JPH0432828U - - Google Patents
Info
- Publication number
- JPH0432828U JPH0432828U JP7595090U JP7595090U JPH0432828U JP H0432828 U JPH0432828 U JP H0432828U JP 7595090 U JP7595090 U JP 7595090U JP 7595090 U JP7595090 U JP 7595090U JP H0432828 U JPH0432828 U JP H0432828U
- Authority
- JP
- Japan
- Prior art keywords
- nut runner
- robot
- motor
- seating point
- rotational
- 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
Links
- 238000010586 diagram Methods 0.000 description 3
Landscapes
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Description
第１図は本考案に係るロボツト用ナツトランナ
の一実施例を示す断面図、第２図及び第３図はロ
ボツトへの装着例を示す斜視図、第４図は本考案
のナツトランナの制御回路のブロツク図、第５図
はナツトランナのトルク−回転角の特性曲線図、
第６図は従来のナツトランナのロボツトへの取付
構造を示す概略図である。
１０……ナツトランナ本体、１１……モータ、
１２……減速歯車部、１３……ロボツトアーム。
Fig. 1 is a sectional view showing an embodiment of the nut runner for a robot according to the present invention, Figs. 2 and 3 are perspective views showing an example of mounting on a robot, and Fig. 4 is a control circuit of the nut runner of the present invention. Block diagram, Figure 5 is a characteristic curve diagram of nut runner torque-rotation angle,
FIG. 6 is a schematic diagram showing a conventional nut runner mounting structure on a robot. 10... Nut runner body, 11... Motor,
12... Reduction gear section, 13... Robot arm.
Claims (1)
、かつ、着座点以後のモータ電流を回転角度と共
に検出して回転エネルギーを積算し、この積算値
が、予め設定した目標回転エネルギーと等しくな
るまでモータの印加電流を制御する方式としたナ
ツトランナの本体を、ロボツトアームの先端に直
接固定したことを特徴とするロボツト用ナツトラ
ンナ。 It has means for detecting the seating point as a change in rotational speed, and also detects the motor current after the seating point along with the rotational angle and integrates the rotational energy until this integrated value becomes equal to a preset target rotational energy. A nut runner for a robot, characterized in that the main body of the nut runner, which controls the applied current to a motor, is directly fixed to the tip of a robot arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7595090U JPH0432828U (en) | 1990-07-16 | 1990-07-16 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7595090U JPH0432828U (en) | 1990-07-16 | 1990-07-16 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0432828U true JPH0432828U (en) | 1992-03-17 |
Family
ID=31616978
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7595090U Pending JPH0432828U (en) | 1990-07-16 | 1990-07-16 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0432828U (en) |
-
1990
- 1990-07-16 JP JP7595090U patent/JPH0432828U/ja active Pending