JP2600486B2 - Robot hand device - Google Patents
Robot hand deviceInfo
- Publication number
- JP2600486B2 JP2600486B2 JP2328013A JP32801390A JP2600486B2 JP 2600486 B2 JP2600486 B2 JP 2600486B2 JP 2328013 A JP2328013 A JP 2328013A JP 32801390 A JP32801390 A JP 32801390A JP 2600486 B2 JP2600486 B2 JP 2600486B2
- Authority
- JP
- Japan
- Prior art keywords
- side wall
- robot
- arm
- transferred object
- support
- 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 - Lifetime
Links
Description
【発明の詳細な説明】 〔産業上の利用分野〕 この発明は，ロボツトのハンド装置に関するものであ
る。Description: TECHNICAL FIELD The present invention relates to a robot hand device.
第７図〜第10図は，従来のロボツトのハンド装置を示
すもので，図中（１）は多数の瓶を収納した箱型の被搬
送物で上面が開口し，側壁（1a）には長方形の把持穴
（1b）が設けてある。（２）はロボツト，（2a）はロボ
ツト（２）の腕，（３）はロボツト（２）の作業範囲内
へ被搬送物（１）を搬送するコンベア，（４）は積み付
けステーシヨンに配置されたパレツト，（５）はロボツ
ト（２）の腕（2a）の下端に固定され下面が開放したフ
レーム，（６）はフレーム（５）に装着され作業棒（6
a）を前進および後進させるエアシリンダからなる駆動
機，（７）はフレーム（５）に水平に支持され回動可能
な駆動軸，（８）は駆動軸（７）と平行に配置されフレ
ーム（５）に回動可能に支持された従動軸，（９）は一
方が駆動軸（７）に固定され他方が作業棒（6a）に枢着
されたレバー，（10a）（10b）は駆動軸（７）および従
動軸（８）にそれぞれ固定され互いに噛合する平歯車，
（11a）（11b）は上端が駆動軸（７）および従動軸
（８）にそれぞれ固定され下端が互いに対向する方向に
屈曲し被搬送物（１）の把持穴（1b）と係合する把持つ
め，（12）はフレーム（５）に固定され作業棒（12a）
および作動棒（12a）の下端に固定された押圧子（13）
を上昇および下降させるエアシリンダからなる駆動機で
ある。Fig. 7 to Fig. 10 show a conventional robot hand device, in which (1) is a box-shaped conveyed object containing a large number of bottles, the upper surface of which is open, and the side wall (1a) has A rectangular grip hole (1b) is provided. (2) is a robot, (2a) is an arm of the robot (2), (3) is a conveyor for transporting the transferred object (1) into the working range of the robot (2), and (4) is disposed on a loading station. Pallet, (5) is a frame fixed to the lower end of the arm (2a) of the robot (2) and the lower surface is open, and (6) is a work rod (6) attached to the frame (5).
a) a driving device comprising an air cylinder for moving forward and backward; (7) a rotatable driving shaft supported horizontally by a frame (5); and (8) a frame (7) disposed parallel to the driving shaft (7). 5) A driven shaft rotatably supported by 5), (9) one of which is fixed to the drive shaft (7) and the other is pivotally mounted on the working rod (6a), (10a) and (10b) are drive shafts (7) and a spur gear fixed to the driven shaft (8) and meshing with each other,
(11a) and (11b) are grippers whose upper ends are respectively fixed to the drive shaft (7) and the driven shaft (8), and whose lower ends are bent in directions facing each other to engage with the grip holes (1b) of the transferred object (1). The nail (12) is fixed to the frame (5) and the working rod (12a)
And a presser (13) fixed to the lower end of the operating rod (12a)
This is a driving device including an air cylinder for raising and lowering the pressure.
なお，従動軸（８）と平歯車（10a）（10b）とを把持
つめ（11a）（11b）の連動機構と称する。また，（1A）
はパレツト（４）上に既に積み付けされた被搬送物であ
る。The driven shaft (8) and the spur gears (10a) (10b) are referred to as an interlocking mechanism of the grippers (11a) (11b). In addition, (1A)
Is a transported object already loaded on the pallet (4).
