CN102275160B - Robot device and articulated robot - Google Patents
Robot device and articulated robot Download PDFInfo
- Publication number
- CN102275160B CN102275160B CN201110158572.9A CN201110158572A CN102275160B CN 102275160 B CN102275160 B CN 102275160B CN 201110158572 A CN201110158572 A CN 201110158572A CN 102275160 B CN102275160 B CN 102275160B
- Authority
- CN
- China
- Prior art keywords
- cylinder sleeve
- robot device
- face
- fixture unit
- cylinder
- 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.)
- Active
Links
- 230000002093 peripheral effect Effects 0.000 claims abstract description 15
- 238000003780 insertion Methods 0.000 claims abstract description 5
- 230000037431 insertion Effects 0.000 claims abstract description 5
- 239000000758 substrate Substances 0.000 claims description 12
- 241000251468 Actinopterygii Species 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000013213 extrapolation Methods 0.000 description 4
- 238000004512 die casting Methods 0.000 description 2
- 241000222712 Kinetoplastida Species 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
Even if the invention provides and change cylinder sleeve diameter, do not need to carry out yet the setting change operation of equipment and setting change conversion after adjustment etc. just can carry out the robot device that changes and articulated robot simply.To be set side by side with predetermined spacing in manipulator main body (2) and multiplely can to insert and keep the robot device of the fixture unit (31) of the cylinder sleeve (5) of tubular, wherein: be provided with can move relative to the radial direction of the insertion holding position of cylinder sleeve (5) to cylinder sleeve (5) at fixture unit (31), and by the movement to cylinder sleeve central side from multiple sliding panels (34) of the end in outside clamping cylinder sleeve (5), in this sliding panel (34) is the end difference shape comprising the clamping section (35) abutted with the end outer peripheral face of cylinder sleeve (5) and the circular protrusions (35a) abutted with the direction of principal axis end face of cylinder sleeve (5) with the abutting portion of the end abutment of cylinder sleeve (5).
Description
Technical field
What the present invention relates to the cylinder sleeve (liner) in die casting (die casting) cylinder block inlays the robot device used in shaping and the articulated robot using this robot device.
Background technology
In the past, when the cylinder block of casting forming to engine by aluminium etc. forms, what the state of the sleeve (cylinder sleeve) of many employings multiple cylindrical shape with extrapolation on the columned multiple cylinder cores being arranged at changeable mold formed inlays manufacturing process, inlay in manufacturing process at this, inserting in the operation of cylinder sleeve to each cylinder core, use the robot device (patent document 1) being set side by side with fixture unit, described fixture unit keeps cylinder sleeve with the spacing corresponding with each cylinder.This robot device is installed on the arm of articulated robot, carries out the extrapolation to each cylinder core of cylinder sleeve.
Patent document 1: specially permit No. 3405435 publication
But, in such Work robot robot device, when changing to the cylinder sleeve diameter corresponding with the diameter of cylinder core in manufacturing step, need to carry out the setting change operation of equipment and the adjustment after setting change conversion, spended time and labour.
Summary of the invention
Therefore, though the invention provides change cylinder sleeve diameter, do not need to carry out yet the setting change operation of equipment and setting change conversion after adjustment etc. just can carry out the robot device that changes and articulated robot simply.
In order to reach above-mentioned purpose, the invention described in technical scheme 1 is a kind of robot device, is to be set side by side with predetermined spacing in manipulator main body multiplely can insert and keep the robot device of the fixture unit of the cylinder sleeve of tubular, it is characterized in that:
Be provided with at described fixture unit can move relative to the radial direction of the insertion holding position of described cylinder sleeve to described cylinder sleeve and be clamped multiple slide masses of the end of described cylinder sleeve by the movement to described cylinder sleeve central side from outside, in described slide mass be the end difference shape comprising the first abutting part abutted with the end outer peripheral face of described cylinder sleeve and the second abutting part abutted with the direction of principal axis end face of described cylinder sleeve with the abutting portion of the end abutment of described cylinder sleeve.
