JPH058066Y2 - - Google Patents
Info
- Publication number
- JPH058066Y2 JPH058066Y2 JP1984172985U JP17298584U JPH058066Y2 JP H058066 Y2 JPH058066 Y2 JP H058066Y2 JP 1984172985 U JP1984172985 U JP 1984172985U JP 17298584 U JP17298584 U JP 17298584U JP H058066 Y2 JPH058066 Y2 JP H058066Y2
- Authority
- JP
- Japan
- Prior art keywords
- industrial robot
- connecting member
- robot
- cylindrical connecting
- protection device
- 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.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
- B25J19/065—Mechanical fuse
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
Description
【考案の詳細な説明】
「産業上の利用分野」
この考案は、工業用ロボツトにおける保護装置
に関し、さらに詳しくは、工業用ロボツトの手首
部に取付けた作業工具がワーク等に接触した時に
作業工具等の損傷を最小限にとどめるための保護
装置に関する。[Detailed description of the invention] "Industrial application field" This invention relates to a protection device for industrial robots. This relates to a protective device for minimizing damage such as.
「従来技術」
工業用ロボツトの作業工具（特に溶接ロボツト
の溶接トーチ）は作業中にワークに接触し破損す
る事が多い。そこで従来から種々の保護装置が提
案されており、たとえば実開昭59−94781号公報
に開示の装置や特開昭54−35959号公報に開示の
装置がある。``Prior Art'' Working tools for industrial robots (particularly welding torches for welding robots) often come into contact with workpieces during work and are damaged. Therefore, various protection devices have been proposed in the past, including a device disclosed in Japanese Utility Model Application Publication No. 59-94781 and a device disclosed in Japanese Patent Application Publication No. 54-35959.
前者の装置は、溶接トーチの先端に近い一部に
折損しやすくする弱め部を形成し、溶接トーチの
先端がワーク等に接触した時、弱め部から先が折
損することでそれ以上の損傷を防止しようとする
ものである。 The former device forms a weakened part near the tip of the welding torch that makes it easy to break, and when the tip of the welding torch comes into contact with a workpiece, etc., the tip of the welding torch will break off from the weakened part, preventing further damage. This is what we are trying to prevent.
一方、後者の装置も、ロボツトの手首部に作業
工具を取付けるための取付台座（連結部材）にく
びれを形成し、作業工具がワーク等に接触した
時、取付台座のくびれより先が折損することでそ
れ以上の損傷を防止しようとするものであり、両
者はロボツト動作時の不慮の事故である作業工具
のワーク等への接触を作業工具のみに留め、しか
もその接触時のロボツト本体への悪影響を防止し
ているものである。 On the other hand, the latter device also forms a constriction in the mounting base (connecting member) for attaching the work tool to the wrist of the robot, and when the work tool comes into contact with a workpiece, etc., the part beyond the constriction of the mounting base breaks. Both systems aim to prevent unforeseen accidents during robot operation, such as contact between the work tool and the workpiece, by only the work tool, and to prevent any negative impact on the robot body when such contact occurs. This prevents
「考案の目的」
この考案は、工業用ロボツトの手首部に取付け
た作業工具がワーク等に接触した時に作業工具等
の損傷を最小限にとどめることができ、しかも構
成が簡単でかつ取扱いが容易である工業用ロボツ
トの保護装置を提供することを目的とする。``Purpose of the invention'' This invention can minimize damage to the work tool attached to the wrist of an industrial robot when it comes into contact with a workpiece, etc., and is simple in structure and easy to handle. The purpose of this invention is to provide a protection device for industrial robots.
