Unlock instant, AI-driven research and patent intelligence for your innovation.

Manipulator for robot

A technology of operating devices and robots, which can be applied to instruments, manipulators, general control systems, etc., and can solve problems such as the movement of the arm 102

Active Publication Date: 2021-06-29
FANUC LTD
View PDF8 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] Therefore, in the conventional robot manipulation device 103, there is a problem that it is difficult to move the tip end of the arm 102 as desired by the operator.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Manipulator for robot
  • Manipulator for robot
  • Manipulator for robot

Examples

Experimental program
Comparison scheme
Effect test

no. 1 approach

[0033] figure 1 It is a perspective view showing an example of a robot including the robot manipulation device according to the first embodiment. figure 2 is enlarged figure 1 A perspective view of the manipulator for the robot shown.

[0034] Such as figure 1 As shown, a detachable robot operating device 13 is attached to the tip end of the arm 12 of the robot 11 . The robot 11 is, for example, an industrial robot such as a vertical articulated robot.

[0035] Such as figure 2 As shown, the robot manipulation device 13 of the first embodiment includes: a force sensor 15 attached to the tip of the arm 12 ; and a handle support 17 provided at the tip of the arm 12 via the force sensor 15 .

[0036] Specifically, the handle support portion 17 supports two rod-shaped handles 16A, 16B. Preferably, each handle 16A, 16B is provided integrally with the handle support portion 17 . Moreover, the handle structure including the two handles 16A, 16B has two force points S1, S2...

no. 2 approach

[0064] Next, a second embodiment will be described. However, here, the same reference numerals are used for the same components as those of the first embodiment, and description thereof will be omitted. Therefore, only the points different from the components of the first embodiment will be described below.

[0065] Figure 5 It is a perspective view showing the robot manipulation device of the second embodiment.

[0066] Such as Figure 5 As shown, in the second embodiment, the ring-shaped handle 16C is supported by the handle support portion 17 . The handle support portion 17 is arranged at the center of the ring-shaped handle 16C. In addition, the ring-shaped handle 16C is provided integrally with the handle support portion 17 via the extension member 29 .

[0067] in addition, Figure 5 The dashed-dotted line A shown represents the extension line A of the force input shaft of the force sensor 15 as in the first embodiment described above.

[0068] In addition, in th...

no. 3 approach

[0072] Next, a third embodiment will be described. Here, the same reference numerals are used for the same constituent elements as those of the first embodiment, and description thereof will be omitted. Therefore, only the points different from the components of the first embodiment will be described below.

[0073] Image 6 It is a perspective view showing the robot manipulation device of the third embodiment.

[0074] In the third embodiment, if Image 6 As shown, four rod-shaped handles 16D, 16E, 16F, and 16G are provided integrally with the handle support portion 17 so as to protrude laterally from the handle support portion 17 .

[0075] In addition, the two rod-shaped handles 16D and 16E are arranged in a row, and the two rod-shaped handles 16F and 16G are arranged in a row. Furthermore, the set of two handles 16D, 16E and the set of two handles 16F, 16G are arranged orthogonally to each other. That is to say, Image 6 The structure shown comprising four handles 16...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The robot manipulation device includes a force sensor attached to the distal end of the arm, and a handle support provided on the distal end of the arm via the force sensor. The handle supporting part supports two handles, and the handle structure including the two handles has two force points for holding by both hands and applying force. By making the force sensor detect the resultant force of the forces acting on the two force points and sending it to the robot controller, the tip of the arm is moved according to the direction and magnitude of the resultant force detected by the force sensor.

Description

technical field [0001] The present invention relates to an operating device for a robot including a handle for operating the robot. Background technique [0002] In an industrial robot, in order to ensure the safety of humans, a safety fence is provided around the movable region of the robot to restrict people from entering the movable region of the robot. However, in recent years, it has become possible to share a working space with humans with industrial robots that have undergone some kind of treatment that can sufficiently ensure human safety instead of safety fences. [0003] Therefore, in an industrial robot that cooperates with humans, it is desirable for humans to operate the arms of the robot as necessary in order to improve the efficiency of collaborative work. In order to meet such desires, it has been proposed to attach a robot manipulation device for manipulating the robot to the distal end of the arm (for example, refer to Japanese Patent No. 3188953). [000...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/00B25J13/08
CPCB25J13/085B25J13/02B25J9/0081B25J9/1656G05B19/423B25J9/1612B25J9/1651
Inventor 村上涉
Owner FANUC LTD