JP5850907B2 - チャック - Google Patents
チャック Download PDFInfo
- Publication number
- JP5850907B2 JP5850907B2 JP2013273023A JP2013273023A JP5850907B2 JP 5850907 B2 JP5850907 B2 JP 5850907B2 JP 2013273023 A JP2013273023 A JP 2013273023A JP 2013273023 A JP2013273023 A JP 2013273023A JP 5850907 B2 JP5850907 B2 JP 5850907B2
- Authority
- JP
- Japan
- Prior art keywords
- pair
- links
- link
- gripping
- grip
- 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
- 230000000052 comparative effect Effects 0.000 description 18
- 210000000078 claw Anatomy 0.000 description 15
- 238000010586 diagram Methods 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000004323 axial length Effects 0.000 description 1
- 239000011796 hollow space material Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
Images
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
- B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
- B23B31/18—Chucks with simultaneously-acting jaws, whether or not also individually adjustable pivotally movable in planes containing the axis of the chuck
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/24—Chucks characterised by features relating primarily to remote control of the gripping means
- B23B31/28—Chucks characterised by features relating primarily to remote control of the gripping means using electric or magnetic means in the chuck
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B5/00—Clamps
- B25B5/06—Arrangements for positively actuating jaws
- B25B5/061—Arrangements for positively actuating jaws with fluid drive
- B25B5/064—Arrangements for positively actuating jaws with fluid drive with clamping means pivoting around an axis perpendicular to the pressing direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B5/00—Clamps
- B25B5/06—Arrangements for positively actuating jaws
- B25B5/12—Arrangements for positively actuating jaws using toggle links
- B25B5/122—Arrangements for positively actuating jaws using toggle links with fluid drive
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
Description
Claims (3)
- 本体部、及び前記本体部に対して直線的に移動可能な可動部を有する駆動源と、
前記可動部に連結されるアームと、
前記本体部に固定される支持部と、
L字形に繋がる第一部分及び第二部分を有し、屈曲部が前記支持部に回転軸を介して回転可能に支持されると共に、前記屈曲部が内側を向くように配置される一対の把持リンクと、
前記一対の把持リンクの前記第一部分に設けられ、ワークをつかむための一対の把持部と、
一端部が前記アームに回転可能に連結されると共に、他端部が前記一対の把持リンクの前記第二部分に回転可能に連結される一対の中間リンクと、を備え、
前記一対の把持リンクの前記第一部分が平行状態よりも開いた状態から閉じ方向に回転して前記ワークをつかみ、
前記回転軸の軸方向から見たとき、前記アームに対する前記一対の中間リンクの第一のリンク回転軸、及び前記一対の把持リンクに対する前記一対の中間リンクの第二のリンク回転軸が、前記支持部の外側に配置されるチャック。 - 前記駆動源の前記可動部が前記本体部から突出する方向に移動するとき、前記一対の把持リンクが閉じて前記一対の把持部がワークを挟むように、
前記回転軸の軸方向から見たとき、前記一対の把持リンクに対する前記一対の中間リンクの第二のリンク回転軸が、前記アームに対する前記一対の中間リンクの第一のリンク回転軸と前記回転軸とを結んだ線よりも外側に配置されることを特徴とする請求項1に記載のチャック。 - 前記支持部は、前記回転軸の両端部を支持すると共に、前記アームの少なくとも一部、及び前記一対の把持リンクの少なくとも一部を覆う一対の覆い壁を備えることを特徴とする請求項1又は2に記載のチャック。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013273023A JP5850907B2 (ja) | 2013-12-27 | 2013-12-27 | チャック |
PCT/JP2014/083222 WO2015098614A1 (ja) | 2013-12-27 | 2014-12-16 | チャック |
KR1020167016649A KR101648697B1 (ko) | 2013-12-27 | 2014-12-16 | 척 |
DE112014006021.6T DE112014006021B4 (de) | 2013-12-27 | 2014-12-16 | Spannfutter |
CN201480069158.2A CN105829034B (zh) | 2013-12-27 | 2014-12-16 | 夹头 |
