GB2130550A - Robot hand - Google Patents
Robot hand Download PDFInfo
- Publication number
- GB2130550A GB2130550A GB08331400A GB8331400A GB2130550A GB 2130550 A GB2130550 A GB 2130550A GB 08331400 A GB08331400 A GB 08331400A GB 8331400 A GB8331400 A GB 8331400A GB 2130550 A GB2130550 A GB 2130550A
- Authority
- GB
- United Kingdom
- Prior art keywords
- mechanical hand
- finger
- gripper
- hand according
- slot
- 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.)
- Granted
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
- B25J15/0475—Exchangeable fingers
Abstract
A mechanical hand (10) for a robot comprises a pair of change plates (15) each having a slot (19) therein to receive a prong (13) of a finger or gripper (12). The change plates (15) are slidable laterally of the hand (10) to align the slots (19) with the prongs (13) which may be retained in correct spaced disposition in a pallet (11). Locking pins (18) are located in aligned bores (17) in plates (15) and have a smaller diameter part (20) which traverses a slot (22) in a respective prong (13) so that when the change plates (15) are moved laterally the larger diameter part of the pins (18) are engaged in apertures (21) in the prongs (13) but will not traverse the slots (22) and thereby the fingers or grippers (12) are retained in the hand (10). The change plates (15) are movable by means of a piston/cylinder device (23) which may be double acting or single acting with spring return (16) provided. <IMAGE>
Description
SPECIFICATION
Robot hand
This invention relates to mechanical hands for robots, and in particular to such hands having interchangeable fingers or grippers.
Use of robots in manufacturing industries is increasing. In some cases a robot may be developed to perform one or a series of tasks without any changes in the constituent parts of the robot.
However, in many cases, in order that the robot can perform all of the tasks required of it, it is necessary to change the fingers or grippers of the hand or hands of the robot at one or more stages of the operation being undertaken. The changing of the fingers or grippers in known robots entails the manual unscrewing or releasing of a finger retaining device or devices, changing the fingers and screwing or securing of the finger retaining device or devices.
This finger changing operation is time consuming and, being a manual operation, to a certain degree defeats the object of using a robot for the main operation being undertaken. It is an object of the present invention to provide a mechanical hand for a robot which does not have the aforementioned disadvantage.
The invention provides a mechanical hand for a robot, comprising retaining means adapted to releasably retain at least one finger or gripper in said hand, said retaining means being movable between retain and release positions, and actuating means operable to move said retaining means between said positions.
The actuating means may be pneumatic actuating means. Alternatively the actuating means may be hydraulic or electrical actuating means.
The retaining means may comprise one or a plurality of change plates, the or each change plate having a slot therein adapted to receive a finger or gripper therein. The or each change plate may have a bore extending therethrough in which a locking pin is disposed so as to be slidable axially thereof. The or each locking pin may have a portion of smaller diameter than the remainder thereof, and said smaller diameter portion may be disposed substantially centrally of said pin.
The or each finger may be provided with a prong adapted to be received in said slot in a change plate.
The or each such prong may have an aperture therein through which the larger diameter of a pin may pass. A slot may extend from an edge of said prong to said aperture, said slot being of a width less than the larger diameter of a pin and greater than the smaller diameter of a pin.
The invention also provides a mechanical hand for a robot as specified above and adapted to receive a plurality of fingers in relative spaced disposition and a pallet adapted to receive said fingers whereby said fingers extend from said pallet and are substantially mutually parallel and substantially in said relative spaced disposition.
The pallet may also comprise means adapted to restrain movement of each locking pin whilst said change plates are moved between said retain and release positions.
Embodiments of mechanical hand in accordance with the invention will now be described with reference to the accompanying drawings in which:
Figure 1 is a part-sectional elevation of one embodiment with the fingers or grippers in a pallet;
Figure 2 is a view on A-A of Figure 1;
Figure 3 is a view similar to Figure 1 but with the fingers or grippers located in both pallet and mechanical hand;
Figure 4 is a scrap section on B-B of Figure 3;
Figure 5 is a view similar to Figure 1 but with the fingers or grippers retained in the mechanical hand;
Figure 6 is a scrap section on C-C of Figure 5;
Figure 7 is a sectional elevation of a second embodiment without the fingers or grippers.
