JPS62127757U - - Google Patents
Info
- Publication number
- JPS62127757U JPS62127757U JP1399886U JP1399886U JPS62127757U JP S62127757 U JPS62127757 U JP S62127757U JP 1399886 U JP1399886 U JP 1399886U JP 1399886 U JP1399886 U JP 1399886U JP S62127757 U JPS62127757 U JP S62127757U
- Authority
- JP
- Japan
- Prior art keywords
- tool
- robot
- side flange
- load cell
- weight
- 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
- 230000005484 gravity Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 1
Landscapes
- Machine Tool Sensing Apparatuses (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Description
第１図ないし第６図は、本考案の実施例で、第
１図はロボツトハンドの一部構成図、第２図ａ，
ｂは反力用ロードセルの正面図と側面図、第３図
ａ，ｂは重力補正用ロードセルの正面図と側面図
、第４図は無負荷時の出力を示す原理図、第５図
は負荷時の出力を示す原理図、第６図は工具交換
が可能な原理図、第７図は従来のロボツトハンド
の一部構成図、第８図はロボツトアーム先端の重
力作用状態図である。
図中、３は反力用ロードセル、４は測定用ゲー
ジ、５は重力補正用ロードセル、６は３分力ゲー
ジ、７はウエイト、８はストツパである。
1 to 6 show embodiments of the present invention, in which FIG. 1 is a partial configuration diagram of a robot hand, and FIG.
b is a front view and side view of the reaction force load cell, Figures 3a and b are front and side views of the gravity correction load cell, Figure 4 is a principle diagram showing the output at no load, and Figure 5 is the load cell. FIG. 6 is a diagram showing the principle of how tools can be replaced, FIG. 7 is a partial configuration diagram of a conventional robot hand, and FIG. 8 is a diagram showing the state of gravity acting on the tip of the robot arm. In the figure, 3 is a reaction force load cell, 4 is a measurement gauge, 5 is a gravity correction load cell, 6 is a 3-component force gauge, 7 is a weight, and 8 is a stopper.
Claims (1)
ドにおいて、工具が取付けられる工具側フランジ
と上記ロボツトアームに固定されたロボツト側フ
ランジとの間に、工具側フランジからの反力及び
工具重量分を検出する反力用ロードセルと工具重
量分のウエイトを備えた重力補正用ロードセルと
を介在させることを特徴とするロボツトハンド。 In the robot hand attached to the tip of the robot arm, a reaction force is generated between the tool side flange to which the tool is attached and the robot side flange fixed to the robot arm to detect the reaction force from the tool side flange and the tool weight. A robot hand characterized in that a load cell for gravity correction and a load cell for gravity correction equipped with a weight corresponding to the weight of a tool are interposed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1399886U JPH0536619Y2 (en) | 1986-02-04 | 1986-02-04 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1399886U JPH0536619Y2 (en) | 1986-02-04 | 1986-02-04 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62127757U true JPS62127757U (en) | 1987-08-13 |
| JPH0536619Y2 JPH0536619Y2 (en) | 1993-09-16 |
Family
ID=30803579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1399886U Expired - Lifetime JPH0536619Y2 (en) | 1986-02-04 | 1986-02-04 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0536619Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018507393A (en) * | 2014-12-17 | 2018-03-15 | ノルグレン オートメーション ソーリューションズ エルエルシーＮｏｒｇｒｅｎ Ａｕｔｏｍａｔｉｏｎ Ｓｏｌｕｔｉｏｎｓ，Ｌｌｃ． | Apparatus for detecting a workpiece, workpiece evaluation system, manufacturing system, and workpiece processing method |
-
1986
- 1986-02-04 JP JP1399886U patent/JPH0536619Y2/ja not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018507393A (en) * | 2014-12-17 | 2018-03-15 | ノルグレン オートメーション ソーリューションズ エルエルシーＮｏｒｇｒｅｎ Ａｕｔｏｍａｔｉｏｎ Ｓｏｌｕｔｉｏｎｓ，Ｌｌｃ． | Apparatus for detecting a workpiece, workpiece evaluation system, manufacturing system, and workpiece processing method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0536619Y2 (en) | 1993-09-16 |
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