JPH01321186A - Setting device for hand part - Google Patents
Setting device for hand partInfo
- Publication number
- JPH01321186A JPH01321186A JP15129788A JP15129788A JPH01321186A JP H01321186 A JPH01321186 A JP H01321186A JP 15129788 A JP15129788 A JP 15129788A JP 15129788 A JP15129788 A JP 15129788A JP H01321186 A JPH01321186 A JP H01321186A
- Authority
- JP
- Japan
- Prior art keywords
- holder
- steel ball
- piston
- spring
- guide
- 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
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 41
- 239000010959 steel Substances 0.000 claims abstract description 41
- 210000000707 wrist Anatomy 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004907 gland Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〈産業上の利用分野〉
本発明は、ロボットやマニプレータ等の先ＯＮ （ハン
ド部）を交換する際に用いられるハンド部の着脱装置に
関する。DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a hand section attachment/detachment device used when exchanging a first ON (hand section) of a robot, manipulator, or the like.
〈従来の技術〉
ロボットやマニプレータ等の先端（ハンド部）は対象作
業の種類に応じてグリップや専用ツール等（ハンド部）
に交換されている。<Conventional technology> The tip (hand part) of a robot or manipulator, etc. is equipped with a grip or special tool (hand part) depending on the type of work being performed.
has been replaced.
この場合、ロボットやマニプレータ等の手首部とハンド
部の着脱は手作業によりボルト等を取付は取外すことで
行なわれている。In this case, the wrist portion and hand portion of the robot, manipulator, etc. are attached and detached by manually attaching and removing bolts and the like.
〈発明が解決しようとする課題〉
従来、ハンド部の取付は取外しは作業員の手作業でボル
トを介して行なっているため、手間がかかりハンド部の
交換には多くの時間を要していた。また、ハンド部はボ
ルトによって手首部に取付けられているため、遠隔地か
ら交換操作することが困難であった。<Problem to be solved by the invention> Conventionally, the attachment and detachment of the hand part was done manually by workers using bolts, which was time-consuming and required a lot of time to replace the hand part. . Further, since the hand portion is attached to the wrist portion with a bolt, it is difficult to replace the hand portion from a remote location.
本発明は上記状況に鑑みてなされたもので、直線的な動
作を組合わせることでハンド部の着脱が行なえるハンド
部の着脱装置を提供し、もってハンド部の交換時間を短
縮して彎ボッ′ トやマニプレータ等の作業効率向上
を図ると共に、遠隔地からの交換操作を可能にすること
を目的とする。The present invention has been made in view of the above circumstances, and provides a hand part attachment/detachment device that allows the hand part to be attached and detached by combining linear movements, thereby shortening the hand part replacement time and eliminating the need for a curved box. ' The purpose is to improve the work efficiency of machines such as machines and manipulators, and to enable replacement operations from remote locations.
