JP7306113B2 - 把持機構及び組立装置 - Google Patents
把持機構及び組立装置 Download PDFInfo
- Publication number
- JP7306113B2 JP7306113B2 JP2019123714A JP2019123714A JP7306113B2 JP 7306113 B2 JP7306113 B2 JP 7306113B2 JP 2019123714 A JP2019123714 A JP 2019123714A JP 2019123714 A JP2019123714 A JP 2019123714A JP 7306113 B2 JP7306113 B2 JP 7306113B2
- Authority
- JP
- Japan
- Prior art keywords
- gripping mechanism
- sphere
- spheres
- side plate
- gripped
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1055—Programme-controlled manipulators characterised by positioning means for manipulator elements by gravity
-
- 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
-
- 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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Description
4 第1部品(対象物)
5 第2部品
10 駆動部(駆動機構)
31 ホルダー(枠体)
32 第1球体(球体)
33 第2球体(球体)
34 第3球体(球体)
35 第4球体(球体)
100 組立装置
311 第1側板(側板)
312 第2側板(側板)
313 第3側板(側板)
314 第4側板(側板)
315 第1切欠部(切欠部)
316 第2切欠部(切欠部)
317 第3切欠部(切欠部)
318 第4切欠部(切欠部)
319 底板
320 開口
Claims (4)
- 4個の球体と、
前記4個の球体を収容する枠体と
を備え、
前記枠体は、4枚の側板を有し、
前記4枚の側板は、
それぞれ前記枠体の中心軸に対して傾斜し、
それぞれ前記4個の球体を通さずに対象物を通すための切欠部を有し、
前記4個の球体は、
それぞれ前記4枚の側板のうちの少なくとも1枚の側板に接触し、
前記対象物を把持する、把持機構。 - 前記枠体は、1枚の底板を有し、
前記底板は、前記4個の球体を通さずに前記対象物を通すための開口を有する、請求項1に記載の把持機構。 - 前記4個の球体は、互いに同一の直径を有し、かつ各々の中心が正方形の各頂点の位置を占めるように配置され、
前記対象物が把持されていない状態において、前記4個の球体は、それぞれ前記4個の球体のうちの隣接する2個の球体と接触する、請求項1又は請求項2に記載の把持機構。 - 請求項1から請求項3のいずれか1項に記載の把持機構と、
前記対象物に対して前記把持機構を相対移動させる駆動機構と
を備えた組立装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019123714A JP7306113B2 (ja) | 2019-07-02 | 2019-07-02 | 把持機構及び組立装置 |
US16/918,544 US11648689B2 (en) | 2019-07-02 | 2020-07-01 | Gripping mechanism and assembly apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019123714A JP7306113B2 (ja) | 2019-07-02 | 2019-07-02 | 把持機構及び組立装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021008014A JP2021008014A (ja) | 2021-01-28 |
JP7306113B2 true JP7306113B2 (ja) | 2023-07-11 |
Family
ID=74066691
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019123714A Active JP7306113B2 (ja) | 2019-07-02 | 2019-07-02 | 把持機構及び組立装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US11648689B2 (ja) |
JP (1) | JP7306113B2 (ja) |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US225517A (en) * | 1880-03-16 | Cotton-bale tie | ||
US3780923A (en) * | 1969-05-16 | 1973-12-25 | Amerola Prod Corp | Gripping device |
US3797725A (en) * | 1971-04-14 | 1974-03-19 | M Ind Co Ltd | Automatic soldering machine |
JPS5944236B2 (ja) * | 1977-01-10 | 1984-10-27 | 健司 柘植 | 壁面取付型ホルダ− |
US4197886A (en) | 1977-09-06 | 1980-04-15 | Clyde Corporation | Fastener driving tool and fastener holding nosepiece |
JPS5614058Y2 (ja) * | 1978-09-28 | 1981-04-01 | ||
JPS56152240A (en) * | 1980-04-25 | 1981-11-25 | Hitachi Ltd | Device for holding bar-shaped member |
JPS59176772U (ja) * | 1983-05-11 | 1984-11-26 | 株式会社 富士電機総合研究所 | 板材のロ−ラ式挾持装置 |
JPH0396452U (ja) * | 1990-01-23 | 1991-10-02 | ||
JP3288518B2 (ja) | 1994-03-04 | 2002-06-04 | 三菱電機株式会社 | 部品自動組立方法及び部品自動組立装置 |
WO2016014646A2 (en) * | 2014-07-22 | 2016-01-28 | Thomas & Betts International, Llc | Anti-slip cable tie |
WO2016065195A1 (en) * | 2014-10-23 | 2016-04-28 | Thomas & Betts International, Llc | Anti-slip tie with wave springs |
-
2019
- 2019-07-02 JP JP2019123714A patent/JP7306113B2/ja active Active
-
2020
- 2020-07-01 US US16/918,544 patent/US11648689B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
JP2021008014A (ja) | 2021-01-28 |
US11648689B2 (en) | 2023-05-16 |
US20210001497A1 (en) | 2021-01-07 |
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