JPH0174084U - - Google Patents

Info

Publication number
JPH0174084U
JPH0174084U JP1987169086U JP16908687U JPH0174084U JP H0174084 U JPH0174084 U JP H0174084U JP 1987169086 U JP1987169086 U JP 1987169086U JP 16908687 U JP16908687 U JP 16908687U JP H0174084 U JPH0174084 U JP H0174084U
Authority
JP
Japan
Prior art keywords
pair
driving means
moving bodies
cylinders
gripping member
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
Application number
JP1987169086U
Other languages
English (en)
Other versions
JPH0329117Y2 (ja
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed filed Critical
Priority to JP1987169086U priority Critical patent/JPH0329117Y2/ja
Publication of JPH0174084U publication Critical patent/JPH0174084U/ja
Priority to US07/564,702 priority patent/US5050919A/en
Application granted granted Critical
Publication of JPH0329117Y2 publication Critical patent/JPH0329117Y2/ja
Expired legal-status Critical Current

Links

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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • 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
    • B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
    • 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
    • B25J15/0475—Exchangeable fingers

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Description

【図面の簡単な説明】
第１図はロボツトアームと本考案のハンドを取
付ける状態を示した一部切欠き外観斜視図、第２
図は第１図のハンドを示す一部切欠き外観斜視図
、第３図は第２図のＸ―Ｘ′継面図、第４図は第
２図のハンド部の下面図、第５図ａ，ｂ，ｃは第
２図のハンドの使用例を示す外観斜視図、第６図
は実施例の構成要素を示したブロツク図、第７図
は第６図のブロツク図によるフローチヤート図で
ある。 図中、１…ハンド、２…基部、３…ハンド取付
部、４…サーボモータ、５…ロボツトアーム、６
ａ…モータプーリ、６ｂ…プーリ、８…ネジ軸、
１０…ベルト、１１ａ，１１ｂ…ガイド軸、１２
…左シリンダ収納体、１４…右シリンダ収納体、
１６…左アングル、１８…右アングル、Ｃｎ…シ
リンダ、Ａｎ…連結板、Ｆｎ…フインガ、４３…
ピストン、４０…ピストンロツド、４５…戻しス
プリングである。

Claims (1)

  1. 【実用新案登録請求の範囲】 ロボツトアームに固定される基部材に設けられ
    る駆動手段と、 該駆動手段により駆動される一対の移動体と、 該移動体の夫々に固着される一対の第１把持部
    材と、 前記移動体内に配設された複数のシリンダと、 前記シリンダの夫々に設けられたピストンと接
    続され、前記第１把持部材に案内されて進退駆動
    される第２把持部材並びに吸引部材とを具備する
    ことを特徴とするロボツト用ハンド。
JP1987169086U 1987-11-06 1987-11-06 Expired JPH0329117Y2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP1987169086U JPH0329117Y2 (ja) 1987-11-06 1987-11-06
US07/564,702 US5050919A (en) 1987-11-06 1990-08-08 Hand apparatus for holding article

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1987169086U JPH0329117Y2 (ja) 1987-11-06 1987-11-06

Publications (2)

Publication Number Publication Date
JPH0174084U true JPH0174084U (ja) 1989-05-18
JPH0329117Y2 JPH0329117Y2 (ja) 1991-06-21

Family

ID=15880067

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1987169086U Expired JPH0329117Y2 (ja) 1987-11-06 1987-11-06

Country Status (2)

Country Link
US (1) US5050919A (ja)
JP (1) JPH0329117Y2 (ja)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0482686A (ja) * 1990-07-20 1992-03-16 Canon Inc ロボツトハンド、及び、ロボツトハンドによるワーク把持方法
JPH04283088A (ja) * 1991-03-09 1992-10-08 Bridgestone Corp 吸着把持装置
JPH10135697A (ja) * 1996-10-30 1998-05-22 Matsushita Electric Ind Co Ltd 電子部品装着装置
JPH11113904A (ja) * 1994-12-22 1999-04-27 Aloka Co Ltd 超音波組織評価装置
JPWO2017125996A1 (ja) * 2016-01-18 2018-11-08 株式会社Ｆｕｊｉ 部品装着機
JP2020040173A (ja) * 2018-09-11 2020-03-19 ファナック株式会社 ロボット用把持装置
JP2020157386A (ja) * 2019-03-25 2020-10-01 アイシン・エィ・ダブリュ株式会社 物品把持装置