く課題を解決するための手段〉
上記目的を達成するための本発明の構成は、ハンド部を
保持する手首部に取付けられ内周が多角柱状のホルダと
、該ホルダに設けられ該ホルダ内周に前記ハンド部を嵌
入した際に該ハンド部の抜け外れを防止するストッパと
からなり、該ストッパは、前記ホルダに固定されると共
に先端部が該ホルダを貫通して該ホルダの内周に開口す
る筒状ケースと、該筒状ケースの先端部に保持され一部
が前記ホルダの内周側に突出可能な鋼球と、前記筒状ケ
ースの内周に摺動自在に設けられ先端が前記鋼球に当接
すると共に基端側外周に固定溝が形成されたピストンと
、前記筒状ケースと該ピストンとに亘り設けられ該ピス
トンを先端側に付勢して前記鋼球を前記ホルダの内側方
向に押す第一ばねと、前記筒状ケースに保持され前記ピ
ストンの固定溝に係止可能な固定鋼球と、前記筒状ケー
スの外周に摺動自在に設けられ該固定鋼球を前記固定溝
側に押圧する凸部が内周に形成されると共に該固定鋼球
の該固定溝への押圧を解放する凹部が該凸部に連続して
前記ピストンの基端側方向に形成されたガイドと、前記
筒状ケースと該ガイドとに亘勢設けられ該ガイドを前記
ピストンの基端側方向に付勢して前記凸部により前記固
定鋼球を前記固定溝側に押圧させる第二ばねとからなる
ことを特徴とする。Means for Solving the Problems> To achieve the above object, the present invention has a holder that is attached to a wrist portion that holds a hand portion and has a polygonal columnar inner periphery, and a holder that is provided on the holder and has a polygonal columnar inner periphery. a stopper that prevents the hand portion from coming off when the hand portion is inserted into the holder, and the stopper is fixed to the holder and has a distal end penetrating the holder and opening on the inner periphery of the holder. a cylindrical case, a steel ball held at the distal end of the cylindrical case and capable of partially protruding toward the inner periphery of the holder; A piston that abuts the steel ball and has a fixing groove formed on the outer periphery of the proximal end, and is provided between the cylindrical case and the piston, and urges the piston toward the distal end to move the steel ball inside the holder. a first spring that presses the fixed steel ball in the direction; a fixed steel ball that is held in the cylindrical case and can be locked in the fixed groove of the piston; and a fixed steel ball that is slidably provided on the outer periphery of the cylindrical case and that fixes the fixed steel ball. A guide in which a convex portion that presses toward the groove is formed on the inner periphery, and a concave portion that releases the pressure of the fixed steel ball against the fixed groove is formed in a direction toward the proximal end of the piston, continuous with the convex portion. and a second spring that is provided across the cylindrical case and the guide and urges the guide toward the proximal end of the piston and causes the convex portion to press the fixed steel ball toward the fixed groove. It is characterized by consisting of.
く作 用〉
ハンド部はホ゛ルダ内に回転不能に嵌入されてストッパ
によって抜け外れが防止される。Function: The hand part is fitted into the holder in a non-rotatable manner and is prevented from coming off by the stopper.
ストッパは、第一ばねのばね力によってピストンがホル
ダの内周方向に付勢され鋼球の一部が突出してホルダ内
に嵌入されたハンド部を押圧する。ピストンの固定溝に
は固定鋼球が嵌合し、固定鋼球はガイド内周の凸部によ
って押圧され固定溝に係止する。従ってピストンは摺動
不能となって鋼球のハンド部への押圧力は保持されてハ
ンド部は抜け外れない。In the stopper, the piston is biased in the inner circumferential direction of the holder by the spring force of the first spring, and a portion of the steel ball protrudes to press the hand portion fitted into the holder. A fixed steel ball fits into the fixed groove of the piston, and the fixed steel ball is pressed by a convex portion on the inner circumference of the guide and is locked in the fixed groove. Therefore, the piston becomes unable to slide, the pressing force of the steel ball against the hand portion is maintained, and the hand portion does not come off.
ハンド部の取付は取外しに際してストッパを解除する場
合、第二ばねのばね力に抗してガイドをホルダ側に押す
と、凸部に押圧されていた固定鋼球が凹部に支持される
ようになゆ、ピストンへの押圧力が無くなってピストン
は第一ばねのばね力だけでホルダの内周側に付勢される
。この状態では、ホルダの外方側へ鋼球に押圧力が作用
すると、第一ばねのばね力に抗してピストンが摺動して
鋼球が没勤するので、ホルダに対してハンド部が挿脱自
在となる。When removing the hand part and releasing the stopper, when the guide is pushed toward the holder against the spring force of the second spring, the fixed steel ball that was pressed against the convex part is now supported by the concave part. Then, the pressing force on the piston disappears, and the piston is urged toward the inner circumferential side of the holder only by the spring force of the first spring. In this state, when a pressing force is applied to the steel ball toward the outside of the holder, the piston slides against the spring force of the first spring and the steel ball is disengaged, causing the hand portion to move against the holder. It can be inserted and removed freely.