次に，従来のロボツトのハンド装置の動作について説
明する。Next, the operation of the conventional robot hand device will be described.
まず，コンベア（３）によりロボツト（２）の作業範
囲内に被搬送物（１）が搬送されてくると，ロボツト
（２）が制御装置（図示せず）に制御されて動作し，ロ
ボツト（２）の腕（2a）が被搬送物（１）に対向して停
止する。このときのハンド装置の状態を第７図に示す。
すなわち，把持つめ（11a）（11b）は互いに開き，押圧
子（13）は上昇位置にある。次いで，駆動機（６）が動
作し作動棒（6a）が前進してレバー（９）および平歯車
（10a）（10b）を介して把持つめ（11a）（11b）が互い
に接近する方向へ回動し，第８図の実線に示すように把
持つめ（11a）（11b）の先端の屈曲部が被搬送物（１）
の把持穴（1b）に側壁（1a）の内外面の双方から係合す
る。この後，駆動機（12）が動作し，作動棒（12a）が
下降し押圧子（13）が被搬送物（１）の上端（1c）を押
圧して被搬送物（１）の浮き上がりを防止する。続い
て，制御装置から被搬送物（１）の搬送指令が出ると，
ロボツト（２）の腕（2a）が上昇→旋回→下降して被搬
送物（１）をパレツト（４）上に載置し，上述と逆の順
序に動作して押圧子（13）の上昇および把持つめ（11
a）（11b）の開放が行なわれワーク（１）の積み付けが
完了する。First, when the conveyed object (1) is conveyed into the working range of the robot (2) by the conveyor (3), the robot (2) is operated under the control of a control device (not shown) and operates. The arm (2a) of 2) stops facing the transported object (1). FIG. 7 shows the state of the hand device at this time.
That is, the grip pawls (11a) and (11b) are open to each other, and the presser (13) is in the raised position. Next, the driving device (6) operates, the operating rod (6a) moves forward, and the gripping pawls (11a) and (11b) rotate through the lever (9) and the spur gears (10a) (10b) in a direction approaching each other. As shown by the solid line in FIG. 8, the bent part at the tip of the gripping claws (11a) (11b) is
Into the grip hole (1b) from both the inner and outer surfaces of the side wall (1a). Thereafter, the driving device (12) operates, the operating rod (12a) moves down, and the pressing element (13) presses the upper end (1c) of the transferred object (1) to lift the transferred object (1). To prevent. Subsequently, when a command to transfer the transferred object (1) is issued from the control device,
The arm (2a) of the robot (2) rises, turns, and moves down to place the object (1) on the pallet (4), and operates in the reverse order to raise the presser (13). And gripping pawl (11
a) The opening of (11b) is performed and the stacking of the work (1) is completed.
上記のような従来のロボツトのハンド装置は，一対の
連動する把持つめ（11a）（11b）が被搬送物（１）の把
持穴（1b）に側壁（1a）の内外面の双方から係合し，さ
らに押圧子（13）が被搬送物（１）の上端（1c）を押圧
する。これにより，ロボツト（２）の腕（2a）が高速度
で動作し被搬送物（１）に大きな加減速度が加わつて
も，把持つめ（11a）（11b）に係合した被搬送物（１）
の位置がづれたり，あるいはハンド装置から被搬送物
（１）が落下したりすることはない。従つて，被搬送物
（１）を確実に把持することができる。In the conventional robot hand device as described above, a pair of interlocking gripping claws (11a) and (11b) engage with the gripping holes (1b) of the transported object (1) from both the inner and outer surfaces of the side wall (1a). Then, the pressing element (13) presses the upper end (1c) of the transferred object (1). As a result, even if the arm (2a) of the robot (2) operates at a high speed and a large acceleration / deceleration is applied to the transferred object (1), the transferred object (1) engaged with the holding claws (11a) (11b) can be moved. )
Does not shift, or the transferred object (1) does not drop from the hand device. Therefore, the transferred object (1) can be reliably held.