「考案の構成」
この考案の工業用ロボツトにおける保護装置
は、工業用ロボツトの手首部先端に設けられる作
業工具に加わる外力により該作業工具が破損する
のを防止する工業用ロボツトの保護装置におい
て、強度を局所的に弱めた脆弱部が全周にわたつ
て設けられ、この脆弱部を会して前記手首部と前
記作業工具とを連結する一体構造の円柱状連結部
材と、この円柱状連結部材の内部に前記脆弱部内
を貫通して配設された検出電線と、この検出電線
の断線を検出して工業用ロボツトの停止信号を出
力する断線停止回路とを具備したことを構成上の
特徴とする。"Structure of the invention" The protection device for an industrial robot of this invention is a protection device for an industrial robot that prevents a working tool provided at the tip of the wrist of the industrial robot from being damaged by an external force applied to the working tool. A cylindrical connecting member having an integral structure, which is provided with a weakened portion whose strength is locally weakened over the entire circumference, and which connects the wrist portion and the working tool by meeting the weakened portion, and the cylindrical connecting member. The present invention is characterized in that it is equipped with a detection wire that penetrates through the fragile part and a disconnection stop circuit that detects a disconnection of the detection wire and outputs a stop signal for the industrial robot. do.
「実施例」
以下、図に示す実施例に基づいてこの考案を詳
説する。ここに第１図はこの考案の一実施例の保
護装置を有する工業用ロボツトの手首部の模式的
外観図、第２図は第１図に示す工業用ロボツトに
適用したこの考案の一実施例に係る円柱状連結部
材の断面図、第３図は第１図に示す工業用ロボツ
トに適用したこの考案の一実施例に係る電気回路
図、第４図は他の実施例における第２図相当図で
ある。なお、これによりこの考案が限定されるも
のではない。"Example" This invention will be explained in detail below based on the example shown in the drawings. Here, Fig. 1 is a schematic external view of the wrist of an industrial robot having a protection device according to an embodiment of the invention, and Fig. 2 is an embodiment of the invention applied to the industrial robot shown in Fig. 1. FIG. 3 is an electrical circuit diagram of one embodiment of this invention applied to the industrial robot shown in FIG. 1, and FIG. 4 is a diagram equivalent to FIG. 2 in another embodiment. It is a diagram. Note that this invention is not limited to this.
第１図においてロボツトの手首部１には第１の
取付け金具２が取付けられ、その第１の取付け金
具２は円柱状連結部材１０の一端１０aを把持し
ている。円柱状連結部材１０の他端１０bは第２
の取付け金具３に把持されており、その第２の取
付け金具３に溶接トーチ４が取付けられている。 In FIG. 1, a first fitting 2 is attached to the wrist 1 of the robot, and the first fitting 2 grips one end 10a of a cylindrical connecting member 10. The other end 10 b of the cylindrical connecting member 10 is the second
A welding torch 4 is attached to the second mounting bracket 3 .
第１の取付け金具２が把持している円柱状連結
部１０の一端１０aと、第２の取付け金具３が把
持している円柱状連結部材１０の他端１０bとの
間には脆弱部１１として断面Ｖ字型の溝が全周に
わたつて刻設されている。 There is a fragile portion between one end 10 a of the cylindrical connecting member 10 held by the first mounting bracket 2 and the other end 10 b of the cylindrical connecting member 10 held by the second mounting bracket 3. 11, a groove having a V-shaped cross section is carved around the entire circumference.
円柱状連結部材１０の素材としては、合成樹脂
やアルミダイキヤストなどを用いることができ
る。 As a material for the cylindrical connecting member 10, synthetic resin, aluminum die-casting, or the like can be used.
第２図に示すように円柱状連結部材１０の内部
にはエナメル線１２が埋設されている。このエナ
メル線は円柱状連結部材１０の一端１０aから他
端１０bに向かい、他端１０bでＵターンして再び
一端１０aに戻り、一端１０a側で引出しケーブル
１３に接続されている。 As shown in FIG. 2, an enameled wire 12 is embedded inside the cylindrical connecting member 10. This enameled wire goes from one end 10 a of the cylindrical connecting member 10 to the other end 10 b , makes a U-turn at the other end 10 b , returns to the one end 10 a again, and is connected to the extraction cable 13 at the one end 10 a side. .