Invention described in technical scheme 2, beyond the invention described in technical scheme 1, there is the projection with the axis parallel of described cylinder sleeve the described abutting portion of described slide mass is projecting, in the projecting circular protrusions having diameter less than this end face of the end face of the clamping side at described cylinder sleeve of this projection, thus the outer peripheral face forming described circular protrusions becomes described first abutting part and the described end face of described projection becomes the end difference shape of described second abutting part.
Invention described in technical scheme 3, beyond the invention described in technical scheme 2, in the diametric(al) of described cylinder sleeve, relative configuration has slide mass described in a pair, and the closure of described cylinder sleeve is set side by side with the described projection of a pair each described slide mass.
Invention described in technical scheme 4 is a kind of articulated robot, wherein, is provided with the robot device described in any one of technical scheme 1 to 3 on the top of arm.
According to the invention described in technical scheme 1 and 4, even if change cylinder sleeve external diameter, the adjustment operation after also not needing the setting change operation of carrying out equipment to change conversion with setting just can be changed simply.Therefore, the manufacturing step short time stops, and it can be made to restore immediately.In addition, simple structure, so installation is also easy.Slide mass in addition, can not bloat to the internal side diameter of cylinder sleeve at the clamped condition downslide kinetoplast of cylinder sleeve, so can not be interfered with cylinder core when cylinder sleeve being inserted cylinder core.
According to the invention described in technical scheme 2, by the employing of circular protrusions, even if the diameter of cylinder sleeve has changed also can reliably clamp its outer peripheral face.
According to the invention described in technical scheme 3, the reliability of clamping improves.
Accompanying drawing explanation
Fig. 1 is the integrally-built key diagram representing robot device.
Fig. 2 represents the slide mechanism of robot device and the key diagram of detent mechanism.
Fig. 3 is the integrally-built key diagram representing fixture unit.
Fig. 4 is the key diagram representing fixture unit.
Fig. 5 is the key diagram representing the step inserted to cylinder core by cylinder sleeve.
Symbol description
1... robot device, 2... manipulator main body, 3... arm, 4... articulated robot, 5... cylinder sleeve, 10... slide mechanism, 11... track, 12... slide block, 15... detent mechanism, 16... threaded portion, 17... ball screw, 18... nut portions, 23... motor, 24, 25... linking part, 26... pulley, 27... be with, 28... pulley, 30... fish plate, 31... fixture unit, 32... substrate, 33... sliding stand, 34... sliding panel, 35... clamping section (clamp), 35a... circular protrusions, 36... the axis of guide, 37... cylinder, 38... base portion, 39... cylinder sleeve inlays manipulator, 40... push rod, 41... align member, 54... flexible clutch
Detailed description of the invention
Below, based on accompanying drawing, embodiments of the present invention are described.
First start most, as shown in Figure 1, in the side of manipulator main body 2, (Fig. 1 from bottom right to upper left) is linearly set side by side with and can inserts respectively and keep multiple (being 4) fixture unit 31 of the cylinder sleeve 5 of tubular here robot device 1 of the present invention in the lateral direction.In addition, be provided with to make the slide mechanism 10 that each fixture unit 31 carries out moving linearly in the lateral direction and the detent mechanism 15 fixture unit 31 being positioned preposition in the side of manipulator main body 2.This robot device 1 is installed on the top of the arm 3 of articulated robot 4 via mutual installation portion 20,21.Detent mechanism 15 and slide mechanism 10, be in order to can different corresponding from the spacing of the cylinder of each car type and cylinder sleeve 5, and the cylinder sleeve of fixture unit 31 inlayed the mechanism that the spacing between manipulator 39 changes to arbitrary position in the scope of 80 ~ 100mm.