しかし，反面，装置の構造が複雑となり高コストで重
量も増加するという問題点があつた。However, on the other hand, there has been a problem that the structure of the device is complicated, the cost is high, and the weight is increased.
この発明は，かかる問題点を解決するためなされたも
ので，従来装置と同一の機能を有しながら，装置の構造
を簡略化して，コスト低減と軽量化をはかつたロボツト
のハンド装置を提供することを目的としている。The present invention has been made in order to solve such a problem, and provides a robot hand device which has the same functions as the conventional device, simplifies the structure of the device, and reduces cost and weight. It is intended to be.
この発明にかかるロボツトのハンド装置は，ロボット
の腕に設けられ、側壁を有する被搬送物の上記側壁の内
面または外面に設けられた係合部に係合する支持具と、
上記腕に設けられ、上記支持具が係合する上記側壁の上
記内面または上記外面側とは反対側の上端を、上記側壁
の下端方向および上記下端方向とは直角方向で上記側壁
に抗力が生ずる方向に押圧する押圧子とを、備えたもの
である。A robot hand device according to the present invention includes a support tool provided on an arm of a robot and engaged with an engagement portion provided on an inner surface or an outer surface of the side wall of an object having a side wall;
A drag is generated on the upper end of the side wall provided on the arm and opposite to the inner surface or the outer surface side of the side wall with which the support is engaged in a direction perpendicular to the lower end direction of the side wall and the lower end direction. And a pressing element for pressing in a direction.
また、ロボットの腕に設けられ、側壁を有する被搬送
物の上記側壁の内面に設けられた係合部に係合する支持
具と、上記腕に設けられ、上記支持具が係合する上記側
壁の外面側の上端を、上記側壁の下端方向および上記下
端方向とは直角方向で上記側壁に抗力が生ずる方向に押
圧する進退自在な押圧子とを、 備えたものである。A support provided on the arm of the robot and engaged with an engaging portion provided on an inner surface of the side wall of the transferred object having the side wall; and the side wall provided on the arm and engaged with the support. And a pusher that can move forward and backward to press the upper end on the outer surface side in a direction perpendicular to the lower end direction and the lower end direction of the side wall.
このような構成されたロボツトのハンド装置は，支持
具が被搬送物の側壁の内面または外見に係合し、さらに
押圧子が、支持具が係合する側壁の外面の側壁上端を側
壁の下端方向、およびその直角方向で側壁に抗力が生ず
る方向に押圧し、被搬送物を保持する。In the robot hand device having such a configuration, the support tool is engaged with the inner surface or the appearance of the side wall of the object to be transported, and the pressing element is further configured such that the upper end of the side wall of the outer surface of the side wall with which the support is engaged is moved to the lower end of the side wall. In this direction, and in the direction perpendicular to the direction, the side walls are pressed in a direction in which a drag is generated to hold the transferred object.
また、搬送物を並べる際に外面側に設けられた押圧子
が後退する。Further, when arranging the conveyed articles, the presser provided on the outer surface side retreats.
以下，この発明の一実施例を第１図〜第６図により説
明する。図中第７図〜第10図と同一または相当部分につ
いては同一符号を付し，その説明は省略する。Hereinafter, an embodiment of the present invention will be described with reference to FIGS. In the drawings, the same or corresponding parts as those in FIGS. 7 to 10 are denoted by the same reference numerals, and description thereof will be omitted.