引出しケーブル１３は、第３図に示すように断
線停止回路１４に導かれている。 The pull-out cable 13 is led to a disconnection stop circuit 14 as shown in FIG.
断線停止回路１４は、エナメル線１２の断線を
電気的に検知するとロボツト制御部５に緊急停止
信号を出力する電気回路である。 The disconnection stop circuit 14 is an electric circuit that outputs an emergency stop signal to the robot control unit 5 when a disconnection of the enamelled wire 12 is electrically detected.
さて以上の如き工業用ロボツトにおいて溶接ト
ーチ４がなんらかの外界物に接触すると、ロボツ
トの手首部１の動きと矛盾する力が円柱状連結部
材１０の脆弱部１１に集中する。そこで溶接トー
チ４が破損する前に円柱状連結部材１０の脆弱部
１１から円柱状連結部材１０が曲がつたり折れた
りし、取付け金具３及び溶接トーチ４は逃げられ
るようになる。この結果、溶接トーチ４には無理
な力が働かなくなり、損傷は最小限にくい止めら
れる。一方、ロボツトの手首部１及び取付け金具
２は外界物に拘束されないから、なんら損傷を生
ずることもない。 Now, when the welding torch 4 in the industrial robot as described above comes into contact with some external object, a force that contradicts the movement of the robot's wrist portion 1 is concentrated on the weak portion 11 of the cylindrical connecting member 10. Therefore, before the welding torch 4 is damaged, the cylindrical connecting member 10 bends or breaks from the weakened portion 11 of the cylindrical connecting member 10, allowing the mounting fitting 3 and the welding torch 4 to escape. As a result, no excessive force is applied to the welding torch 4, and damage is minimized. On the other hand, since the robot's wrist portion 1 and the mounting bracket 2 are not restrained by external objects, no damage will occur.
円柱状連結部材１０が脆弱部１１で曲がつたり
折れたりすると内部のエナメル線１２が断線す
る。これはただちに断線停止回路１４で検出さ
れ、ロボツト制御部５に緊急停止信号が出力され
る。 When the cylindrical connecting member 10 bends or breaks at the weakened portion 11, the internal enameled wire 12 breaks. This is immediately detected by the disconnection stop circuit 14, and an emergency stop signal is output to the robot control section 5.
以上の結果をまとめれば、溶接トーチ４の損傷
は円柱状連結部材１０の曲がりあるいは折損によ
り最小限にとどめられ、ロボツトの損傷はロボツ
トが緊急停止されることにより未然に防止される
こととなる。 To summarize the above results, damage to the welding torch 4 can be minimized due to bending or breakage of the cylindrical connecting member 10, and damage to the robot can be prevented by making an emergency stop of the robot.
第４図に示す円柱状連結部材２０は、この考案
の他の実施例に係る円柱状連結部材である。この
円柱状連結部材２０の中央には、断面Ｖ字型の溝
が全周にわたつて刻設され脆弱部２１とされてい
る。円柱状連結部材２０の内部には、エナメル線
２２を貫通する貫通孔が設けられている。円柱状
連結部材２０の両端には、それぞれ引出しケーブ
ル２３a，２３bが導かれ、エナメル線２２の両端
にそれぞれ接続されている。この円柱状連結部材
２０も前記円柱状連結部材１０と同様の作用によ
り、溶接トーチやロボツトの手首部を保護するこ
とができるものである。 A cylindrical connecting member 20 shown in FIG. 4 is a cylindrical connecting member according to another embodiment of this invention. In the center of this cylindrical connecting member 20, a groove having a V-shaped cross section is carved around the entire circumference to form a weakened portion 21. A through hole passing through the enameled wire 22 is provided inside the cylindrical connecting member 20 . Pull-out cables 23 a and 23 b are led to both ends of the cylindrical connecting member 20 and connected to both ends of the enameled wire 22, respectively. This cylindrical connecting member 20 also has the same effect as the cylindrical connecting member 10 and can protect the wrist of a welding torch or robot.
