KR860000078Y1 - Industrial Robot Hand Mount - Google Patents
Industrial Robot Hand Mount Download PDFInfo
- Publication number
- KR860000078Y1 KR860000078Y1 KR2019840005083U KR840005083U KR860000078Y1 KR 860000078 Y1 KR860000078 Y1 KR 860000078Y1 KR 2019840005083 U KR2019840005083 U KR 2019840005083U KR 840005083 U KR840005083 U KR 840005083U KR 860000078 Y1 KR860000078 Y1 KR 860000078Y1
- Authority
- KR
- South Korea
- Prior art keywords
- hand
- industrial robot
- fixing plate
- robot
- wrist
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
내용 없음.No content.
Description
제1도는 본 고안의 핸드마운트가 적용된 산업용로보트의 측면도.1 is a side view of an industrial robot to which the hand mount of the present invention is applied.
제2도는 본 고안의 마운트에 핸드를 장착한 상태 사시도.Figure 2 is a perspective view of the hand mounted on the mount of the present invention.
제3도는 본 고안의 작용설명도로서, (a)는 정상가동 상태도. (b)는 절단된 상태도.3 is an explanatory view of the operation of the present invention, (a) is a normal operating state. (b) is a state cut.
* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings
2 : 손목부 3 : 핸드2: wrist 3: hand
4 : 고정판 5 : 단층노치4: fixed plate 5: single layer notch
6 : 장착판 8 : 안전행거6: mounting plate 8: safety hanger
11 : 리미트스위치11: limit switch
본 고안은 산업용로보트의 아암선단의 손목부에 핸드를 장착하기 위한 핸드마운트에 관한 것이다. 종래 산업용로보트에서는 손목부에 핸드를 장착함에 있어 단순히 플랜지로서 나착하고 있었으므로 로보트 아암이 선회할 때 예기치 않게 핸드가 공장내부 구조물등에 급격히 충돌하는 경우 아암등이 부러지게 되는 등 로보트 본체중 임의 부위가 파손되게 되어 고가의 로보트가 사용할 수 없게 되는 폐단이 있었다.The present invention relates to a hand mount for mounting the hand on the wrist of the arm tip of the industrial robot. In the conventional industrial robot, when attaching a hand to the wrist part, it is simply attached as a flange. When the robot arm turns, an unexpected part of the robot body breaks when the hand suddenly collides with the structure inside the factory. There was a closure that caused expensive robots to become damaged.
따라서 본 고안은 이러한 종래의 폐단을 제거하기 위하여 핸드가 이물체에 충돌할 경우 항상 핸드마운트에서 절단되도록 하므로써 로보트본체가 훼손되는일이 없도록 하려는 것으로 이를 첨부도면에 따라서 상세히 설명하면 다음과 같다.Therefore, the present invention is intended to prevent the robot body from being damaged by cutting the hand at all times when the hand collides with a foreign body in order to remove the conventional closed end. This will be described in detail with reference to the accompanying drawings.
즉 본 고안은 도시한바와 같이, 통상의 산업용로보트 아암(1)의 선단 손목부(2)에 핸드(3)를 장착함에 있어, 손목부(2)에 고정판(4)을 나착고정하고, 고정판(4)에 단층노치(5)가 형성된 한쌍의 장착판(6)을 돌설하여 이장착판(6)에 핸드(3)의 양측 플랜지(7)를 나착고정하고, 고정판(4)에 회동가능하게 지지된 안전행거(8)의 장공(9)에 핸드(3)의 측면을 핀(10)으로 연결하고, 핸드(3)의 후면에는 로보트 구동전원차단용리미트스위치(11)를 손목부(2)에 압접되도록 설치하여서 된 것이다.In other words, as shown in the present invention, in attaching the hand 3 to the distal wrist portion 2 of the conventional industrial robot arm 1, the fixing plate 4 is fixed to the wrist portion 2, and the fixing plate is fixed. A pair of mounting plates 6 having a single-layer notch 5 formed therein is protruded to fix the two flanges 7 of the hand 3 to the mounting plate 6 so as to be rotatable to the fixing plate 4. The side of the hand 3 is connected with the pin 10 to the long hole 9 of the supported safety hanger 8, and the robot drive power cutoff limit switch 11 is attached to the rear of the hand 3 to the wrist part 2. It is installed to be pressed in
미설명부호(12)는 핸드(3)에 확개가능하게 설치된 핑거이고, (13)은 로보트본체이다. 이와 같이 구성된 본 고안은 핑거(12)로써 공작물을 파지하여 아암(1)을 선회시켜 소정위치로 이동 및 조립하는 것인바, 아암(1)을 선회시킴에 있어 예기치 않게 핸드(3)가 공장구조물등의 이물체에 충돌할 경우 핸드(3)의 장착판(6)에 단층노치(5)가 형성되어 있으므로 충돌력에 의해 노치(5) 부분에서 응력집중이 생기게 되어 항상 이노치(5) 부분에서 파단되게 된다.Reference numeral 12 is a finger installed remarkably on the hand 3, and 13 is a robot body. The present invention configured as described above is to move and assemble the arm 1 by holding the workpiece with the finger 12 to move to a predetermined position. In turning the arm 1, the hand 3 is unexpectedly a factory structure. In the case of colliding with a foreign object such as a single-layer notch 5 is formed in the mounting plate 6 of the hand 3, the impact force causes stress concentration at the notch 5 portion, and therefore always in the notch 5 portion. Will break at.