Wherein, slide mechanism 10 as shown in Figure 2, comprising: at the pair of tracks 11 configured abreast up and down and 4 slide blocks 12, the 12...... that can move left and right along each track 11 of the side of manipulator main body 2.Between the track 11,11 that this is upper and lower, (in fig. 2 paired slide block 12 is marked to the symbol of A, B, C, D at slide block 12,12 paired up and down.Below, for other component part also distinguish time mark A, B...... symbol.) between respectively erection have fish plate 30A ~ D, be configured with fixture unit 31A ~ D at each fish plate 30A ~ D.
Secondly, detent mechanism 15 to possess between track 11,11 at the side of manipulator main body 2 and track 11 abreast by a pair ball screw 17,17 supported.Each ball screw 17 to have with the center of its left and right directions for reverse mutually threaded portion 16A, the 16B in boundary, makes a pair nut portions 18,18 be screwed together in this threaded portion 16A, 16B respectively.Nut portions 18B, the 18C of the ball screw 17B on the upside of this are linked to fish plate 30B, 30C of inner side in the vertical direction side by side and respectively with slide block 12B, 12C of central side, nut portions 18A, the 18D of the ball screw 17A of downside are linked to fish plate 30A, the 30D in outside in the vertical direction side by side and respectively with slide block 12A, the 12D in outside.
At this, the web 22 on the top being arranged at arm 3 is provided with motor 23, this motor 23 output shaft under the installment state of robot device 1 is relative with the ball screw 17A of downside, in the output shaft of motor 23 and the end of ball screw 17A, be provided with the linking part 24,25 interlinked under the installment state of robot device 1, thus the rotation of output shaft can be delivered to ball screw 17A.
On the other hand, in ball screw 17A, 17B with the end of web 22 opposite side, be wholely set pulley 26,28 respectively, between two pulleys 26,28, tensioning is provided with band 27.This pulley 26,28 this with make gear ratio be 1: 3 mode set.
And fixture unit 31 as shown in Figure 3, possesses: the base portion 38 being installed on the above-below direction before fish plate 30; The substrate 32 of the above-below direction configured abreast in the front of base portion 38; The pair of sliding platform 33,33 arranged symmetrically up and down before substrate 32; With the sliding panel 34 being arranged to vertically to be slided by not shown cylinder before each sliding stand 33.
In addition, to insert and the cylinder sleeve positioned inlays manipulator 39 at the projecting oriented cylinder core of the central authorities of the above-below direction of base portion 38, substrate 32 can be moved forwards, backwards by the cylinder 37 be arranged between itself and manipulator main body 2.In addition, after substrate 32, the axis of guide 36,36 it led to base portion 38 is vertically disposed with.This sliding panel 32 is slide masses of the present invention.
Wherein, cylinder sleeve inlays that manipulator 39 can the central authorities of through substrate 32 relatively forwards give prominence to along with the retrogressing of substrate 32.In each fixture unit 31, forwards projecting in the mutual end of sliding panel 34,34 opposing upper and lower have a pair clamping section 35,35, and the top protuberance of this pair clamping section 35,35 abuts with the periphery of cylinder sleeve 5 and clamps cylinder sleeve 5.This clamping section 35 is cross sections is foursquare projection, projecting circular protrusions 35a having diameter less than shape of cross section before it.By this circular protrusions 35a, be formed with end difference shape on the top of clamping section 35.
In addition, cylinder sleeve inlays manipulator 39 described in No. 3405435th, special permission, be provided with multiple from axial line circumferential direction is projecting toward the outside push rod 40,40...... in the longitudinal direction at predetermined intervals, make this push rod 40,40...... outstanding by air supply, extrude from inner side and keep sleeve (cylinder sleeve).Then, the top being " コ " shape by section from the state that remain cylinder sleeve is inserted into the position chimeric with the inside of cylinder core, makes the axial line of cylinder core consistent with the axial line of cylinder sleeve.
Then, the change about spacing is described.