他の実施例としてはエナメル線１２，２２に代
えて、他の細い金属線を用いたもの、あるいは例
えば第４図に示す円柱状連結部材２０において、
連通口２４に金属粉を充填してエナメル線２２を
貫通することに代えたものがあけられる。 As other embodiments, other thin metal wires may be used instead of the enamelled wires 12 and 22, or for example, in the cylindrical connecting member 20 shown in FIG.
Instead of filling the communication port 24 with metal powder and passing the enameled wire 22 through it, an alternative can be made.
「考案の効果」
この考案によれば、工業用ロボツトの手首部先
端に設けられる作業工具に加わる外力により該作
業工具が破損するのを防止する工業用ロボツトの
保護装置において、強度を局所的に弱めた脆弱部
が全周にわたつて設けられ、この脆弱部を会して
前記手首部と前記作業工具とを連結する一体構造
の円柱状連結部材と、この円柱状連結部材の内部
に前記脆弱部内を貫通して配設された検出電線
と、この検出電線の断線を検出して工業用ロボツ
トの停止信号を出力する断線停止回路とを具備し
たことを特徴とする工業用ロボツトにおける保護
装置が提供され、これにより作業工具に何らかの
外力が加わつたときには脆弱部で円柱状連結部材
が曲がつたり折れたりして作業工具が逃げられる
ようになると共に、検出電線の断線に基づいてた
だちに工業用ロボツトが緊急停止されるようにな
る。``Effect of the invention'' According to this invention, in a protection device for an industrial robot that prevents the working tool installed at the tip of the wrist of the industrial robot from being damaged by external force, the strength can be locally increased. A cylindrical connecting member having an integral structure, in which a weakened weakened portion is provided all around the circumference and connects the wrist portion and the working tool by meeting the weakened portion; A protection device for an industrial robot is characterized in that it is equipped with a detection wire disposed through the inside of the robot, and a disconnection stop circuit that detects a disconnection of the detection wire and outputs a stop signal for the industrial robot. As a result, when some external force is applied to the working tool, the cylindrical connecting member bends or breaks at the weak part, allowing the working tool to escape, and the industrial The robot will now come to an emergency stop.
なおこの場合、当該保護装置を構成する連結部
材は、上述の如く円柱状であつてその全周にわた
つて脆弱部が形成されていることから、この円柱
状連結部材の軸芯周りのあらゆる方向から作用す
る外力に対して常に同一の大きさの力にて変形あ
るいは破断されることとなる。 In this case, since the connecting member constituting the protection device is cylindrical as described above and has a weakened portion formed around its entire circumference, it is possible to It will always be deformed or broken by the same amount of external force acting on it.
従つて、常に安定した状態で且つ確実に作業工
具及びロボツトを保護することができる。 Therefore, the work tool and the robot can be protected in a stable and reliable manner at all times.
即ち、緊急停止によつてロボツトの作業動作が
停止されることによつて、破損後の作業工具によ
る被作業物への衝突等の異常が確実に無くなり、
且つそれに伴つて異常作業による余分な補修作業
が無くなり、全体としてロボツトの稼働効率が向
上する。 In other words, by stopping the work operation of the robot by the emergency stop, abnormalities such as collisions with the workpiece by the damaged work tool are reliably eliminated.
Additionally, unnecessary repair work due to abnormal work is eliminated, and the operating efficiency of the robot is improved as a whole.
更に、上記検出電線は円柱状連結部材の内部に
収容されているので、例えば溶接作業で発生する
スパツタによつて検出電線が断線したりする不都
合がなく、誤信号の発生が防止される。 Furthermore, since the detection wire is housed inside the cylindrical connecting member, there is no problem of the detection wire being disconnected due to spatter generated during welding work, for example, and generation of erroneous signals is prevented.
また、この考案の保護装置は、連結部材が円柱
状の極めて簡単な形状に形成されて全体構成が簡
単で取扱いやすいから、容易に実施例できるとい
う現実的効果を有している。 Further, the protective device of this invention has the practical effect that it can be easily implemented because the connecting member is formed in a very simple columnar shape and the overall structure is simple and easy to handle.