図中，（20）はロボツト（２）の腕（2a）の下端に固
定された下面が開放したフレーム，（21）はフレーム
（20）に装着され作業棒（21a）を前進および後退させ
るエアシリンダからなる駆動機，（22）はフレーム（2
0）に水平に支持され回動可能な駆動軸，（23）は一方
が駆動軸（22）に固定され他方が作動棒（21a）の先端
に枢着されたレバー，（24）は上端が駆動軸（22）に固
定され下端が第２図に示した状態においてフレーム（2
0）の外側方向へ屈曲し，箱型をなす被搬送物（１）の
係合部である把持穴（1b）に側壁（1a）の内面側から係
合する支持具，（25）はフレーム（20）の外側面に傾斜
して装着され作動棒（25a）を前進および後退させるエ
アシリンダからなる駆動機，（26）は作動棒（25a）の
先端に固定された押圧子である。In the figure, (20) is a frame fixed to the lower end of the arm (2a) of the robot (2) and having an open lower surface, and (21) is an air attached to the frame (20) for moving the working rod (21a) forward and backward. Drive unit consisting of a cylinder, (22) is a frame (2
The drive shaft (23) is supported horizontally on the drive shaft (0), one of which is fixed to the drive shaft (22) and the other is a lever pivotally attached to the tip of the operating rod (21a). With the lower end fixed to the drive shaft (22) as shown in FIG.
0) is a support that bends outward from the inner side of the side wall (1a) and engages with the gripping hole (1b), which is the engaging portion of the box-shaped transferred object (1). A drive unit composed of an air cylinder which is mounted on the outer surface of (20) at an angle and moves the operating rod (25a) forward and backward, and (26) is a pressing element fixed to the tip of the operating rod (25a).
なお，駆動機（25）が動作し駆動棒（25a）が前進し
たとき，押圧子（26）が被搬送物（１）の側壁（1a）の
外面の上端（1d）を被搬送物（１）より外側の斜め上方
向から押圧するよう構成されている。When the driving device (25) operates and the driving rod (25a) moves forward, the pressing element (26) moves the upper end (1d) of the outer surface of the side wall (1a) of the transferred object (1) to the transferred object (1). ) Is configured to be pressed from an obliquely upward direction outside.
次に，この実施例の動作を第５図に示したフローチヤ
ートをもとに説明する。Next, the operation of this embodiment will be described with reference to the flowchart shown in FIG.
被搬送物（１）がコンベア（３）によりロボツト
（２）の動作範囲内に搬送されて停止すると，ロボツト
（２）の制御装置が動作し，ステツプ（31）の腕下降指
令が出る。When the conveyed object (1) is conveyed by the conveyor (3) into the operation range of the robot (2) and stops, the control device of the robot (2) operates and a command to lower the arm of the step (31) is issued.
ステツプ（31）の状態を第１図に示す。すなわち，駆
動機（21）の駆動棒（21a）が前進して支持具（24）は
開放位置にあり，また駆動棒（25a）に固定された押圧
子（26）は後退位置にある。ステツプ（31）によりロボ
ツト（２）が動作し腕（2a）が被搬送物（１）を支持す
る位置まで下降するとステツプ（32）の腕停止指令が出
て腕（2a）が停止しステツプ（33）の腕停止となる。FIG. 1 shows the state of the step (31). That is, the driving rod (21a) of the driving machine (21) advances and the support (24) is in the open position, and the pressing element (26) fixed to the driving rod (25a) is in the retracted position. When the robot (2) is operated by the step (31) and the arm (2a) is lowered to the position supporting the transferred object (1), the arm stop command of the step (32) is issued and the arm (2a) stops and the step (32) stops. 33) The arm stops.
