JPS6426183U

JPS6426183U -

Info

Publication number: JPS6426183U
Application number: JP12049987U
Authority: JP
Priority date: 1987-08-07
Filing date: 1987-08-07
Publication date: 1989-02-14

Description

[Brief explanation of drawings]

第１図はこの考案に係わるフインガ取付装置の
一実施例の構成を示す斜視図；第２図はフインガ
の取り付け部付近の構成を示す断面図；第３図は
フインガステーシヨンの構成を示す正面図；そし
て、第４図はフインガがラツクに保持された状態
を示す正面図である。図中、１０…フインガ取付装置、１２…ロボツ
トアーム、１４…フインガ取付部材、１６…フイ
ンガ保持部材、１８…電磁コイル、２２…フイン
ガ部分、２４…環状のフツク溝、２６…位置決め
ピン、２８…凹部、３０…フインガステーシヨン
、３２…フインガラツク、３４…ラツク板、３６
…挿入用凹所、３８…ラツク内位置決めピン、４
０…位置決め用穴、４２…光反射体、４４…第１
のフオトセンサ、４６…第２のフオトセンサであ
る。 Figure 1 is a perspective view showing the configuration of an embodiment of the finger attachment device according to this invention; Figure 2 is a sectional view showing the configuration near the finger attachment part; Figure 3 is a front view showing the configuration of the finger station. FIG. 4 is a front view showing a state in which the fingers are easily held. In the figure, 10... finger attachment device, 12... robot arm, 14... finger attachment member, 16... finger holding member, 18... electromagnetic coil, 22... finger portion, 24... annular hook groove, 26... positioning pin, 28... recess, 30... finger station, 32... finger rack, 34... rack plate, 36
...Insertion recess, 38...Rack positioning pin, 4
0...Positioning hole, 42...Light reflector, 44...First
photo sensor, 46... is a second photo sensor.

Claims

[Claims for Utility Model Registration] (1) Holding means for exchangeably holding the finger at the tip of the robot arm, first detection means for detecting the position of the robot arm with respect to the finger, and the state of connection of the finger to the robot arm. and a second detection means for detecting, and the operating state of the holding means is controlled based on a combination of detection signals output from the first and second detection means. Device. (2) The first detection means outputs an on detection signal when detecting a state in which the robot arm is held within the finger rack, and outputs an off detection signal when detecting a state in which the robot arm is not within the finger rack; The second detection means outputs an ON detection signal when it detects that the finger is connected to the tip of the robot arm, and outputs an OFF detection signal when it detects that the finger is not connected. A finger attachment device according to claim 1 of the patented utility model. (3) The holding means includes a magnetic coil for magnetically attracting the finger, and an energizing means for exciting the magnetic coil, and both the first and second detection means output an on signal. In this case, the energizing means does not energize the magnetic coil, and when the first detecting means outputs an OFF signal and the second detecting means outputs an ON signal, the energizing means energizes the magnetic coil. The finger attachment according to claim 2 of the registered utility model claim, characterized in that the energizing means does not energize the magnetic coil when the first and second detection means both output an off signal when the magnetic coil is energized. Device. (4) The finger attachment device according to claim 1, wherein the first and second detection means are both provided at the tip of the robot arm.