First, for the robot device 1 be arranged in manipulator mounting table, arm 3 action of articulated robot 4 and make to link between installation portion 20,21.The while of with this link, linking part 24,25 is fitted together to each other and the output shaft of motor 23 and ball screw 17A is linked.In addition, under the stationary state of robot device 1, the piston being arranged at the not shown cylinder of manipulator main body 2 is given prominence to, and the stop pin being arranged at piston tip is inlayed the chimeric of manipulator 39 below with a cylinder sleeve and locks the slip of each fixture unit 31 and the rotation of ball screw 17A, B.After the output shaft of motor 23 and the link of ball screw 17A, piston retreats and removes the locking undertaken by stop pin.
Under the state being provided with robot device 1 like this on arm 3, driven by motor 23, thus transmit power from the linking part 24 of the output shaft being installed on motor 23 to the linking part 25 chimeric with this linking part 24.Then, carry out bias adjustment by the flexible clutch 54 being installed on linking part 25, and revolving force is transmitted to ball screw 17A.
By the rotation of ball screw 17A, pulley 26 is rotated, pulley 28 also rotates with it thus, and ball screw 17B is rotated.
Now, because ball screw 17A rotates, a pair nut portions 18A, the 18D of threaded portion 16A, the 16B being screwed together in ball screw 17A are moved linearly round about, so also move linearly round about via fixture unit 31A, 31D of fish plate 30A, 30D installation.On the other hand, because ball screw 17B rotates, a pair nut portions 18B, the 18C of threaded portion 16A, the 16B being screwed together in ball screw 17B are also moved linearly round about, so also move linearly round about via fixture unit 31B, 31C of fish plate 30B, 30C installation.
But the rotary speed of ball screw 17A, B is set to 1: 3 by the gear ratio between pulley 26,28, so the displacement of fixture unit 31B, 31C relative to inner side, fixture unit 31A, the 31D in outside will slide the distance of 3 times simultaneously.Thus, each fixture unit 31 can move linearly round about with the spacing of equalization.
Then, be described about clamping cylinder sleeve 5, the step of carrying out extrapolation to cylinder core.
First start most, the articulated robot 4 that arm 3 installed robot device 1 makes arm 3 move to cylinder sleeve 5,5...... position arranged side by side.Then, as shown in Fig. 5 (a), cylinder 37 is shunk and the cylinder sleeve outstanding from fixture unit 31 is inlayed manipulator 39 is inserted into the position that the circumference of cylinder sleeve 5 is abutted with align member 41,41.......Now, make push rod 40,40...... outstanding by inlaying air supply in manipulator 39 to cylinder sleeve, thus extruding cylinder sleeve 5 inner peripheral surface.
Then, as shown in Fig. 5 (b), the sliding panel 34,34 that substrate 32 is installed up and down advances to cylinder sleeve 5 simultaneously simultaneously.So, from the periphery clamping cylinder sleeve 5 up and down, the axial end face (the second abutting part) of cylinder sleeve 5 abuts with the end face of clamping section 35 by abutting with the outer peripheral edge of cylinder sleeve 5 to be arranged on the outer peripheral face (the first abutting part) of the circular protrusions 35a of the clamping section 35,35 on each sliding panel 34.
Like this, in fixture unit 31, sliding panel 34,34 slides to cylinder sleeve 5 simultaneously, even if so when changing to the different cylinder sleeve of external diameter, do not change the clip position of the cylinder sleeve preset, the difference of external diameter is adjusted, as long as so be in just can clamp in the scope of this slip by slippage.
