JP6964085B2 - グリッパ - Google Patents
グリッパ Download PDFInfo
- Publication number
- JP6964085B2 JP6964085B2 JP2018543952A JP2018543952A JP6964085B2 JP 6964085 B2 JP6964085 B2 JP 6964085B2 JP 2018543952 A JP2018543952 A JP 2018543952A JP 2018543952 A JP2018543952 A JP 2018543952A JP 6964085 B2 JP6964085 B2 JP 6964085B2
- Authority
- JP
- Japan
- Prior art keywords
- case
- outer peripheral
- guide
- gripper
- center line
- 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
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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B23B31/16—Chucks with simultaneously-acting jaws, whether or not also individually adjustable moving radially
- B23B31/16233—Jaws movement actuated by oblique surfaces of a coaxial control rod
- B23B31/16254—Jaws movement actuated by oblique surfaces of a coaxial control rod using fluid-pressure means to actuate the gripping means
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/028—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T279/00—Chucks or sockets
- Y10T279/12—Chucks or sockets with fluid-pressure actuator
- Y10T279/1224—Pneumatic type
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T279/00—Chucks or sockets
- Y10T279/12—Chucks or sockets with fluid-pressure actuator
- Y10T279/1274—Radially reciprocating jaws
- Y10T279/1291—Fluid pressure moves jaws via mechanical connection
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T279/00—Chucks or sockets
- Y10T279/19—Radially reciprocating jaws
- Y10T279/1973—Wedge actuated
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Actuator (AREA)
- Feeding Of Workpieces (AREA)
- Jigs For Machine Tools (AREA)
Description
好ましくは、前記第1ケースは、板状をなす底部と、該底部の外周縁部から前記第2ケース側に筒状に延びる外周壁部とで構成されていることを特徴とする。
好ましくは、前記第2ケースの各ガイド部には、前記シリンダ部の外周面よりも外側に突出する突出部が設けられ、該突出部の前記第1ケース側には、前記本体ケースを被取付体に取り付ける際の取付部が設けられていることを特徴とする。
2 本体ケース
3 第1ケース(シリンダ部)
3a シリンダ室
4 第2ケース
5 ピストン
6 マスタージョウ
7 トップジョウ
8 プランジャ
8a 延出部(連係手段)
10 アーム先端部(被取付体)
31 円形底部
32 外周壁部
44 ガイド部
44b 突出部
44d 第2螺合穴(取付部)
C1 筒中心線(中心軸)
W ワーク
Claims (2)
- ピストンをその中心軸に沿ってスライドするように収容するシリンダ室が一端側に形成され、且つ、前記中心軸周りに等間隔に形成されるとともに前記中心軸と直交する方向に延びる複数のガイド部を他端に有する本体ケースと、
前記各ガイド部には、ガイド溝が形成され、
前記各ガイド部の前記ガイド溝に案内され、且つ、正面にトップジョウを着脱可能な複数のマスタージョウと、
該各マスタージョウにそれぞれ連係する複数の連係手段を有し、前記ピストンのスライド動作に伴って前記中心軸に沿ってスライドするプランジャとを備え、
該プランジャのスライド動作により前記各連係手段が前記各マスタージョウを前記各ガイド部の前記ガイド溝に沿っていずれか一方に移動させることで前記各トップジョウがワークを挟持するか、或いは、前記ワークの挟持状態を解除するよう構成されたグリッパであって、
前記本体ケースは、前記中心軸の一方側に設けられ、前記シリンダ室が前記中心軸の他方側に開口するように形成された第1ケースと、前記中心軸の他方側に設けられ、且つ、前記各ガイド部を有する第2ケースとで構成され、
前記第1ケースは、板状をなす底部と、該底部の外周縁部から前記第2ケース側に筒状に延びる外周壁部とで構成され、