次いで，ステツプ（34）の被搬送物支持指令が出る
と，駆動機（21）が動作し作動棒（21a）が後退する
と，レバー（23）を介して支持具（24）が駆動軸（22）
を中心として回動する。これにより，第２図に示すよう
に，支持具（24）の先端の屈曲部が被搬送物（１）の把
持穴（1b）に係合して，ステツプ（35）の被搬送物支持
完了となる。Next, when a command to support the transferred object is issued in step (34), the driving device (21) operates and the operating rod (21a) is retracted, and the support (24) is moved via the lever (23) to the driving shaft (22). )
Around the center. As a result, as shown in FIG. 2, the bent portion at the tip of the support (24) engages with the gripping hole (1b) of the transferred object (1), and the step (35) completes supporting the transferred object. Becomes
次に，被搬送物支持完了の信号を受けて，ステツプ
（36）の被搬送物押圧指令が出ると，駆動機（25）が動
作し作動棒（25a）が前進し，第３図及び第４図に示す
ように，押圧子（26）が，側壁（1a）の外面側の上端
（1d）を被搬送物（１）より外側の斜め上方向から押圧
して，ステツプ（37）の被搬送物押圧完了となる。押圧
子（26）が被搬送物（１）の上端（1d）を押圧すると，
第３図に示すように押圧子（26）の押圧力Ｐにより側壁
（1a）に沿つた下向き方向の押圧力F1と，この押圧力F1
とは直角方向の押圧力F2とが生ずる。Next, upon receiving a signal indicating that the support of the transferred object is completed, a command to press the transferred object is issued in step (36), the driving device (25) operates and the operating rod (25a) moves forward, and FIGS. As shown in FIG. 4, the presser (26) presses the upper end (1d) on the outer surface side of the side wall (1a) from an obliquely upward direction outside the object (1) to be covered by the step (37). The pressing of the transferred object is completed. When the pressing element (26) presses the upper end (1d) of the transferred object (1),
The pressing force F 1 of沿Tsuta downward direction on the side wall (1a) by the pressing force P of the pressing elements (26) as shown in FIG. 3, the pressing force F 1
And the pressing force F 2 perpendicular directions occurs.
これにより，被搬送物（１）はハンド装置に確実に把
持される。すなわち，ステツプ（35）で被搬送物（１）
の側壁（1a）が支持具（24）により支持され，さらにス
テツプ（36）で被搬送物（１）の上端（1d）が押圧子
（26）により押圧されて被搬送物（１）は確実に把持さ
れる。Thereby, the transferred object (1) is reliably held by the hand device. That is, in step (35), the transferred object (1)
The side wall (1a) of the object (1) is supported by the support (24), and the upper end (1d) of the object (1) is pressed by the pressing element (26) by the step (36), so that the object (1) is securely inserted. Is gripped.
次に，被搬送物押圧完了の信号を受けて，ステツプ
（38）の被搬送物搬送指令が出ると，ロボツト（２）の
腕（2a）が上昇→旋回→下降して，被搬送物（１）をパ
レツト（４）上に載置し，続いて，上述とは逆の順序に
動作して，すなわち押圧子（26）の後退および把持つめ
（24）の開放がされて，被搬送物（１）の積み付けが完
了する。Next, upon receiving a signal indicating that the pressing of the transferred object is completed, the transferred object command of step (38) is issued, and the arm (2a) of the robot (2) rises, turns, and then descends, and the transferred object ( 1) is placed on the pallet (4) and subsequently operated in the reverse order to that described above, i.e., the presser (26) is retracted and the gripper (24) is released, and The stacking of (1) is completed.
従つて，この実施例によるロボツトのハンド装置は，
従来装置の同一の機能を有しながら，従来装置が必要と
した被搬送物（１）の側壁（1a）外側から把持穴（1b）
に係合する把持つめ（11a）および把持つめの連動機構
を省略することができるので，ロボツトのハンド装置の
コスト低減と軽量化をはかることができる。Therefore, the robot hand device according to this embodiment is
While having the same function as the conventional device, the gripping hole (1b) from the outside of the side wall (1a) of the transferred object (1) required by the conventional device
Since the gripper (11a) that engages with the gripper and the interlocking mechanism of the gripper can be omitted, the cost and weight of the robot hand device can be reduced.
また，この実施例によるロボツトのハンド装置では，
第６図に示すように，被搬送物（１）をパレツト（４）
上に積み付ける直前，すなわち被搬送物（１）に対し大
きな加減速度が加わらない状態になれば，押圧子（26）
を後退させることができる。これにより，押圧子（26）
が既にパレツト（４）上に積み付けられた被搬送物（1
A）と接触することがないので，被搬送物（１）をパレ
ツト（４）上に隙間なく積み付けることができるという
効果もある。In the robot hand device according to this embodiment,
As shown in FIG. 6, the object (1) is palletized (4).