Then, make that robot device 1 moves to the position of cylinder core and after cylinder sleeve 5 being positioned at the front of cylinder core, if air cylinder sleeve being inserted manipulator 39 inside is exhausted, then cylinder sleeve 5 inner peripheral surface is liberated from the extruding of push rod 40,40.......Then, as shown in Fig. 5 (c), if make cylinder 37 extend under the state clamping cylinder sleeve 5 by clamping section 35,35, then cylinder sleeve inlays that manipulator 39 is motionless and substrate 32 advances, and the cylinder sleeve 5 that clamping section 35,35 is kept advances.Thus, cylinder core is inserted in by outside cylinder sleeve 5.Now, in the end of cylinder sleeve 5, the circular protrusions 35a of clamping section 35 abuts with its outer peripheral face, and clamping section 35 is not outstanding to center axis, so clamping section 35 is not interfered with cylinder core.
After such cylinder sleeve 5 is by extrapolation, the sliding panel 34,34 installed up and down retreats to initial point, and from the state of clamping cylinder sleeve 5 after liberation, arm 3 moves to new cylinder sleeve 5,5...... position arranged side by side from the insertion position of cylinder core.
Then, cylinder 37 shortens to the state shown in Fig. 5 (d), and cylinder sleeve is inlayed manipulator 39 and forwards given prominence to compared with substrate 32.Then, under the state shown in Fig. 5 (a), cylinder sleeve is inlayed after manipulator 39 is inserted into the position that the periphery of new cylinder sleeve 5 is abutted with align member 41,41......, give prominence to by push rod 40,40...... and extrude new cylinder sleeve 5 inner peripheral surface.
As mentioned above, robot device 1 of the present invention, to be set side by side with predetermined spacing in manipulator main body 2 multiplely can insert and keep the robot device of the fixture unit 31 of the cylinder sleeve 5 of tubular, wherein: be provided with can move relative to the radial direction of the insertion holding position of cylinder sleeve 5 to cylinder sleeve 5 at fixture unit 31, and by the movement to cylinder sleeve central side from multiple sliding panels 34 of the end of outside clamping cylinder sleeve 5, in this sliding panel 34 is the end difference shape comprising the clamping section 35 abutted with the end outer peripheral face of cylinder sleeve 5 and the circular protrusions 35a abutted with the direction of principal axis end face of cylinder sleeve 5 with the abutting portion of the end abutment of cylinder sleeve 5.
Its result, even if change cylinder sleeve external diameter, does not need to carry out the setting change operation of equipment and the adjustment etc. after setting change conversion yet, can change simply.Thus, the manufacturing step short time stops, and it can be made to restore immediately.In addition, simple structure, so installation is also easy.In addition, can not bloat to the internal side diameter of cylinder sleeve 5 at the clamped condition lower slider plate 34 of cylinder sleeve, so sliding panel 34 is not interfered with cylinder core when cylinder sleeve 5 being inserted cylinder core.
And, there is the clamping section 35 with the axis parallel of cylinder sleeve 5 the abutting portion of sliding panel 34 is projecting, the projecting circular protrusions 35a having diameter less than end face of the end face of the clamping side of the cylinder sleeve 5 in this clamping section 35, thus form end difference shape, the outer peripheral face of this circular protrusions 35a becomes the first abutting part, and the end face of cylinder sleeve 5 becomes the second abutting part.
Its result, by the employing of circular protrusions 35a, even if the diameter change of cylinder sleeve 5 also can reliably clamp its outer peripheral face.
In addition, in the diametric(al) of cylinder sleeve 5, relative configuration has pair of sliding plate 34,34, and the closure of cylinder sleeve 5 is set side by side with the clamping section 35 of a pair each extension sliding panel 34.
Its result, the credibility of clamping section improves.
In addition, the articulated robot 4 being provided with robot device 1 on the top of arm 3 is set to.
Its result, not needing setting change operation and the adjustment of carrying out equipment, even if so when changing cylinder sleeve external diameter, not needing to carry out the setting change operation of equipment and the adjustment after setting change conversion yet, so the manufacturing step short time stops, it can be made to restore immediately.In addition, simple structure, so install easily yet, in addition, does not need to carry out setting change operation, so components number is few, can makes by qurer, contribute to cost cutting.