該第2ケースは、前記第1ケースにおける前記第2ケース側の開口部分を覆うように前記第1ケースに固定され、且つ、前記第2ケースには、前記複数のガイド部が設けられ、
前記各ガイド部は、突出部を有し、
前記突出部は、前記第1ケースの前記外周壁部の外周面よりも、前記中心軸と直交する方向に突出しており、且つ、前記突出部には、前記ガイド溝が形成されており、且つ、前記突出部は、取付面部を有し、
前記取付面部は、前記本体ケースを被取付体に取り付ける際の取付部が設けられ、且つ、前記取付面部は、前記マスタージョウが設けられている側とは反対側に設けられている、
グリッパ。 - 前記第1ケースは、一体加工品である、
請求項1に記載のグリッパ。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016196949 | 2016-10-05 | ||
JP2016196949 | 2016-10-05 | ||
PCT/JP2017/036217 WO2018066627A1 (ja) | 2016-10-05 | 2017-10-05 | グリッパ |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2018066627A1 JPWO2018066627A1 (ja) | 2019-07-18 |
JP6964085B2 true JP6964085B2 (ja) | 2021-11-10 |
Family
ID=61832055
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018543952A Active JP6964085B2 (ja) | 2016-10-05 | 2017-10-05 | グリッパ |
Country Status (7)
Country | Link |
---|---|
US (1) | US10835964B2 (ja) |
EP (1) | EP3513917B1 (ja) |
JP (1) | JP6964085B2 (ja) |
KR (1) | KR102409899B1 (ja) |
CN (1) | CN109715352B (ja) |
TW (1) | TWI743220B (ja) |
WO (1) | WO2018066627A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111943032B (zh) * | 2020-07-29 | 2022-05-31 | 山东省农业机械科学研究院 | 用于吊装重型工件的吊具及用于装配渣浆泵的设备及方法 |
EP4347197A1 (en) * | 2021-05-24 | 2024-04-10 | Divergent Technologies, Inc. | Robotic gripper apparatus |
Family Cites Families (31)
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US2828134A (en) * | 1955-09-26 | 1958-03-25 | Buck Tool Co | Counter balanced chuck |
DE1059741B (de) * | 1957-04-02 | 1959-06-18 | Forkardt Paul Kg | Kraftbetaetigtes Spannfutter fuer grosse Durchmesser |
DE1752226A1 (de) * | 1968-04-23 | 1971-05-13 | Smw Spanneinrichtungen | Kraftspannfutter |
DE2821849A1 (de) * | 1978-05-19 | 1979-11-22 | Roehm Guenter H | Kraftbetaetigtes keilspannfutter |
US4249459A (en) * | 1978-11-27 | 1981-02-10 | Cushman Industries, Incorporated | Fluid coupling for a rotary chuck |
DE3102099A1 (de) * | 1981-01-23 | 1982-08-19 | Röhm GmbH, 7927 Sontheim | Spanneinrichtung an drehmaschinen mit einem spannfutter |
DE3528120C1 (de) * | 1985-08-06 | 1986-09-25 | Paul Forkardt GmbH & Co KG, 4000 Düsseldorf | Kraftbetaetigtes Spannfutter |
JPH0115452Y2 (ja) * | 1985-11-06 | 1989-05-09 | ||
JPS6438278U (ja) * | 1987-09-02 | 1989-03-07 | ||
JP2515626Y2 (ja) * | 1987-09-03 | 1996-10-30 | エスエムシー 株式会社 | 平行開閉チャック |
DE4023591A1 (de) * | 1990-07-25 | 1992-01-30 | Smw Spanneinrichtungen | Spannvorrichtung |
US5197748A (en) * | 1991-12-04 | 1993-03-30 | Wu Shui Lai | Hydraulic chuck assembly |
JPH0724582U (ja) * | 1993-10-13 | 1995-05-09 | エスエムシー株式会社 | プッシャ付き3爪平行開閉チャック |
IL113089A (en) * | 1995-03-22 | 1997-09-30 | Rsr Adtec | Fluid actuated chuck |