Referring now to Figures 1 and 2 there is shown a mechanical hand 10, a pallet 11 and two fingers or grippers 12. The fingers or grippers 12 are retained in the pallet 11 so as to extend upwardly therefrom in spaced, parallel disposition, and at the uppermost part of each finger or gripper 12 is a prong 13. Also upstanding from the pallet 11, aligned with and to the outside of the fingers or grippers 12, are two restraining posts 14, the purpose of which is described hereinafter.
The hand 10 comprises a pair of change plates 15 which are slidable laterally as shown by the arrows in Figure 1. Springs 16 bias the plates 15 towards each other. A bore 17 extends through each plate 15 and aligned locking pins 18 are slidable in the bores 17. A slot 19 is provided in each plate 15 and is adapted to receive the prong 13 of a finger or gripper 12. The pins 18 each have a centrally disposed part 20 which is of smaller diameter than the remainder of the pin 18, the length of this smaller part being substantially equal to the width of slot 19 and the thickness of prong 13. Provided in each prong 13 is an aperture 21 of diameter such that the larger diameter part of a pin 18 will pass through aperture 21.A slot 22 extends between the free end of each prong 13 and the aperture 21, the width of the slot 22 being greater than the smaller diameter 20 but smaller than the larger diameter of pins 18.
The operation of inserting the fingers or grippers 12 into the hand 10 is as follows.
A pneumatic cylinder 23 is pressurised so that a cam 24 moves plates 15 away from each other against the force of springs 16 to the release position shown in Figure 1. In this position the smaller diameter parts 20 of pins 18 are located within the slots 19 in plates 15. The hand 10 is positioned above the pallet 11 with the slots 19 aligned with the upstanding fingers or grippers 12 and the hand 10 is then lowered. The prongs 13 enter the slots 19 and the smaller diameter parts 20 of pins 18 pass along the slots 22 and into the apertures 21. The apparatus is then in the configuration shown in Figures 3 and 4.
The pins 18 are located in this position by means of the restraining posts 14whose spacing is equal to the combined length of the two pins 18.
The cylinder 23 is then depressurised, thus retracting the cam 24. The springs 16 then cause the plates 15 to move inwardly until they meet in the retain position shown in Figures 5 and 6.
Movement of plates 15 causes inward movement of fingers or grippers 12, since prongs 13 are retained in slots 19. Since pins 18 are prevented from moving by posts 14whilst plates 15 and prongs 13 are moved to this retain position, the apertures 21 of prongs 13 will move onto the larger diameter parts of pins 18. By this means removal of the prongs 13 from slots 19 is prevented since the width of slots 22 is less than the larger diameter of pins 18. The hand 10 is then raised relative to the pallet 11 with the fingers or grippers 12 securely held in position in the hand 10.
To change the fingers or grippers 12 for others is therefore a quick and simple operation with the hand of the invention. Operation of pneumatic cylinder 23 causes plates 15 to move outwardly and release the fingers or grippers 12 into an empty pallet 11. The hand 10 is then moved to a pallet 11 containing the new fingers or grippers 12 which are picked up in the manner described above. This operation can be programmed into a hand control device at the necessary stages of a manufacturing process so that repeated changes can be made fully automatically.
Referring now to Figure 7 there is shown a mechanical hand 70 having a pair of change plates 71 which are slidable laterally as shown by the arrows. A bore 72 extends through each plate 71 and aligned locking pins 73 are slidable in bores 72. A slot 74 is provided in each plate 71 and is adapted to receive a prong 75 of a gripper 76 or finger. The pins 73 each have a centrally disposed part 77 which is of smaller diameter than the remainder of the pin 73, the length of this smaller part being substantially equal to the width of slot 74. Provided in each prong 75 is an aperture and slot (not shown) of similar construction and dimensions in relation to pins 73 as those of prongs 13 of the previously-described embodiment, and operation of the plates 71, pins 73 and prongs 75 are as described in relation to the corresponding parts of the previous embodiment.In this embodiment however the single acting pneumatic cylinder 23, cam 24 and springs 16 previously described are replaced by a double acting pneumatic device 78. The device 78 comprises a cylinder 79 in which a piston 80 is slidable under pneumatic pressure. The piston 80 has an O-ring 81 mounted therearound to provide effective sealing within the cylinder 79. A piston rod 82 is attached to the piston 80 and has an actuating member 83 attached to the other end thereof. The actuating member 83 is
received and retained in slides 84 secured to the change plates 71 so that movement of the piston 80,
piston rod 82 and actuating member 83 in a direction towards or away from the gripper 76 causes move
ment of the change plates 71 in a direction laterally thereof. A bush 85 secured in the end of cylinder 79
and through which the piston rod 82 passes also has
an O-ring 86 mounted therein to provide effective
sealing onto the piston rod 82.