TW103145772A TWI577511B (zh) | 2013-12-27 | 2014-12-26 | 夾頭 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013273023A JP5850907B2 (ja) | 2013-12-27 | 2013-12-27 | チャック |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015127074A JP2015127074A (ja) | 2015-07-09 |
JP5850907B2 true JP5850907B2 (ja) | 2016-02-03 |
Family
ID=53478478
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013273023A Active JP5850907B2 (ja) | 2013-12-27 | 2013-12-27 | チャック |
Country Status (6)
Country | Link |
---|---|
JP (1) | JP5850907B2 (ja) |
KR (1) | KR101648697B1 (ja) |
CN (1) | CN105829034B (ja) |
DE (1) | DE112014006021B4 (ja) |
TW (1) | TWI577511B (ja) |
WO (1) | WO2015098614A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107053078A (zh) * | 2017-05-31 | 2017-08-18 | 四川省守望信息科技有限责任公司 | 基于核电站维修中对板状材料进行夹紧的部件 |
JP7035355B2 (ja) * | 2017-07-20 | 2022-03-15 | 株式会社アイシン | 把持装置 |
CN107336250A (zh) * | 2017-09-07 | 2017-11-10 | 张帆 | 家庭多用途机器人 |
CN107731080B (zh) * | 2017-10-26 | 2023-12-19 | 苏州大闹天宫机器人科技有限公司 | 可快速拆装变换式的机械原理示教用抓取机构 |
JP7066875B2 (ja) * | 2018-11-30 | 2022-05-13 | オリンパス株式会社 | 把持機構 |
CN110497380A (zh) * | 2019-09-20 | 2019-11-26 | 佛山市荞帆机电科技有限公司 | 一种压铸用机器人 |
KR102223237B1 (ko) * | 2020-05-25 | 2021-03-04 | 이준호 | 소화기 분해 및 소화약제 회수 장치 |
CN112140129B (zh) * | 2020-09-22 | 2022-01-21 | 浙江农林大学 | 一种新型变径原木抓具 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0655481A (ja) * | 1992-08-05 | 1994-03-01 | Kawasaki Heavy Ind Ltd | 産業用ロボットのハンド |
JPH0740083U (ja) * | 1993-12-27 | 1995-07-18 | 株式会社安川電機 | グリッパ |
US5884952A (en) * | 1997-06-02 | 1999-03-23 | Rubberline Products Ltd | Gripper device |
DE19903660A1 (de) | 1999-01-29 | 2000-08-10 | Hubert Drohmann | Vorrichtung zum zentrischen Greifen und/oder Spannen von Körpern mit unterschiedlichen Durchmessern und unterschiedlicher Länge |
US7293812B2 (en) * | 2003-05-29 | 2007-11-13 | Yakov Kushnir | Power driven gripping device with various cross-sections |
CN101450367B (zh) * | 2007-12-04 | 2011-04-13 | 中南大学 | 高稳定性重载夹钳 |
JP5072695B2 (ja) * | 2008-04-22 | 2012-11-14 | 株式会社ハーモニック・ドライブ・システムズ | ロボットハンドおよび指機構 |
TWM352441U (en) * | 2008-10-27 | 2009-03-11 | Lian Fa Automation Co Ltd | Automated machinery clamping mechanism |
JP5570274B2 (ja) | 2010-03-31 | 2014-08-13 | 株式会社ニューエラー | 開閉チャック |
JP5489874B2 (ja) * | 2010-06-17 | 2014-05-14 | セイコーインスツル株式会社 | 把持装置 |
CN201834559U (zh) * | 2010-10-29 | 2011-05-18 | 贵阳铝镁设计研究院 | 炭块堆垛机用带导向的插板式夹具开闭机构 |
CN201873342U (zh) * | 2010-11-10 | 2011-06-22 | 白银有色集团股份有限公司 | 一种用于锌锭码垛的机械手夹具 |
-
2013
- 2013-12-27 JP JP2013273023A patent/JP5850907B2/ja active Active
-
2014
- 2014-12-16 WO PCT/JP2014/083222 patent/WO2015098614A1/ja active Application Filing
- 2014-12-16 KR KR1020167016649A patent/KR101648697B1/ko active IP Right Grant
- 2014-12-16 DE DE112014006021.6T patent/DE112014006021B4/de active Active
- 2014-12-16 CN CN201480069158.2A patent/CN105829034B/zh active Active
- 2014-12-26 TW TW103145772A patent/TWI577511B/zh active
Also Published As
Publication number | Publication date |
---|---|
CN105829034B (zh) | 2018-03-30 |
TW201536490A (zh) | 2015-10-01 |
JP2015127074A (ja) | 2015-07-09 |
CN105829034A (zh) | 2016-08-03 |
DE112014006021B4 (de) | 2021-07-29 |
KR101648697B1 (ko) | 2016-08-16 |
WO2015098614A1 (ja) | 2015-07-02 |
KR20160082257A (ko) | 2016-07-08 |
DE112014006021T5 (de) | 2016-09-22 |
TWI577511B (zh) | 2017-04-11 |
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