く実 施 例〉
第１図には本発明の一実施例に係るハンド部の着脱装置
の平面、第２図には第１図中の■−■線矢視、第３図に
は第１図中のＩ−Ｉ線矢視、第４図には第１図中の■−
■線矢視を示しである。Embodiment> FIG. 1 shows a plan view of a hand attachment/detachment device according to an embodiment of the present invention, FIG. I-I line arrow view in the figure, Figure 4 shows ■- in Figure 1
■It shows the line arrow view.
図において、１はマニプレータやロボット（図示省略）
の先端の手首部で、手首部１にはホルダ２が取付けられ
ている。第３図に示すように、ホルダ２の内面は多角形
（図示例ではへ角形）となっており、着脱の対象となル
クリップ又は先端ツール（ハンド部）３の外径部が嵌合
可能となっている。ホルダ２の内面にはＶ字形の溝４が
二箇所設けられ、八ンド部３の相対する部位には、ばね
５ａによってポール５ｂが溝４側に押圧されるボールプ
ランジャ５が設けられている。ホルダ２にはストッパ６
が二組設けられ、ストッパ６によってホルダ２からハン
ド部３が抜け外れるのが防止されている。In the figure, 1 is a manipulator or robot (not shown)
A holder 2 is attached to the wrist 1 at the tip of the wrist. As shown in Fig. 3, the inner surface of the holder 2 is polygonal (hexagonal in the illustrated example), and the outer diameter of the clip or tip tool (hand portion) 3 to be attached or detached can fit therein. It becomes. Two V-shaped grooves 4 are provided on the inner surface of the holder 2, and a ball plunger 5 whose pole 5b is pressed toward the groove 4 by a spring 5a is provided at an opposing portion of the eight-hand portion 3. Holder 2 has a stopper 6
Two sets are provided, and a stopper 6 prevents the hand portion 3 from coming off from the holder 2.
第４図に基づいてストッパ６の構成を説明する。尚、第
４図（ａ）はストッパ６がハンド部３の溝７に嵌合しハ
ンド部３が固定された状態を示し、第４図［ｂ）はスト
ッパ６が解除された状態を示しである。The structure of the stopper 6 will be explained based on FIG. Note that FIG. 4(a) shows a state in which the stopper 6 is fitted into the groove 7 of the hand part 3 and the hand part 3 is fixed, and FIG. 4(b) shows a state in which the stopper 6 is released. be.
ホルダ２には円筒状のケース８が固定され、ケース８の
先端は中ルダ２を貫通してホルダ２の内周に開口してい
る。ケース８の先端内部には鋼球９が保持され、鋼球９
は一部がホルダ２の内周側に突出可能で且つ抜け外れな
いようになっている。ケース８の内部にはピストン１０
が摺動自在に嵌合され、ピストン１０の先端は鋼球９に
当接している。ケース８の後端は止め栓１１により塞が
れ、止め栓１１とピストン１０とに亘り第一ばね１２が
設けられ、ピストン１０は第一ばね１２によって常時ホ
ルダ２の内側方向（第４図中左側）に付勢されている。A cylindrical case 8 is fixed to the holder 2, and the tip of the case 8 passes through the middle holder 2 and opens to the inner periphery of the holder 2. A steel ball 9 is held inside the tip of the case 8.
A part of the holder 2 can protrude toward the inner circumferential side of the holder 2, and is prevented from coming off. There is a piston 10 inside the case 8.
are slidably fitted, and the tip of the piston 10 is in contact with the steel ball 9. The rear end of the case 8 is closed by a stopper 11, and a first spring 12 is provided between the stopper 11 and the piston 10. left side).
ケース８の基端側には固定鋼球としての小鋼球１３が通
過可能な穴１４が複数箇所設けられ、ピストン１０の外
周には小鋼球１３が嵌合する固定溝としてのＶ字溝１５
が設けられている。The base end side of the case 8 is provided with a plurality of holes 14 through which small steel balls 13 as fixed steel balls can pass, and the outer periphery of the piston 10 is provided with a V-shaped groove as a fixed groove into which the small steel balls 13 fit. 15
is provided.