Claims (16)
1. A mechanical hand comprising retaining
means adapted to releasably retain at least one finger or gripper in said hand, said retaining means being movable between retain and release positions, and actuating means operable to move said retaining means between said positions.
2. A mechanical hand according to Claim 1, wherein said actuating means is pneumatic actuating means.
3. A mechanical hand according to Claim 1 or
Claim 2, wherein said actuating- means is operable to move said retaining means in a first direction and spring means operable to bias said retaining means in a direction opposed to said first direction are provided.
4. A mechanical hand according to Claim 1 or
Claim 2, wherein said actuating means is double acting and operable to move said retaining means in either of opposed first and second directions.
5. A mechanical hand according to any one of
Claims 1 to 4, wherein said retaining means comprises at least one change plate.
6. A mechanical hand according to Claim 5, wherein the or each change plate has a slot therein adapted to receive a finger or gripper therein.
7. A mechanical hand according to Claim 6, wherein the or each change plate has a bore extending therethrough.
8. A mechanical hand according to Claim 7, wherein a locking pin is disposed in the or each bore so as to be slidable axially thereof.
9. A mechanical hand according to Claim 8, wherein the or each locking pin has a portion of smaller diameter than the remainder thereof.
10. A mechanical hand according to Claim 9, wherein said smaller diameter portion is disposed substantially centrally of said locking pin.
11. A mechanical hand according to Claim 10, and a finger or gripper, said finger or gripper having a prong adapted to be received in said slot in a change plate.
12. A mechanical hand and finger or gripper according to Claim 11, wherein said prong has an aperture therein through which a locking pin may pass.
13. Amechanical hand and finger or gripper according to Claim 12, wherein a slot extends from an edge of said prong to said aperture, said slot being of a width greater than said smaller diameter portion of a locking pin but less than that of said remainder thereof.
14. A mechanical hand according to any one of
Claims 1, to 13, adapted to receive a plurality of fingers in relative spaced disposition, and a pallet adapted to receive said fingers whereby said fingers extend therefrom and are substantially mutually parallel and substantially in said relative spaced disposition.
15. A mechanical hand and pallet according to
Claim 14, wherein said pallet comprises means operable to restrain movement of the or each locking
pin whilst the or each change plate is moved
between said retain and release positions.
16. A mechanical hand substantially as hereinbe fore described with reference to and as illustrated in
Figures 1 to 6 or Figure 7 of the accompanying drawings.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB08331400A GB2130550B (en) | 1982-11-27 | 1983-11-24 | Robot hand |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB8233880 | 1982-11-27 | ||
GB08331400A GB2130550B (en) | 1982-11-27 | 1983-11-24 | Robot hand |
Publications (3)
Publication Number | Publication Date |
---|---|
GB8331400D0 GB8331400D0 (en) | 1984-01-04 |
GB2130550A true GB2130550A (en) | 1984-06-06 |
GB2130550B GB2130550B (en) | 1986-03-19 |
Family
ID=26284514
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB08331400A Expired GB2130550B (en) | 1982-11-27 | 1983-11-24 | Robot hand |
Country Status (1)
Country | Link |
---|---|
GB (1) | GB2130550B (en) |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0138038A1 (en) * | 1983-09-27 | 1985-04-24 | Siemens Aktiengesellschaft | Gripper for a manipulator, especially for an industrial robot |