따라서 충돌에 의해 로보트본체(13)가 훼손되는 일이 없게되며, 장착판(6)의 노치(5)부분이 파손되면 제3도(b)와 같이핸드(3)는 고정판(4)에 설치된 안전행거(8)에 의해 지지되므로 손목부(2)에서 분리된 핸드(3)가 낙하함에 따라 2차적 손상도 방지된다. 또한 위와 같이 파단되면 손목부(2)에 압접되어 「온」상태로 접촉되어 있던 리미트 스위치(11)가 떨어지면서 로보트 제어장치에 전원차단 신호를 입력시켜 로보트의 작동을 중지시키므로써 연쇄적인 충돌등의 사고를 방지할 수 있는 것이다.Therefore, the robot main body 13 is not damaged by the collision. If the notch 5 of the mounting plate 6 is damaged, the hand 3 is installed on the fixing plate 4 as shown in FIG. Since it is supported by the safety hanger 8, secondary damage is also prevented as the hand 3 separated from the wrist 2 falls. In addition, when broken as described above, the limit switch 11 which is pressed against the wrist part 2 and in contact with the " on " state falls and inputs a power cut signal to the robot controller to stop the operation of the robot. To prevent accidents.
이상과 같이 본 고안에 의하면 로보트 작업시 충돌이 생기드라도 항상 정해진 부분에서 파단되도록 하므로써 본체가 훼손될 염려가 없으며 파단후 분리된 핸드 부분은 행거로써 지지하고 리미트 스위치에 의해 로보트 구동을 중지시키므로써 2차적인 훼손과 연쇄적인 사고까지도 방지할 수 있는 효과가 있다.As described above, according to the present invention, even if a collision occurs during the robot operation, there is no fear of damage to the main body by always breaking at a predetermined part, and after breaking, the separated hand part is supported by a hanger and the robot is stopped by the limit switch. There is an effect that can prevent the damage and even a series of accidents.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019840005083U KR860000078Y1 (en) | 1984-05-30 | 1984-05-30 | Industrial Robot Hand Mount |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019840005083U KR860000078Y1 (en) | 1984-05-30 | 1984-05-30 | Industrial Robot Hand Mount |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR850009910U KR850009910U (en) | 1985-12-10 |
| KR860000078Y1 true KR860000078Y1 (en) | 1986-02-12 |
Family
ID=19235112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR2019840005083U Expired KR860000078Y1 (en) | 1984-05-30 | 1984-05-30 | Industrial Robot Hand Mount |
Country Status (1)
| Country | Link |
|---|---|
| KR (1) | KR860000078Y1 (en) |
-
1984
- 1984-05-30 KR KR2019840005083U patent/KR860000078Y1/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| KR850009910U (en) | 1985-12-10 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A201 | Request for examination | ||
| UA0108 | Application for utility model registration |
Comment text: Application for Utility Model Registration Patent event code: UA01011R08D Patent event date: 19840530 |
|
| UA0201 | Request for examination |
Patent event date: 19840530 Patent event code: UA02012R01D Comment text: Request for Examination of Application |
|
| UG1501 | Laying open of application | ||
| UG1604 | Publication of application |
Patent event code: UG16041S01I Comment text: Decision on Publication of Application Patent event date: 19860115 |
|
| E701 | Decision to grant or registration of patent right | ||
| UE0701 | Decision of registration |
Patent event date: 19860423 Comment text: Decision to Grant Registration Patent event code: UE07011S01D |
|
| REGI | Registration of establishment | ||
| UR0701 | Registration of establishment |
Patent event date: 19860507 Patent event code: UR07011E01D Comment text: Registration of Establishment |
|
| UR1002 | Payment of registration fee |
Start annual number: 1 End annual number: 10 Payment date: 19860507 |
|
| EXPY | Expiration of term | ||
| UC1801 | Expiration of term |
Termination category: Others Termination date: 19971210 |