JPH0451315U - - Google Patents
Info
- Publication number
- JPH0451315U JPH0451315U JP9237790U JP9237790U JPH0451315U JP H0451315 U JPH0451315 U JP H0451315U JP 9237790 U JP9237790 U JP 9237790U JP 9237790 U JP9237790 U JP 9237790U JP H0451315 U JPH0451315 U JP H0451315U
- Authority
- JP
- Japan
- Prior art keywords
- drill
- main body
- wrist shaft
- end effector
- rcc
- 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
- 239000012636 effector Substances 0.000 claims description 5
- 210000000707 wrist Anatomy 0.000 claims description 5
- 230000037431 insertion Effects 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Drilling And Boring (AREA)
Description
第１図は本考案の一実施例の側面図、第２図は
同実施例の主要部の断面図、第３図および第４図
はＲＣＣ装置の作用原理説明図である。
１……エンドエフエクター本体、２……ドリル
フイーダー、３……ドリル、４……１次側プレー
ト、５……ＲＣＣ本体、６……２次側プレート、
２０……センサー取付部、２１……位置スンサー
、２２……磁性体片、２３……角度センサー、２
４……磁性体片、３０……ブレースリング、３１
……ボルト、３２……スプリングリテーナ、３３
……リテーナリング、３４……回り止め、３５…
…ノーズチヤツク、３６……ねじ、３７……スプ
リング、３８……ボール、３９……ノーズ、４０
……ノーズ小径部、４１……ドリル挿通孔、５０
……ドリルプレート、５１……ブツシユ、５２…
…ドリル治具、６０……産業用ロボツト、６１…
…腕、６２……手首軸、６３……エンドエフエク
ター、６４……エンドエフエクター本体部、６５
……ＲＣＣおよびセンサー部、６６……ドリル案
内部、７０……棒状物体、７１……対象物の孔、
７２……ＲＣＣ装置、７３……１次側プレート、
７４……ＲＣＣ本体、７５……２次側プレート。
FIG. 1 is a side view of an embodiment of the present invention, FIG. 2 is a sectional view of the main part of the embodiment, and FIGS. 3 and 4 are diagrams illustrating the principle of operation of the RCC device. 1...End effector body, 2...Drill feeder, 3...Drill, 4...Primary side plate, 5...RCC body, 6...Secondary side plate,
20...Sensor mounting part, 21...Position sensor, 22...Magnetic piece, 23...Angle sensor, 2
4... Magnetic piece, 30... Brace ring, 31
...Bolt, 32 ...Spring retainer, 33
... Retainer ring, 34 ... Stopper, 35 ...
...Nose chuck, 36...Screw, 37...Spring, 38...Ball, 39...Nose, 40
...Nose small diameter part, 41...Drill insertion hole, 50
...Drill plate, 51...Butsuyu, 52...
...Drill jig, 60...Industrial robot, 61...
... Arm, 62 ... Wrist axis, 63 ... End effector, 64 ... End effector main body, 65
... RCC and sensor section, 66 ... Drill guide section, 70 ... Rod-shaped object, 71 ... Hole of target,
72...RCC device, 73...Primary side plate,
74...RCC main body, 75...Secondary side plate.
Claims (1)
および手首軸の位置と方向を制御駆動する装置を
備えた産業用ロボツトと、同産業用ロボツトの手
首軸に保持されるエンドエフエクターとから構成
され；同エンドエフエクターは、前記手首軸に保
持されその内部にはドリルを保持し回転前進駆動
する装置を収納した本体、同本体に結合された中
空のＲＣＣ装置、同ＲＣＣ装置の他の側に結合さ
れた中空のドリル案内部、ならびに前記本体とド
リル案内部との間に設けられそれらの中心線の位
置のずれおよび角度のずれをそれぞれ検知するセ
ンサとから構成され；かつ、前記ドリル案内部は
、ドリル治具のブツシユ孔に挿入される先端小径
部と同小径部の内側に前記ドリルが挿通されるド
リル挿通孔を有する着脱可能なノーズを備えてい
ることを特徴とする自動孔明け装置。 An industrial robot equipped with an arm, a wrist shaft provided at its tip, and a device for controlling and driving the position and direction of the arm and wrist shaft, and an end effector held on the wrist shaft of the industrial robot. The end effector is composed of a main body that is held on the wrist shaft and houses a device that holds a drill and rotates it forward, a hollow RCC device that is connected to the main body, and other parts of the RCC device. a hollow drill guide coupled to a side; and a sensor provided between the main body and the drill guide to detect a positional deviation and an angular deviation of their center lines; The guide part is equipped with a removable nose having a small diameter part at the tip to be inserted into the bushing hole of the drill jig and a drill insertion hole into which the drill is inserted inside the small diameter part. Dawn device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9237790U JPH0451315U (en) | 1990-09-04 | 1990-09-04 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9237790U JPH0451315U (en) | 1990-09-04 | 1990-09-04 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0451315U true JPH0451315U (en) | 1992-04-30 |
Family
ID=31828781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9237790U Pending JPH0451315U (en) | 1990-09-04 | 1990-09-04 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0451315U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015000452A (en) * | 2013-06-17 | 2015-01-05 | 川崎重工業株式会社 | Work operation regulating system and method |
-
1990
- 1990-09-04 JP JP9237790U patent/JPH0451315U/ja active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015000452A (en) * | 2013-06-17 | 2015-01-05 | 川崎重工業株式会社 | Work operation regulating system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2010120155A (en) | Pneumatically controlled gripping device | |
| JPH0451315U (en) | ||
| JPH0169330U (en) | ||
| JPS6322060Y2 (en) | ||
| JPH0519184Y2 (en) | ||
| JPS6189435U (en) | ||
| JPH02110489U (en) | ||
| JPS61190380U (en) | ||
| ATE238867T1 (en) | CHUCK WITH AXIAL POSITIONING DEVICE | |
| JPH045317U (en) | ||
| JPS62136391A (en) | Gripper | |
| JPH0442376U (en) | ||
| JPH077047Y2 (en) | Tailstock with tailstock | |
| JPS63136891U (en) | ||
| JPS62121092U (en) | ||
| JPH01138510U (en) | ||
| JPS5974013U (en) | Automatic holding device for workpiece parts using work arbor | |
| JPS63106545U (en) | ||
| JPS62184930U (en) | ||
| JPH0359105U (en) | ||
| JPS6250008U (en) | ||
| JPS6225589U (en) | ||
| JPS6045604U (en) | Chuck device in automatic lathe | |
| JPS6438264U (en) | ||
| JPH0326407U (en) |