EP0182180A1 (en) * | 1984-11-12 | 1986-05-28 | Siemens Aktiengesellschaft | Gripper for robots |
EP0198379A2 (en) * | 1985-04-15 | 1986-10-22 | Traub AG | Gripper with an exchangeable gripper jaw |
DE3513893A1 (en) * | 1985-04-17 | 1986-10-30 | Siemens AG, 1000 Berlin und 8000 München | Gripper for workpieces |
FR2581338A1 (en) * | 1985-05-03 | 1986-11-07 | Manitou Bf | Tool changing device for an automatic arm |
EP0227231A1 (en) * | 1985-11-29 | 1987-07-01 | Lord Corporation | Robot tool changing apparatus |
GB2189769A (en) * | 1986-04-18 | 1987-11-04 | Mecanotron Corp | Interchangeable tool mounting mechanism for robots |
EP0246384A1 (en) * | 1986-05-22 | 1987-11-25 | Manitou Bf | Automatic tool-changing device for a manipulator arm |
GB2191466A (en) * | 1986-06-12 | 1987-12-16 | Rolls Royce Plc | Robotic gripper |
GB2195609A (en) * | 1986-09-19 | 1988-04-13 | Gullick Dobson Ltd | Releasable coupling for vehicle attachments |
DE3705884A1 (en) * | 1987-02-24 | 1988-09-01 | Fraunhofer Ges Forschung | Gripper system, in particular for industrial robots |
DE3715140A1 (en) * | 1987-05-07 | 1988-11-24 | Preh Indausruestung Gmbh | Handling device |
FR2624412A1 (en) * | 1987-12-15 | 1989-06-16 | Amada Co Ltd | MANIPULATOR AND ROBOTIC DEVICE IN PARTICULAR FOR SHEET BENDER |
EP0352501A2 (en) * | 1988-07-29 | 1990-01-31 | MAPOR CALDART S.p.A. | Holding hand for manipulators and robots with automatic quick changing and substitution unit of the holding hand |
GB2334506A (en) * | 1998-02-18 | 1999-08-25 | Univ London | Compliant interface device |
CN102689314A (en) * | 2012-05-28 | 2012-09-26 | 东莞市新泽谷机械制造股份有限公司 | Clamping paw with centering function |
EP2548706A1 (en) * | 2011-07-21 | 2013-01-23 | Tecan Trading AG | Gripper clamp with exchangeable gripper fingers |
EP4011805A1 (en) * | 2020-12-09 | 2022-06-15 | Becton Dickinson Rowa Germany GmbH | Gripper and transport system for a picking device |
US11912511B2 (en) | 2020-12-09 | 2024-02-27 | Becton Dickinson Rowa Germany Gmbh | Gripper and transport system for a picking device |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108381586A (en) * | 2018-02-12 | 2018-08-10 | 崔浩轩 | A kind of intelligent fire job that requires special skills robot rotary machine hand |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1315865A (en) * | 1970-10-26 | 1973-05-02 | Lansing Bagnall Ltd | Lifting carriages for fork lift trucks |
GB2087349A (en) * | 1980-11-17 | 1982-05-26 | Eimco Great Britain Ltd | Coupling system for mounting an implement on load shifting apparatus |
GB2118522A (en) * | 1982-04-16 | 1983-11-02 | Messerschmitt Boelkow Blohm | A two part connection having a taper sleeve and a taper shank |
GB2120634A (en) * | 1982-04-20 | 1983-12-07 | British Cast Iron Res Ass | Releasable coupling between robot arm and tools |
-
1983
- 1983-11-24 GB GB08331400A patent/GB2130550B/en not_active Expired
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1315865A (en) * | 1970-10-26 | 1973-05-02 | Lansing Bagnall Ltd | Lifting carriages for fork lift trucks |
GB2087349A (en) * | 1980-11-17 | 1982-05-26 | Eimco Great Britain Ltd | Coupling system for mounting an implement on load shifting apparatus |
GB2118522A (en) * | 1982-04-16 | 1983-11-02 | Messerschmitt Boelkow Blohm | A two part connection having a taper sleeve and a taper shank |
GB2120634A (en) * | 1982-04-20 | 1983-12-07 | British Cast Iron Res Ass | Releasable coupling between robot arm and tools |
Cited By (31)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0138038A1 (en) * | 1983-09-27 | 1985-04-24 | Siemens Aktiengesellschaft | Gripper for a manipulator, especially for an industrial robot |
EP0182180A1 (en) * | 1984-11-12 | 1986-05-28 | Siemens Aktiengesellschaft | Gripper for robots |