In addition, the structure of robot device 1 of the present invention and articulated robot 4 is not limited to above-mentioned embodiment completely, if the adjustment also do not need the setting change operation of carrying out equipment to change conversion with setting when changing spacing after just can make the stopping of manufacturing step terminate and the structure of restoring at short notice, then can suitably change as required without departing from the scope of spirit of the present invention.
Such as, for fixture unit 31, except sliding stand 33, if the top protuberance being installed on the clamping section 35,35 of sliding panel 34 clamps the structure of cylinder sleeve 5 periphery in the position preset from being connected to cylinder sleeve 5 periphery up and down simultaneously, then can use motor etc., can suitably change.
In addition, the clamping of cylinder sleeve 5 is not must clamp its periphery by the circular protrusions of clamping section 5,5, if prevent clamping section 35 to cylinder sleeve 5 internal diameter bloat and cylinder sleeve is inlayed manipulator 39 pull out from cylinder sleeve 5 after in the structure of position clamping cylinder sleeve 5 periphery preset, then can suitably change.
And then the robot device in said embodiment by possessing 4 fixture units is illustrated, but suitably can increase and decrease according to the form of cylinder block (number of cylinder).In the case, as long as change gear ratio accordingly with the fixture unit after increase and decrease.Certainly be not limited to pulley and band as speed change transfer unit, also can adopt gear and/or roller.
Claims (2)
1. a robot device, is to be set side by side with predetermined spacing in manipulator main body multiplely can insert and keep the robot device of the fixture unit of the cylinder sleeve of tubular, it is characterized in that:
The base portion that described fixture unit possesses the above-below direction be installed on before fish plate and the substrate of above-below direction configured abreast in the front of described base portion,
To insert and the cylinder sleeve positioned inlays manipulator at the projecting oriented cylinder core of the central authorities of the above-below direction of described base portion, described substrate can be moved forwards, backwards by the cylinder be arranged between itself and manipulator main body,
Described fixture unit is provided with multiple slide mass, the plurality of slide mass can move relative to the radial direction of the insertion holding position of described cylinder sleeve to described cylinder sleeve, and clamped the end of described cylinder sleeve from outside by the movement to described cylinder sleeve central side, in described slide mass is the end difference shape comprising the first abutting part abutted with the end outer peripheral face of described cylinder sleeve and the second abutting part abutted with the direction of principal axis end face of described cylinder sleeve with the abutting portion of the end abutment of described cylinder sleeve
There is the projection with the axis parallel of described cylinder sleeve the described abutting portion of described slide mass is projecting, in the projecting circular protrusions having diameter less than this end face of the end face of the clamping side at described cylinder sleeve of this projection, thus the outer peripheral face forming described circular protrusions becomes described first abutting part and the described end face of described projection becomes the end difference shape of described second abutting part
In the diametric(al) of described cylinder sleeve, relative configuration has slide mass described in a pair, and the closure of described cylinder sleeve is set side by side with the described projection of a pair each described slide mass.