Immediately before loading on the top, that is, when no large acceleration / deceleration is applied to the transferred object (1), the pressing element (26)
Can be retracted. This allows the pressing element (26)
Is already loaded on the pallet (4).
Since there is no contact with A), there is also an effect that the transported object (1) can be stacked on the pallet (4) without gaps.
なお、この実施例では，被搬送物（１）の側壁（1a）
の内面から支持具（４）で支持するようにし，外面から
押圧子（26）で押圧するようにしたが，外面から支持具
で支持し，内面から押圧子で押圧するように構成しても
よい。In this embodiment, the side wall (1a) of the transferred object (1) is used.
Although the supporting member (4) is supported from the inner surface and the pressing member (26) is pressed from the outer surface, the supporting member may be supported from the outer surface and the pressing member may be pressed from the inner surface. Good.
以上説明した通り，この発明によるロボツトのハンド
装置は，ロボットの腕に設けられ、側壁を有する被搬送
物の上記側壁の内面または外面に設けられた係合部に係
合する支持具と、上記腕に設けられ、上記支持具が係合
する上記側壁の上記内面または上記外面側とは反対側の
上端を、上記側壁の下端方向および上記下端方向とは直
角方向で上側壁に抗力が生ずる方向に押圧する押圧子と
を、備えたため、支持具が被搬送物の側壁の内面または
外面に係合し、さらに押圧子が、支持具が係合する側壁
の内面または外面の反対側の側壁上端を側壁下端方向、
およびその直角方向で側壁に抗力が生ずる方向に押圧す
るので、装置の構成を簡略化して、コスト低減と軽量化
をはかることができるという効果がある。さらに、被搬
送物の上端が押圧子に押圧されて、高加減速を加えた場
合にも被搬送物を確実に把持することができるという効
果がある。As described above, the robot hand device according to the present invention includes a support provided on an arm of a robot and engaged with an engaging portion provided on an inner surface or an outer surface of the side wall of an object having a side wall; The upper end of the side wall provided on the arm and opposite to the inner surface or the outer surface side of the side wall with which the supporter is engaged is directed to a direction in which a drag is generated on the upper side wall in a direction perpendicular to the lower end direction of the side wall and the lower end direction. A supporting element is engaged with the inner surface or the outer surface of the side wall of the transported object, and the pressing element further engages the upper end of the side wall opposite to the inner surface or the outer surface of the side wall with which the supporting element is engaged. The side wall bottom direction,
In addition, since the side wall is pressed in a direction at which a drag is generated in a direction perpendicular to the side wall, there is an effect that the configuration of the apparatus can be simplified, and the cost and weight can be reduced. Further, there is an effect that the transferred object can be reliably gripped even when the upper end of the transferred object is pressed by the pressing element to apply high acceleration / deceleration.
また、ロボットの腕に設けられ、側壁を有する被搬送
物の上記側壁の内面に設けられた係合部に係合する支持
具と、上記腕に設けられ、上記支持具が係合する上記側
壁の外面側の上端を、上記側壁の下端方向および上記下
端方向とは直角方向で上記側壁に抗力が生ずる方向に押
圧する進退自在を押圧子とを、備えたため、搬送物を並
べる際に外面側に設けられた押圧子を後退させることが
でき、隙間がより少なくなるように被搬送物を積み上げ
ることができる。A support provided on the arm of the robot and engaged with an engaging portion provided on an inner surface of the side wall of the transferred object having the side wall; and the side wall provided on the arm and engaged with the support. A pusher that presses the upper end of the outer surface side in a direction perpendicular to the lower end direction of the side wall and the lower end direction in a direction in which a drag is generated on the side wall, so that the outer surface side when arranging conveyed objects is arranged. Can be retracted, and conveyed objects can be stacked so as to reduce the gap.
