, the robot A robot control device characterized by comprising a robot controller that gives stop and speed increase commands to the main body. (2) The robot magnetic hand consists of a permanent magnet, an electromagnetic force that is placed around this permanent magnet, and generates an electromagnetic force in either the direction of canceling the magnetic force of the permanent magnet or the direction of increasing the magnetic force, and the magnetic force of both magnets. 2. The robot control device according to claim 1, further comprising a magnetic force sensor that detects a magnetic force sensor.
JP8847589U 1989-07-27 1989-07-27 Pending JPH0329288U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP8847589U JPH0329288U (en) 1989-07-27 1989-07-27

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8847589U JPH0329288U (en) 1989-07-27 1989-07-27

Publications (1)

Publication Number Publication Date
JPH0329288U true JPH0329288U (en) 1991-03-22

Family

ID=31638090

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8847589U Pending JPH0329288U (en) 1989-07-27 1989-07-27

Country Status (1)

Country Link
JP (1) JPH0329288U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010172968A (en) * 2009-01-27 2010-08-12 Ihi Corp Device and method of controlling transfer robot
JP2015127252A (en) * 2013-12-27 2015-07-09 川崎重工業株式会社 Workpiece arrangement method and system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010172968A (en) * 2009-01-27 2010-08-12 Ihi Corp Device and method of controlling transfer robot
JP2015127252A (en) * 2013-12-27 2015-07-09 川崎重工業株式会社 Workpiece arrangement method and system

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