一方、ケース８の外周にはガイド１６が摺動自在に設け
られ、ガイド１６は第二ばね１７によって止め栓１１側
（ピストン１０の基端側）に付勢されている。ガイド１
６の内周には、小鋼球１３をＶ字溝１５に押圧する凸部
１８と、凸部１８に連続してピストン１０の基端側方向
に形成された凹部１９とが設けられている。またガイド
１６の途中には空気穴２０が数箇所設けられている。On the other hand, a guide 16 is slidably provided on the outer periphery of the case 8, and the guide 16 is urged toward the stopper 11 (toward the proximal end of the piston 10) by a second spring 17. Guide 1
6 is provided with a convex portion 18 for pressing the small steel ball 13 into the V-shaped groove 15, and a concave portion 19 that is continuous with the convex portion 18 and is formed in the proximal direction of the piston 10. . Further, several air holes 20 are provided in the middle of the guide 16.
ハンド部３の着脱動作は以下の手順で行なわれる。まず
、ハンド部３をホルダ２に装着するには、ストッパ６を
第４開山）に示すように解除する。即ち、第二ばね１７
のばね力に抗してガイド１６を先端側（矢印Ａ方向）に
押し込むことにより、凸部１８に押されていた小鋼球１
３が凹部１９に支持され、ケース８の穴１４の外方に突
出可能となり、鋼球９が矢印Ｂ方向（ホルダ２の外方側
）に押されｔコ場合、ピストン１０が第一ばね１２のば
ね力に抗して基端側に移動可能となる。この状態でハン
ド部３をホルダ２内に挿入していくと、ハンド部３のガ
イド面により鋼球９が矢印Ｂ方向に押されて容易に挿入
されていく。The attachment/detachment operation of the hand portion 3 is performed in the following steps. First, in order to attach the hand portion 3 to the holder 2, the stopper 6 is released as shown in the fourth opening. That is, the second spring 17
By pushing the guide 16 toward the tip side (in the direction of arrow A) against the spring force of
3 is supported in the recess 19 and can protrude outward from the hole 14 of the case 8, and when the steel ball 9 is pushed in the direction of arrow B (towards the outside of the holder 2), the piston 10 is pushed against the first spring 12. It becomes possible to move toward the proximal end against the spring force of. When the hand portion 3 is inserted into the holder 2 in this state, the steel ball 9 is pushed in the direction of arrow B by the guide surface of the hand portion 3 and is easily inserted.
所定位置まで到達し、ハンド部３の溝７が鋼球９の位置
に一致すると、第一ばね１２のばね力によりピストン１
０と鋼球９が付勢され、Ｗ４球９が溝７に嵌合する。こ
の状態で矢印Ａ方向に押していたガイド１６を放すと、
第二ばね１７のばね力によりガイド１６が基端側に移動
する。これにより凸部１８に小鋼球１３が押されＶ字溝
１５に係止し、ピストン１０が移動不能となりハンド部
３はホルダ２に固定される。When the predetermined position is reached and the groove 7 of the hand portion 3 matches the position of the steel ball 9, the piston 1 is moved by the spring force of the first spring 12.
0 and the steel ball 9 are energized, and the W4 ball 9 fits into the groove 7. In this state, when you release the guide 16 that was being pushed in the direction of arrow A,
The guide 16 moves toward the proximal end due to the spring force of the second spring 17. As a result, the small steel ball 13 is pushed by the convex portion 18 and locked in the V-shaped groove 15, and the piston 10 becomes immovable and the hand portion 3 is fixed to the holder 2.
ハンド部３側に設けたボールプランジャ５は、ばね５ａ
のばね力でホルダ２の溝４にボール５ｂを押し付けるこ
とにより装着後のガタを無くしている。The ball plunger 5 provided on the side of the hand portion 3 has a spring 5a.
By pressing the ball 5b against the groove 4 of the holder 2 with the spring force, play after installation is eliminated.
