JPH01129052U - - Google Patents
Info
- Publication number
- JPH01129052U JPH01129052U JP2336888U JP2336888U JPH01129052U JP H01129052 U JPH01129052 U JP H01129052U JP 2336888 U JP2336888 U JP 2336888U JP 2336888 U JP2336888 U JP 2336888U JP H01129052 U JPH01129052 U JP H01129052U
- Authority
- JP
- Japan
- Prior art keywords
- gripping
- grip
- rod
- case
- workpiece
- 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
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Landscapes
- Feeding Of Workpieces (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Description
第１図はこの考案の一実施例を示す縦断面図、
第２図は第１図の―線に沿つた横断面図、第
３図は第１図の―線に沿つた横断面図、第４
図は変位圧力センサの取り付け状態を示す分解斜
視図、第５図は形状認識回路に関連したブロツク
図、第６図はワーク把持時の把持棒の状態を示す
縦断面図、第７図は把持棒の押し込み状態を示す
縦断面図、第８図はコンベア上におけるワークの
配列状態を示す概略平面図、第９図はこの考案の
他の実施例を示す縦断面図である。
１…ケース、２…第１の袋体（解除装置）、３
…第２の袋体、４…把持棒、４ａ…基端部、４ｃ
…先端部、１３ａ，１３ｂ…室、１４…支点、７
０…変位圧力センサ、８０…形状認識回路、Ｗ…
ワーク、ａ…径方向内方、ｂ…径方向外方。
FIG. 1 is a longitudinal sectional view showing an embodiment of this invention.
Figure 2 is a cross-sectional view taken along line - of Figure 1, Figure 3 is a cross-sectional view taken along line - of Figure 1, and Figure 4 is a cross-sectional view taken along line - of Figure 1.
The figure is an exploded perspective view showing the installation state of the displacement pressure sensor, Fig. 5 is a block diagram related to the shape recognition circuit, Fig. 6 is a longitudinal sectional view showing the state of the gripping rod when gripping a workpiece, and Fig. 7 is a gripping rod. FIG. 8 is a schematic plan view showing the arrangement of works on the conveyor, and FIG. 9 is a longitudinal sectional view showing another embodiment of the invention. 1... Case, 2... First bag body (release device), 3
...Second bag body, 4...Gripping rod, 4a...Proximal end, 4c
... Tip, 13a, 13b... Chamber, 14... Fulcrum, 7
0...Displacement pressure sensor, 80...Shape recognition circuit, W...
Workpiece, a... radially inward, b... radially outward.
Claims (1)
両端部がケースの径方向に向かつて揺動自在な複
数の把持棒と、 上記ケースにおける支点よりも上方の室に収容
され、流体の圧力により膨張して、把持棒の先端
部を上記径方向の内方に向けて変位させることに
より、把持棒にワークを把持させる袋体と、 上記ケースにおける支点よりも下方の位置にお
いて、上記把持棒を径方向の外方に向けて変位さ
せることにより、ワークの把持を解除させる解除
装置と、 上記ケースにおける把持棒の基端部または先端
部のいずれか一方に対応した位置に設けられ、把
持棒に弾性的に接触して、ワークを把持した状態
での把持棒の径方向の変位量を個別に検出する複
数の変位圧力センサと、 上記変位圧力センサからの信号に基づいて把持
棒の位置を把握することにより、ワークの形状を
認識する形状認識回路とを備えたことを特徴とす
る把持装置。[Scope of Claim for Utility Model Registration] A cylindrical case; a plurality of gripping bars arranged concentrically with the case and swingable around a fulcrum with both ends facing in the radial direction of the case; a bag housed in a chamber above the fulcrum and inflated by fluid pressure to displace the tip of the grip rod inward in the radial direction, thereby causing the grip rod to grip the work; a release device that releases the grip on the workpiece by displacing the grip bar radially outward at a position below the fulcrum in the case; a plurality of displacement pressure sensors that are provided at positions corresponding to one of the gripping rods and individually detect the amount of displacement in the radial direction of the gripping rod while the workpiece is being gripped by elastically contacting the gripping rod; A gripping device comprising a shape recognition circuit that recognizes the shape of a workpiece by determining the position of a gripping rod based on a signal from a pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1988023368U JPH071240Y2 (en) | 1988-02-23 | 1988-02-23 | Gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1988023368U JPH071240Y2 (en) | 1988-02-23 | 1988-02-23 | Gripping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01129052U true JPH01129052U (en) | 1989-09-04 |
| JPH071240Y2 JPH071240Y2 (en) | 1995-01-18 |
Family
ID=31242293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1988023368U Expired - Lifetime JPH071240Y2 (en) | 1988-02-23 | 1988-02-23 | Gripping device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH071240Y2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101994488B1 (en) * | 2012-12-24 | 2019-07-01 | 두산공작기계 주식회사 | Work program automatic change device and method by an external diameter of work material |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59201777A (en) * | 1983-04-25 | 1984-11-15 | 日産自動車株式会社 | Mechanical hand |
| JPS622953A (en) * | 1985-06-29 | 1987-01-08 | 菊地 眞 | Applicator for warming medical treatment |
| JPS6234705U (en) * | 1985-08-20 | 1987-02-28 |
-
1988
- 1988-02-23 JP JP1988023368U patent/JPH071240Y2/en not_active Expired - Lifetime
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59201777A (en) * | 1983-04-25 | 1984-11-15 | 日産自動車株式会社 | Mechanical hand |
| JPS622953A (en) * | 1985-06-29 | 1987-01-08 | 菊地 眞 | Applicator for warming medical treatment |
| JPS6234705U (en) * | 1985-08-20 | 1987-02-28 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH071240Y2 (en) | 1995-01-18 |
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