第１図はこの考案の一実施例の保護装置を有す
る工業用ロボツトの手首部の模式的外観図、第２
図は第１図に示す工業用ロボツトに適用したこの
考案の一実施例に係る円柱状連結部材の断面図、
第３図は第１図に示す工業用ロボツトに適用した
この考案の一実施例に係る電気回路図、第４図は
他の実施例における第２図相当図である。
符号の説明、５……ロボツト制御部、１０，２
０……円柱状連結部材、１１，２１……脆弱部、
１２，２２……エナメル線、１４……断線停止回
路。
Fig. 1 is a schematic external view of the wrist of an industrial robot having a protection device according to an embodiment of this invention;
The figure is a sectional view of a cylindrical connecting member according to an embodiment of the invention applied to the industrial robot shown in FIG.
FIG. 3 is an electrical circuit diagram of one embodiment of this invention applied to the industrial robot shown in FIG. 1, and FIG. 4 is a diagram corresponding to FIG. 2 in another embodiment. Explanation of symbols, 5... Robot control unit, 10, 2
0...Cylindrical connecting member, 11, 21...Fragile part,
12, 22...Enameled wire, 14...Disconnection stop circuit.
Claims (1)
業工具に加わる外力により該作業工具が被損す
るのを防止する工業用ロボツトの保護装置にお
いて、 強度を局所的に弱めた脆弱部が全周にわたつ
て設けられ、この脆弱部を介して前記手首部と
前記作業工具とを連結する一体構造の円柱状連
結部材と、 この円柱状連結部材の内部に前記脆弱部内を
貫通して配設された検出電線と、 この検出電線の断線を検出して工業用ロボツ
トの停止信号を出力する断線停止回路とを具備
したことを特徴とする工業用ロボツトにおける
保護装置。 (2) 工業用ロボツトが溶接用ロボツトであつて、
その作業工具が溶接トーチである実用新案登録
請求の範囲第１項に記載の工業用ロボツトにお
ける保護装置。[Claims for Utility Model Registration] (1) In a protection device for an industrial robot that prevents damage to a working tool provided at the tip of the wrist of an industrial robot due to external force, the strength is locally increased. a cylindrical connecting member having an integral structure, in which a weakened weakened portion is provided around the entire circumference and connects the wrist portion and the working tool via the weakened portion; 1. A protection device for an industrial robot, comprising: a detection wire disposed through the detection wire; and a disconnection stop circuit that detects disconnection of the detection wire and outputs a stop signal for the industrial robot. (2) The industrial robot is a welding robot,
A protection device for an industrial robot according to claim 1, wherein the working tool is a welding torch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1984172985U JPH058066Y2 (en) | 1984-11-14 | 1984-11-14 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1984172985U JPH058066Y2 (en) | 1984-11-14 | 1984-11-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6189492U JPS6189492U (en) | 1986-06-11 |
| JPH058066Y2 true JPH058066Y2 (en) | 1993-03-01 |
Family
ID=30730645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1984172985U Expired - Lifetime JPH058066Y2 (en) | 1984-11-14 | 1984-11-14 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH058066Y2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6344231Y2 (en) * | 1985-01-18 | 1988-11-17 | ||
| KR100567186B1 (en) * | 2003-10-01 | 2006-04-04 | 한국과학기술원 | Robot arm with shock absorbing structure |
| JP5098428B2 (en) | 2007-05-11 | 2012-12-12 | 株式会社豊田自動織機 | Fiber bundle array device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6094490U (en) * | 1983-12-01 | 1985-06-27 | フアナツク株式会社 | Safety fittings for industrial robots |
| JPS60172692U (en) * | 1984-04-19 | 1985-11-15 | トキコ株式会社 | industrial robot |
-
1984
- 1984-11-14 JP JP1984172985U patent/JPH058066Y2/ja not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6189492U (en) | 1986-06-11 |
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