ハンド部３を取外す場合、前述した装着時と同様にガイ
ド１６を矢印Ａ方向に押し込んだ状態でハンド部３を抜
き取れば良い。When removing the hand portion 3, the hand portion 3 may be pulled out while the guide 16 is pushed in the direction of the arrow A, as in the case of attachment described above.
ハンド部３が固定された状態（第４図（ａ）の状態）で
は、小鋼球１３はガイド１６の凸部１８に押圧され、ピ
ストン１０のＶ宇ｓ１５から外れることができないため
、ピストン１０は移動不能で鋼球９も動かない。従って
ハンド部３に設けられた溝７に嵌まり込んだ状態が維持
される。When the hand portion 3 is fixed (the state shown in FIG. 4(a)), the small steel ball 13 is pressed by the convex portion 18 of the guide 16 and cannot be removed from the V-s 15 of the piston 10. cannot move, and steel ball 9 also does not move. Therefore, the state of being fitted into the groove 7 provided in the hand portion 3 is maintained.
上述したハンド部の着脱装置は、ホルダ２へのハンド部
３の脱着が、ガイド１６の押し込みとハンド部３の挿入
又は抜き取りという直線的な動作のみで可能となり、遠
隔操作化が容易に可能となる。The above-described device for attaching and detaching the hand section allows the hand section 3 to be attached and detached from the holder 2 only by the linear operation of pushing the guide 16 and inserting or removing the hand section 3, and remote control is easily possible. Become.
〈発明の効果〉
本発明のハンド部の着脱装置は、ガイドの押し込みとハ
ンド部の挿抜といった直線的な動作を組合わせろことで
ハンド部の着脱が行なえる。この結果、ハンド部の交換
時間が短縮しロボットやマニプレータ等の作業効率向上
−が図れると共に、遠隔地からのハンド部の交換操作が
可能になる。<Effects of the Invention> The hand unit attachment/detachment device of the present invention allows the hand unit to be attached/detached by combining linear operations such as pushing in the guide and inserting/extracting the hand unit. As a result, the time required to replace the hand section can be shortened, and the working efficiency of robots, manipulators, etc. can be improved, and the hand section can be replaced from a remote location.
第１図は本発明の一実施例に係るハンド部の着脱装置の
平面図、第２図は第１図中の■−■線矢視図、第３図は
第１図中のＩ−Ｉ腺矢視図、第４図は第１図中の■−■
線矢視図である。
図面中、
２はホルダ、
３はハンド部、
６はストッパ、
８はケース１
９は鋼球、
１０はピストン、
１１は止め栓、
１２は第一ばね、
１３は小鋼球、
１５は７字溝、
１６はガイド、
１７は第二ばね、
１８は凸部、
１９は凹部である。FIG. 1 is a plan view of a hand attachment/detachment device according to an embodiment of the present invention, FIG. 2 is a view taken along the line ■-■ in FIG. 1, and FIG. 3 is an I-I diagram in FIG. Gland arrow view, Figure 4 shows ■-■ in Figure 1.
It is a line arrow view. In the drawing, 2 is a holder, 3 is a hand part, 6 is a stopper, 8 is a case 1, 9 is a steel ball, 10 is a piston, 11 is a stopper, 12 is a first spring, 13 is a small steel ball, 15 is a 7-character 16 is a guide, 17 is a second spring, 18 is a convex portion, and 19 is a concave portion.