JP3051714B2 (ja) * | 1997-10-20 | 2000-06-12 | エスエムシー株式会社 | 開閉チャック |
JP4122490B2 (ja) * | 1999-10-04 | 2008-07-23 | Smc株式会社 | 位置検出機構付き複合型エアチャック |
JP4493952B2 (ja) * | 2003-08-08 | 2010-06-30 | 株式会社コスメック | クランプ装置 |
HU226381B1 (hu) * | 2004-08-25 | 2008-10-28 | Jozsef Dr Tajnafoei | Befogótokmány a rugalmas gyártáshoz |
WO2007018166A1 (ja) * | 2005-08-05 | 2007-02-15 | Kitagawa Iron Works Co., Ltd. | ターボチャージャハウジングの把持方法およびワーク把持装置 |
US8087675B2 (en) * | 2006-08-24 | 2012-01-03 | Korson Daniel G | Chuck holder incorporating independent arrayed wedge clamps for clamping such as irregularly shaped and thin wall parts with a minimum of deformation |
JP2008176850A (ja) * | 2007-01-18 | 2008-07-31 | Nippon Densan Corp | チャッキング装置を備えたモータおよびディスク駆動装置 |
JP5385710B2 (ja) * | 2009-07-09 | 2014-01-08 | パスカルエンジニアリング株式会社 | クランプ装置 |
CN101920350B (zh) * | 2010-09-09 | 2011-12-07 | 江苏无锡建华机床附件集团有限公司 | 立式固定液压动力卡盘 |
DE102013216179A1 (de) * | 2013-08-14 | 2015-02-19 | Forkardt Deutschland Gmbh | Spannvorrichtung für eine Maschinenspindel einer Werkzeugmaschine |
JP6229651B2 (ja) | 2014-12-24 | 2017-11-15 | Smc株式会社 | チャック装置 |
DE102015218127A1 (de) * | 2015-09-22 | 2017-03-23 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Greif- oder Spannvorrichtung |
JP6811576B2 (ja) * | 2016-10-05 | 2021-01-13 | 株式会社北川鉄工所 | グリッパ |
JP2018058156A (ja) * | 2016-10-05 | 2018-04-12 | 株式会社北川鉄工所 | グリッパ |
JP6807205B2 (ja) * | 2016-10-05 | 2021-01-06 | 株式会社北川鉄工所 | グリッパ |
JP6850586B2 (ja) * | 2016-11-11 | 2021-03-31 | 株式会社北川鉄工所 | グリッパー |
CN111295269B (zh) * | 2018-01-16 | 2023-04-21 | 株式会社北川铁工所 | 机器人用末端执行器的安装结构以及机器人用末端执行器 |
-
2017
- 2017-10-05 US US16/338,024 patent/US10835964B2/en active Active
- 2017-10-05 JP JP2018543952A patent/JP6964085B2/ja active Active
- 2017-10-05 CN CN201780057038.4A patent/CN109715352B/zh active Active
- 2017-10-05 TW TW106134360A patent/TWI743220B/zh active
- 2017-10-05 KR KR1020197011855A patent/KR102409899B1/ko active IP Right Grant
- 2017-10-05 WO PCT/JP2017/036217 patent/WO2018066627A1/ja unknown
- 2017-10-05 EP EP17858463.7A patent/EP3513917B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN109715352A (zh) | 2019-05-03 |
KR102409899B1 (ko) | 2022-06-15 |
EP3513917A1 (en) | 2019-07-24 |
CN109715352B (zh) | 2022-11-15 |
US20200023480A1 (en) | 2020-01-23 |
KR20190055200A (ko) | 2019-05-22 |
WO2018066627A1 (ja) | 2018-04-12 |
TW201819098A (zh) | 2018-06-01 |
US10835964B2 (en) | 2020-11-17 |
TWI743220B (zh) | 2021-10-21 |
EP3513917B1 (en) | 2024-05-29 |
JPWO2018066627A1 (ja) | 2019-07-18 |
EP3513917A4 (en) | 2019-09-25 |
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