2. an articulated robot, wherein, is provided with robot device according to claim 1 on the top of arm.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP135255/2010 | 2010-06-14 | ||
| JP2010135255A JP5064534B2 (en) | 2010-06-14 | 2010-06-14 | Hand device and articulated robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102275160A CN102275160A (en) | 2011-12-14 |
| CN102275160B true CN102275160B (en) | 2015-09-30 |
Family
ID=45101046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110158572.9A Active CN102275160B (en) | 2010-06-14 | 2011-06-13 | Robot device and articulated robot |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP5064534B2 (en) |
| CN (1) | CN102275160B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012096343A (en) * | 2010-11-05 | 2012-05-24 | Honda Motor Co Ltd | Conveying hand |
| JP5554685B2 (en) * | 2010-11-05 | 2014-07-23 | 本田技研工業株式会社 | Conveying apparatus and conveying method |
| CN103949610B (en) * | 2014-05-07 | 2015-12-30 | 广西玉柴机器股份有限公司 | Cylinder sleeve clamp |
| CN105014604A (en) * | 2015-07-24 | 2015-11-04 | 天津大学 | Automatic cylinder sleeve installation device comprising plastic parts |
| CN108907134B (en) * | 2018-07-27 | 2024-08-09 | 上海普莱克斯自动设备制造有限公司 | Inlaid product gripper |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101378884A (en) * | 2007-02-16 | 2009-03-04 | 高野轴承株式会社 | Robot hand for industrial robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59107891A (en) * | 1982-12-13 | 1984-06-22 | 村田機械株式会社 | Robot hand |
| JPS5997879U (en) * | 1982-12-20 | 1984-07-03 | 本田技研工業株式会社 | Gripping device for piston installation |
| JP3144428B2 (en) * | 1991-05-27 | 2001-03-12 | ソニー株式会社 | Robot chuck device |
| US5471738A (en) * | 1993-10-04 | 1995-12-05 | Ford Motor Company | Robotic system for inserting cylinder liners into internal combustion engine cylinder blocks |
| JP3638162B2 (en) * | 1995-09-29 | 2005-04-13 | 沖電気工業株式会社 | Automatic insertion / removal robot for main wiring board connection pins |
| JP2002370187A (en) * | 2001-06-12 | 2002-12-24 | Sony Corp | Battery handling device |
| JP2002346966A (en) * | 2002-02-28 | 2002-12-04 | Itoki Crebio Corp | Vessel holder |
-
2010
- 2010-06-14 JP JP2010135255A patent/JP5064534B2/en not_active Expired - Fee Related
-
2011
- 2011-06-13 CN CN201110158572.9A patent/CN102275160B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101378884A (en) * | 2007-02-16 | 2009-03-04 | 高野轴承株式会社 | Robot hand for industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2012000688A (en) | 2012-01-05 |
| CN102275160A (en) | 2011-12-14 |
| JP5064534B2 (en) | 2012-10-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102275159A (en) | Mechanical hand device and robot with multiple joints | |
| CN102275160B (en) | Robot device and articulated robot | |
| CN111113538B (en) | PE pipe clamping device | |
| CN106583945B (en) | Four paws automatic centring chuck and lathe | |
| CN203621977U (en) | Clamping device capable of regulating horizontal angle | |
| CN103171456B (en) | Catenary cantilever numerical control preassembly platform | |
| CN205165931U (en) | Novel chuck | |
| CN101992306B (en) | Automatic rotating-type turret device for work machinery | |
| CN206185170U (en) | Self -centering chuck | |
| CN206493036U (en) | Four paws automatic centring chuck and lathe | |
| CN202921817U (en) | Anti-rotation structure of steel bar bending mechanism | |
| CN102717110B (en) | Swing rod axial buckling chuck | |
| CN104551670A (en) | Fixed blade plate full-automatic processing equipment of vehicle hinge | |
| CN103381461B (en) | A kind of die bidirectional rotation upsetter and method of work | |
| CN204304199U (en) | Commutator copper bar plug-in sheet machine | |
| CN103128915B (en) | Reset mechanism of bevel wheel mold and bevel wheel mold | |
| CN204772174U (en) | Multi -vehicle type car glass centering clamping device | |
| CN110076370B (en) | Drilling machine with automatic positioning function | |
| CN102225473A (en) | Helical six-point floating centering mechanism | |
| CN205363250U (en) | Continuous molding die spare drilling and tapping equipment | |
| CN210389987U (en) | Injection mold with motor core-pulling structure | |
| CN220330024U (en) | Steel pipe perforating device | |
| CN105268924A (en) | Rotary core-pulling mechanism, mould and use method for mould | |
| CN216540334U (en) | Aviation swan neck system | |
| CN110653628A (en) | Adjustable fixture for clamping internal tooth shell |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |