JPS62161990U - - Google Patents
Info
- Publication number
- JPS62161990U JPS62161990U JP5043086U JP5043086U JPS62161990U JP S62161990 U JPS62161990 U JP S62161990U JP 5043086 U JP5043086 U JP 5043086U JP 5043086 U JP5043086 U JP 5043086U JP S62161990 U JPS62161990 U JP S62161990U
- Authority
- JP
- Japan
- Prior art keywords
- providing
- sealing part
- ultrasonic sensor
- water sealing
- water
- 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.)
- Pending
Links
- 239000012528 membrane Substances 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 3
- 238000007789 sealing Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
Description
第１図は本考案の一実施例を示すもので、物体
を把持する直前の状態を示す部分斜視図、第２図
は第１図において容器を把持した状態のグリツパ
ーを示す部分水平断面図、第３図は第２図におけ
る超音波センサーの受信波形を示す線図である。
１…グリツパー爪、２…超音波センサー、３…
ゴム膜、３ａ…膜壁、４…スプリング、５…スプ
リング受、６…アキユムレータ、７…液体、８…
容器、８ａ…超音波センサーからの最短距離の容
器内壁部、８ｂ…超音波センサーからの最長容器
外壁部。
FIG. 1 shows an embodiment of the present invention; FIG. 2 is a partial horizontal sectional view showing the gripper in a state just before gripping an object; FIG. 2 is a partial horizontal cross-sectional view showing the gripper in FIG. FIG. 3 is a diagram showing the received waveform of the ultrasonic sensor in FIG. 2. 1...Gripper claw, 2...Ultrasonic sensor, 3...
Rubber membrane, 3a...Membrane wall, 4...Spring, 5...Spring receiver, 6...Accumulator, 7...Liquid, 8...
Container, 8a... Inner wall of the container at the shortest distance from the ultrasonic sensor, 8b... Outer wall of the container at the longest distance from the ultrasonic sensor.
Claims (1)
ゴム膜で閉塞し内部に水を封じ込めてなる封水部
を設け、上記封水部の底部に超音波センサーを設
けたことを特徴とするハンドリンググリツパー。 It is characterized by providing a water sealing part which seals the water inside by closing the opening of the recess formed in the inner surface of the grip claw with a rubber membrane, and providing an ultrasonic sensor at the bottom of the water sealing part. Handling gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5043086U JPS62161990U (en) | 1986-04-04 | 1986-04-04 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5043086U JPS62161990U (en) | 1986-04-04 | 1986-04-04 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62161990U true JPS62161990U (en) | 1987-10-15 |
Family
ID=30873783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5043086U Pending JPS62161990U (en) | 1986-04-04 | 1986-04-04 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62161990U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019051569A (en) * | 2017-09-14 | 2019-04-04 | 株式会社東芝 | Holding device, handling device, and detection device |
-
1986
- 1986-04-04 JP JP5043086U patent/JPS62161990U/ja active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019051569A (en) * | 2017-09-14 | 2019-04-04 | 株式会社東芝 | Holding device, handling device, and detection device |