JPS6278293U - - Google Patents
Info
- Publication number
- JPS6278293U JPS6278293U JP16958185U JP16958185U JPS6278293U JP S6278293 U JPS6278293 U JP S6278293U JP 16958185 U JP16958185 U JP 16958185U JP 16958185 U JP16958185 U JP 16958185U JP S6278293 U JPS6278293 U JP S6278293U
- Authority
- JP
- Japan
- Prior art keywords
- detection device
- work
- obstacle detection
- manipulator
- sensor
- 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
- 238000001514 detection method Methods 0.000 claims description 12
- 238000010422 painting Methods 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 239000011521 glass Substances 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Landscapes
- Spray Control Apparatus (AREA)
Description
第１図は本考案の障害物検知装置を自動車ボデ
イ塗装用ロボツト装置に適用した実施例の模式的
外観図、第２図は第１図に示す装置のロボツトの
手首部部分の拡大外観図、第３図は自動車ドアを
センサで検知しない状態の模式図、第４図は自動
車ドアの上端面をセンサで検知する状態の模式図
、第５図は自動車ドアのガラス溝部をセンサで検
知する状態の模式図、第６図は第１図に示す装置
によるドア開き動作の要部フローチヤート、第７
図は第１図に示す装置による障害物検知動作の要
部のフローチヤート、第８図は第１図に示す装置
によつてドアを開く動作を説明するための模式的
斜視図、第９図は第８図におけるＡ矢視の模式的
側面図、第１０図は第１図に示す装置によつてド
アを閉じる動作における第９図相当図、第１１図
は従来の自動車ドアの検知装置の外観図である。
（符号の説明）、１……ロボツト、３……セン
サ、５……制御装置、Ｂ……自動車ボデイ、Ｃ…
…コンベア、Ｄ……自動車ドア、ｌ……光。
FIG. 1 is a schematic external view of an embodiment in which the obstacle detection device of the present invention is applied to an automobile body painting robot device, and FIG. 2 is an enlarged external view of the wrist portion of the robot of the device shown in FIG. Fig. 3 is a schematic diagram of a state in which the sensor does not detect the car door, Fig. 4 is a schematic diagram of the state in which the sensor detects the top end of the car door, and Fig. 5 is a schematic diagram of the state in which the sensor detects the glass groove of the car door. FIG. 6 is a schematic diagram of the main part of the door opening operation by the device shown in FIG. 1, and FIG.
The figure is a flowchart of the main part of the obstacle detection operation by the device shown in FIG. 1, FIG. 8 is a schematic perspective view for explaining the door opening operation by the device shown in FIG. 1, and FIG. 9 is a schematic side view taken in the direction of arrow A in FIG. 8, FIG. 10 is a view corresponding to FIG. 9 in the operation of closing a door by the device shown in FIG. 1, and FIG. 11 is a diagram of a conventional automobile door detection device. It is an external view. (Explanation of symbols), 1...Robot, 3...Sensor, 5...Control device, B...Car body, C...
...conveyor, D...car door, l...light.
Claims (1)
けられるセンサ、 (c) 本作業の開始の前に前記マニプレータを
作動せしめ、所定の空間位置に前記センサを移動
させるマニプレータ制御手段、 (d) 前記センサの出力により前記所定の空間
位置に障害物が存在するか否かを判定する判定手
段、および (e) 前記判定手段の判定結果に基づいて、本
作業の開始の許可または不許可信号を出力する手
段 を具備してなることを特徴とする障害物検知装置
。 ２ マニプレータが、多関節型ロボツトである実
用新案登録請求の範囲第１項記載の障害物検知装
置。 ３ センサが、反射型光学センサである実用新案
登録請求の範囲第１項または第２項記載の障害物
検知装置。 ４ マニプレータ制御手段、判定手段および出力
手段が、マイクロコンピユータ回路である実用新
案登録請求の範囲第１項、第２項または第３項記
載の障害物検知装置。 ５ マニプレータが、本作業用のマニプレータと
しても機能する実用新案登録請求の範囲第１項か
ら第４項のいずれか一つに記載の障害物検知装置
。 ６ 本作業が、自動車ボデイの塗装作業である実
用新案登録請求の範囲第１項から第５項のいずれ
か一つに記載の障害物検知装置。 ７ マニプレータが、本作業の準備作業用のマニ
プレータとしても機能する実用新案登録請求の範
囲第１項から第６項のいずれか一つに記載の障害
物検知装置。 ８ 本作業の準備作業が、自動車ドアの開／閉作
業である実用新案登録請求の範囲第７項記載の障
害物検知装置。 ９ 障害物が、自動車ドアである実用新案登録請
求の範囲第６項または第８項記載の障害物検知装
置。[Claims for Utility Model Registration] 1. (a) A manibrator, (b) A sensor attached to the end of the arm of the manibrator, (c) Before starting the main work, the manipulator is activated and the sensor is placed at a predetermined spatial position. (d) determining means for determining whether or not an obstacle exists in the predetermined spatial position based on the output of the sensor; An obstacle detection device characterized by comprising means for outputting a permission or disapproval signal for starting work. 2. The obstacle detection device according to claim 1, wherein the manipulator is an articulated robot. 