EP0198379A2 (en) * | 1985-04-15 | 1986-10-22 | Traub AG | Gripper with an exchangeable gripper jaw |
EP0198379A3 (en) * | 1985-04-15 | 1986-11-20 | Traub Ag | Gripper with an exchangeable gripper jaw |
DE3513893A1 (en) * | 1985-04-17 | 1986-10-30 | Siemens AG, 1000 Berlin und 8000 München | Gripper for workpieces |
FR2581338A1 (en) * | 1985-05-03 | 1986-11-07 | Manitou Bf | Tool changing device for an automatic arm |
EP0227231A1 (en) * | 1985-11-29 | 1987-07-01 | Lord Corporation | Robot tool changing apparatus |
GB2189769A (en) * | 1986-04-18 | 1987-11-04 | Mecanotron Corp | Interchangeable tool mounting mechanism for robots |
GB2189769B (en) * | 1986-04-18 | 1989-12-13 | Mecanotron Corp | Interchangeable tool mounting mechanism for robot. |
EP0246384A1 (en) * | 1986-05-22 | 1987-11-25 | Manitou Bf | Automatic tool-changing device for a manipulator arm |
GB2191466A (en) * | 1986-06-12 | 1987-12-16 | Rolls Royce Plc | Robotic gripper |
GB2191466B (en) * | 1986-06-12 | 1989-12-20 | Rolls Royce Plc | Robot hand with a releasable gripper |
GB2195609A (en) * | 1986-09-19 | 1988-04-13 | Gullick Dobson Ltd | Releasable coupling for vehicle attachments |
GB2195609B (en) * | 1986-09-19 | 1990-06-06 | Gullick Dobson Ltd | Vehicles. |
DE3705884A1 (en) * | 1987-02-24 | 1988-09-01 | Fraunhofer Ges Forschung | Gripper system, in particular for industrial robots |
DE3715140A1 (en) * | 1987-05-07 | 1988-11-24 | Preh Indausruestung Gmbh | Handling device |
GB2211170A (en) * | 1987-12-15 | 1989-06-28 | Amada Co Ltd | Manipulator for a plate bending machine; robotic device with changeable gripper elements |
FR2624412A1 (en) * | 1987-12-15 | 1989-06-16 | Amada Co Ltd | MANIPULATOR AND ROBOTIC DEVICE IN PARTICULAR FOR SHEET BENDER |
US5035566A (en) * | 1987-12-15 | 1991-07-30 | Amada Company, Limited | Automatic change of fingers of the single arm bending robot |
GB2211170B (en) * | 1987-12-15 | 1992-05-13 | Amada Co Ltd | Jaw exchange device for a plate bending machine and a robotic device equipped with said jaw exchange device and a manipulator. |
EP0352501A2 (en) * | 1988-07-29 | 1990-01-31 | MAPOR CALDART S.p.A. | Holding hand for manipulators and robots with automatic quick changing and substitution unit of the holding hand |
EP0352501A3 (en) * | 1988-07-29 | 1991-01-16 | MAPOR CALDART S.p.A. | Holding hand for manipulators and robots with automatic quick changing and substitution unit of the holding hand |
GB2334506A (en) * | 1998-02-18 | 1999-08-25 | Univ London | Compliant interface device |
US8602470B2 (en) | 2011-07-21 | 2013-12-10 | Tecan Trading Ag | Gripper claw with replaceable gripper fingers |
EP2548706A1 (en) * | 2011-07-21 | 2013-01-23 | Tecan Trading AG | Gripper clamp with exchangeable gripper fingers |
CH705297A1 (en) * | 2011-07-21 | 2013-01-31 | Tecan Trading Ag | Gripping pliers with interchangeable gripper fingers. |
CN102689314A (en) * | 2012-05-28 | 2012-09-26 | 东莞市新泽谷机械制造股份有限公司 | Clamping paw with centering function |
CN102689314B (en) * | 2012-05-28 | 2014-07-23 | 东莞市新泽谷机械制造股份有限公司 | Clamping paw with centering function |
EP4011805A1 (en) * | 2020-12-09 | 2022-06-15 | Becton Dickinson Rowa Germany GmbH | Gripper and transport system for a picking device |
WO2022122270A1 (en) * | 2020-12-09 | 2022-06-16 | Becton Dickinson Rowa Germany Gmbh | Gripper and transport system for an order-picking device |
US11912511B2 (en) | 2020-12-09 | 2024-02-27 | Becton Dickinson Rowa Germany Gmbh | Gripper and transport system for a picking device |
Also Published As
Publication number | Publication date |
---|---|
GB8331400D0 (en) | 1984-01-04 |
GB2130550B (en) | 1986-03-19 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PCNP | Patent ceased through non-payment of renewal fee |
Effective date: 19931124 |