第１図は，この発明によるロボツト装置の一実施例を示
す部分縦断正面図，第２図および第３図は同じく拡大正
面図，第４図は第３図のIV矢視図，第５図は同じく動作
を示すフローチヤート，第６図は同じく動作状況を示す
第２図相当図，第７図は従来のロボツトの配置状態を示
す正面図，第８図は第７図のVIII部分拡大断面図，第９
図は第８図のIX矢視図，第10図は動作状況を示す全体図
である。 図中， （１）……被搬送物、（2a）……腕 （５）（20）……フレーム、（21）（25）……駆動機 （11a）（11b）（24）……支持具、（13）（26）……押
圧子 なお，図中同一部分または相当部分は同一符号により示
す。FIG. 1 is a partially longitudinal front view showing an embodiment of a robot apparatus according to the present invention, FIGS. 2 and 3 are enlarged front views of the same, FIG. Is a flow chart showing the same operation, FIG. 6 is a view corresponding to FIG. 2 showing the same operation state, FIG. 7 is a front view showing an arrangement state of a conventional robot, and FIG. 8 is an enlarged sectional view of a part VIII of FIG. Fig. 9
The figure is a view taken in the direction of the arrow IX in FIG. 8, and FIG. 10 is an overall view showing the operation state. In the figure, (1) ... conveyed object, (2a) ... arm (5) (20) ... frame, (21) (25) ... driver (11a) (11b) (24) ... support , (13) (26) ... presser The same or corresponding parts in the figures are denoted by the same reference numerals.
Claims (2)
搬送物の上記側壁の内面または外面に設けられた係合部
に係合する支持具と、 上記腕に設けられ、上記支持具が係合する上記側壁の上
記内面または上記外面側とは反対側の上端を、上記側壁
の下端方向および上記下端方向とは直角方向で上記側壁
に抗力が生ずる方向に押圧する押圧子とを、 備えたことを特徴とするロボットのハンド装置。1. A support provided on an arm of a robot and engaged with an engagement portion provided on an inner surface or an outer surface of the side wall of a transferred object having a side wall, and the support provided on the arm, wherein the support is A presser for pressing an upper end of the side wall to be engaged opposite to the inner surface or the outer surface side in a direction perpendicular to the lower end direction and the lower end direction of the side wall in a direction in which a drag is generated on the side wall; A robot hand device.
搬送物の上記側壁の内面に設けられた係合部に係合する
支持具と、 上記腕に設けられ、上記支持具が係合する上記側壁の外
面側の上端を、上記側壁の下端方向および上記下端方向
とは直角方向で上記側壁に抗力が生ずる方向に押圧する
進退自在な押圧子とを、 備えたことを特徴とするロボットのハンド装置。2. A support provided on an arm of a robot and engaged with an engaging portion provided on an inner surface of the side wall of a transferred object having a side wall, and the support provided on the arm and engaged with the support A robot capable of pressing an upper end on the outer surface side of the side wall in a direction perpendicular to the lower end direction of the side wall and the lower end direction so as to generate a drag on the side wall. Hand device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2328013A JP2600486B2 (en) | 1990-11-28 | 1990-11-28 | Robot hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2328013A JP2600486B2 (en) | 1990-11-28 | 1990-11-28 | Robot hand device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04201091A JPH04201091A (en) | 1992-07-22 |
| JP2600486B2 true JP2600486B2 (en) | 1997-04-16 |
Family
ID=18205542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2328013A Expired - Lifetime JP2600486B2 (en) | 1990-11-28 | 1990-11-28 | Robot hand device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2600486B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041949B (en) * | 2016-06-21 | 2019-01-29 | 广东技术师范学院 | A kind of manipulator suitable for marine marker automatic coupling |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59219192A (en) * | 1983-07-04 | 1984-12-10 | 株式会社岡村製作所 | Hand device for industrial robot |
-
1990
- 1990-11-28 JP JP2328013A patent/JP2600486B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH04201091A (en) | 1992-07-22 |
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