3. The obstacle detection device according to claim 1 or 2, wherein the sensor is a reflective optical sensor. 4. The obstacle detection device according to claim 1, 2, or 3, wherein the manipulator control means, the determination means, and the output means are microcomputer circuits. 5. The obstacle detection device according to any one of claims 1 to 4, wherein the manipulator also functions as a manipulator for main work. 6. The obstacle detection device according to any one of claims 1 to 5, wherein the work is a painting work of an automobile body. 7. The obstacle detection device according to any one of claims 1 to 6, wherein the manipulator also functions as a manipulator for preparatory work for the main work. 8. The obstacle detection device according to claim 7, wherein the preparatory work for this work is the opening/closing work of an automobile door. 9. The obstacle detection device according to claim 6 or 8, wherein the obstacle is an automobile door.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985169581U JPH0718542Y2 (en) | 1985-11-01 | 1985-11-01 | Coating equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985169581U JPH0718542Y2 (en) | 1985-11-01 | 1985-11-01 | Coating equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6278293U true JPS6278293U (en) | 1987-05-19 |
| JPH0718542Y2 JPH0718542Y2 (en) | 1995-05-01 |
Family
ID=31103523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1985169581U Expired - Lifetime JPH0718542Y2 (en) | 1985-11-01 | 1985-11-01 | Coating equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0718542Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009184811A (en) * | 2008-02-08 | 2009-08-20 | Hiroyuki Sakamoto | Unmanned spray robot device and unmanned spray method of asbestos processing solvent within elevator hall |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5877472A (en) * | 1981-10-30 | 1983-05-10 | 株式会社日立製作所 | Method of instructing operation of industrial robot |
| JPS59152096A (en) * | 1983-02-15 | 1984-08-30 | 神鋼電機株式会社 | Detector for obstacle of robot |
| JPS59163493U (en) * | 1983-04-20 | 1984-11-01 | トキコ株式会社 | industrial robot |
| JPS6064288A (en) * | 1983-09-19 | 1985-04-12 | Tokico Ltd | Sensor apparatus |
-
1985
- 1985-11-01 JP JP1985169581U patent/JPH0718542Y2/en not_active Expired - Lifetime
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5877472A (en) * | 1981-10-30 | 1983-05-10 | 株式会社日立製作所 | Method of instructing operation of industrial robot |
| JPS59152096A (en) * | 1983-02-15 | 1984-08-30 | 神鋼電機株式会社 | Detector for obstacle of robot |
| JPS59163493U (en) * | 1983-04-20 | 1984-11-01 | トキコ株式会社 | industrial robot |
| JPS6064288A (en) * | 1983-09-19 | 1985-04-12 | Tokico Ltd | Sensor apparatus |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009184811A (en) * | 2008-02-08 | 2009-08-20 | Hiroyuki Sakamoto | Unmanned spray robot device and unmanned spray method of asbestos processing solvent within elevator hall |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0718542Y2 (en) | 1995-05-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPS6278293U (en) | ||
| JPS6410488U (en) | ||
| JPH02132515U (en) | ||
| JPH048495A (en) | Automatic guided vehicle | |
| JPH01117938U (en) | ||
| JPS60131391U (en) | Safety equipment for self-propelled robots | |
| JPS61140098U (en) | ||
| JPH01177384U (en) | ||
| JPH0347983U (en) | ||
| JPH0386982U (en) | ||
| JPS62117609U (en) | ||
| JPS6375481U (en) | ||
| JPS6223978U (en) | ||
| JPH01149899U (en) | ||
| JPS6365541U (en) | ||
| JPH01112287U (en) | ||
| JPS6288618U (en) | ||
| JPH0191651U (en) | ||
| JPS6183723U (en) | ||
| JPS6421310U (en) | ||
| JPS6419765U (en) | ||
| JPS6232788U (en) | ||
| JPS6170124U (en) | ||
| JPS6457289U (en) | ||
| JPH0396912U (en) |