Claims (1)
のホルダと、該ホルダに設けられ該ホルダ内周に前記ハ
ンド部を嵌入した際に該ハンド部の抜け外れを防止する
ストッパとからなり、該ストッパは、前記ホルダに固定
されると共に先端部が該ホルダを貫通して該ホルダの内
周に開口する筒状ケースと、該筒状ケースの先端部に保
持され一部が前記ホルダの内周側に突出可能な鋼球と、
前記筒状ケースの内周に摺動自在に設けられ先端が前記
鋼球に当接すると共に基端側外周に固定溝が形成された
ピストンと、前記筒状ケースと該ピストンとに亘り設け
られ該ピストンを先端側に付勢して前記鋼球を前記ホル
ダの内側方向に押す第一ばねと、前記筒状ケースに保持
され前記ピストンの固定溝に係止可能な固定鋼球と、前
記筒状ケースの外周に摺動自在に設けられ該固定鋼球を
前記固定溝側に押圧する凸部が内周に形成されると共に
該固定鋼球の該固定溝への押圧を解放する凹部が該凸部
に連続して前記ピストンの基端側方向に形成されたガイ
ドと、前記筒状ケースと該ガイドとに亘り設けられ該ガ
イドを前記ピストンの基端側方向に付勢して前記凸部に
より前記固定鋼球を前記固定溝側に押圧させる第二ばね
とからなることを特徴とするハンド部の着脱装置。It consists of a holder that is attached to the wrist part that holds the hand part and has a polygonal columnar inner periphery, and a stopper that is provided on the holder and prevents the hand part from coming off when the hand part is inserted into the inner periphery of the holder. , the stopper includes a cylindrical case fixed to the holder and having a distal end penetrating the holder and opening on the inner periphery of the holder; A steel ball that can protrude toward the inner circumference,
a piston that is slidably provided on the inner periphery of the cylindrical case and whose tip abuts the steel ball and has a fixing groove formed on the outer periphery of the proximal end; a first spring that biases the piston toward the tip side and pushes the steel ball inward of the holder; a fixed steel ball that is held in the cylindrical case and can be locked in a fixing groove of the piston; A protrusion that is slidably provided on the outer periphery of the case and presses the fixed steel ball toward the fixing groove is formed on the inner periphery, and a recess that releases the pressure of the fixed steel ball against the fixing groove is formed on the protrusion. a guide formed continuously in the direction toward the proximal end of the piston; and a guide provided across the cylindrical case and the guide to bias the guide toward the proximal end of the piston so that the convex portion A hand portion attachment/detachment device comprising: a second spring that presses the fixed steel ball toward the fixing groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63151297A JPH06315B2 (en) | 1988-06-21 | 1988-06-21 | Hand unit attachment / detachment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63151297A JPH06315B2 (en) | 1988-06-21 | 1988-06-21 | Hand unit attachment / detachment device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01321186A true JPH01321186A (en) | 1989-12-27 |
| JPH06315B2 JPH06315B2 (en) | 1994-01-05 |
Family
ID=15515605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63151297A Expired - Lifetime JPH06315B2 (en) | 1988-06-21 | 1988-06-21 | Hand unit attachment / detachment device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06315B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015509448A (en) * | 2012-03-09 | 2015-03-30 | ロボツールズ ソシエタ ア レスポンサビリタ リミタータＲｏｂｏｔｏｏｌｓ Ｓ．Ｒ．Ｌ． | Device for connecting the tool to the robot arm |
| CN118163135A (en) * | 2024-05-15 | 2024-06-11 | 济南二机床固德自动化有限公司 | Automatic quick-change locking mechanism of end effector |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5946690U (en) * | 1982-09-21 | 1984-03-28 | 豊田工機株式会社 | Gripping device for robots |
| JPS61188096A (en) * | 1985-02-14 | 1986-08-21 | 三菱電機株式会社 | Robot hand exchanger |
-
1988
- 1988-06-21 JP JP63151297A patent/JPH06315B2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5946690U (en) * | 1982-09-21 | 1984-03-28 | 豊田工機株式会社 | Gripping device for robots |
| JPS61188096A (en) * | 1985-02-14 | 1986-08-21 | 三菱電機株式会社 | Robot hand exchanger |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015509448A (en) * | 2012-03-09 | 2015-03-30 | ロボツールズ ソシエタ ア レスポンサビリタ リミタータＲｏｂｏｔｏｏｌｓ Ｓ．Ｒ．Ｌ． | Device for connecting the tool to the robot arm |
| CN118163135A (en) * | 2024-05-15 | 2024-06-11 | 济南二机床固德自动化有限公司 | Automatic quick-change locking mechanism of end effector |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH06315B2 (en) | 1994-01-05 |
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