JPS644593U

JPS644593U -

Info

Publication number: JPS644593U
Application number: JP9871987U
Authority: JP
Priority date: 1987-06-26
Filing date: 1987-06-26
Publication date: 1989-01-12

Description

[Brief explanation of the drawing]

第１図は本考案の一実施例の干渉検知装置を備
えた直交座標形ロボツトの一例の斜視図、第２図
は第１図の例において横方向から干渉する状態を
示す平面図で、ａは干渉する前、ｂは干渉後の状
態を示す図、第３図は第１図の例において縦方向
から干渉する状態を示す平面図で、ａは干渉前、
ｂは干渉後の状態を示す図、第４図は従来の干渉
検知装置を取付けたロボツトのアームの一例を示
す斜視図である。１，２，１０……アーム、３，４，１１……ハ
ンド取付部、５，６……電極、７ａ，７ｂ，７ｃ
，７ｄ……板ばね、８ａ，８ｂ……絶縁部材、９
，１２……ハンド部、１３……タツチセンサ。 FIG. 1 is a perspective view of an example of a Cartesian coordinate robot equipped with an interference detection device according to an embodiment of the present invention, and FIG. 2 is a plan view showing a state in which interference occurs from the lateral direction in the example of FIG. is a diagram showing a state before interference, b is a diagram showing a state after interference, FIG. 3 is a plan view showing a state in which interference occurs from the vertical direction in the example of FIG. 1, and a is a diagram showing a state before interference,
4b is a diagram showing the state after interference, and FIG. 4 is a perspective view showing an example of a robot arm to which a conventional interference detection device is attached. 1, 2, 10... Arm, 3, 4, 11... Hand attachment part, 5, 6... Electrode, 7a, 7b, 7c
, 7d...Plate spring, 8a, 8b...Insulating member, 9
, 12...hand portion, 13...touch sensor.

Claims

[Claims for Utility Model Registration] Two arms that are attached to each of two arms that are arranged in parallel and can move toward or away from each other, and that can move back and forth in the longitudinal direction of said arms.
two sets of leaf springs having distal ends fixed to each of the hand mounting parts and capable of deflecting in a plane parallel to a plane of motion of the hand mounting parts; and tip ends of each of the two sets of leaf springs. two insulating members fixed to the insulating member, and two hand parts supported by the insulating member and held at the tips of the two hand attachment parts, disposed above each of the two hand parts, and two electrodes having a larger area than the arm, electrically insulated from the arm, and disposed in the same plane so that they can contact each other, and the arrangement of the two sets of leaf springs An interference detection device for a robot, characterized in that the robot interference detection device is arranged such that the installation directions are not parallel to each other within a plane that is flat with the movement plane of the hand attachment portion.