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KR920704558A (ko) * 1990-01-16 1992-12-19 데이비드 아놀디 프로우브 및 역전(inverting)장치
US5201875A (en) * 1990-01-16 1993-04-13 Aetrium, Inc. Probe and inverting apparatus
AT399835B (de) * 1992-02-24 1995-07-25 Robocon Lab Ind Roboter Greifeinheit für handhabungsroboter
US5284413A (en) * 1992-08-05 1994-02-08 Intelmatec Corporation Apparatus for loading and unloading thin integrated circuits into and from carriers
EP0616874B1 (de) * 1993-03-24 1997-09-10 Hauni Maschinenbau Aktiengesellschaft Robotarm eines Flächenportalroboters
US5562320A (en) * 1994-11-04 1996-10-08 International Business Machines Corporation Gripper head
JP3225336B2 (ja) * 1995-07-13 2001-11-05 株式会社新川 リードフレームの吸着保持装置
JP2772283B2 (ja) * 1996-07-16 1998-07-02 山形日本電気株式会社 真空吸着ピンセットおよびその吸着方法
US5765890A (en) * 1996-10-03 1998-06-16 Memc Electronic Materials, Inc. Device for transferring a semiconductor wafer
US5782515A (en) * 1996-11-13 1998-07-21 Eastman Kodak Company Rotatable arm mechanism for assembling and disassembling samples
US5800777A (en) * 1996-11-13 1998-09-01 Eastman Kodak Company Method and apparatus for automatic sample preparation and handling
US5947539A (en) * 1997-05-30 1999-09-07 Eastman Kodak Company Apparatus and method having short linear motion for grasping objects
US6015174A (en) * 1998-06-04 2000-01-18 Eastman Kodak Company Universal end effector for robotic applications
US6139078A (en) * 1998-11-13 2000-10-31 International Business Machines Corporation Self-aligning end effector for small components
US7367601B2 (en) * 2000-06-29 2008-05-06 Shibaura Mechatronics Corporation Substrate transfer apparatus and substrate transfer method
DE102005051384A1 (de) * 2005-10-27 2007-05-03 Eisenmann Anlagenbau Gmbh & Co. Kg Vorrichtung zum Absaugen eines Bereiches der Nabenbohrungswand von bepulverten Fahrzeugrädern
DE102006018502A1 (de) * 2006-04-21 2007-10-25 Eisenmann Anlagenbau Gmbh & Co. Kg Vorrichtung und Verfahren zur automatischen Pelettierung und/oder Depalettierung von Behältern
CN101890683A (zh) * 2009-05-21 2010-11-24 鸿富锦精密工业（深圳）有限公司 工件吸取装置
DE102011110250B4 (de) * 2011-05-13 2019-05-16 Leica Biosystems Nussloch Gmbh Greifvorrichtung zum Transportieren von Racks
US8696042B2 (en) 2011-06-23 2014-04-15 Dynamic Micro System Semiconductor Equipment GmbH Semiconductor cleaner systems and methods
DE102011108148A1 (de) * 2011-07-20 2013-01-24 M. Mohsen Saadat Modularer Greifmechanismus für schwere Lasten
US8960745B2 (en) 2011-11-18 2015-02-24 Nike, Inc Zoned activation manufacturing vacuum tool
US8849620B2 (en) 2011-11-18 2014-09-30 Nike, Inc. Automated 3-D modeling of shoe parts
US8755925B2 (en) 2011-11-18 2014-06-17 Nike, Inc. Automated identification and assembly of shoe parts
US10552551B2 (en) 2011-11-18 2020-02-04 Nike, Inc. Generation of tool paths for shore assembly
US9451810B2 (en) 2011-11-18 2016-09-27 Nike, Inc. Automated identification of shoe parts
US8858744B2 (en) 2011-11-18 2014-10-14 Nike, Inc. Multi-functional manufacturing tool
US8696043B2 (en) * 2011-11-18 2014-04-15 Nike, Inc. Hybrid pickup tool
US9010827B2 (en) 2011-11-18 2015-04-21 Nike, Inc. Switchable plate manufacturing vacuum tool
US8958901B2 (en) 2011-11-18 2015-02-17 Nike, Inc. Automated manufacturing of shoe parts
JP2014140910A (ja) * 2013-01-22 2014-08-07 Yaskawa Electric Corp ロボットハンドおよびロボット
US9079312B2 (en) * 2013-05-02 2015-07-14 GM Global Technology Operations LLC Part transfer system that uses existing part features, and a method of using the part transfer system
WO2015036431A1 (en) * 2013-09-11 2015-03-19 Novartis Ag Gripper for a contact lens and process for transporting a contact lens
CN103950036B (zh) * 2014-05-15 2015-12-09 苏州博众精工科技有限公司 一种带吸盘的夹爪模组
EP3215319A4 (en) * 2014-11-07 2018-07-11 ABB Schweiz AG An integrated gripper and a robot
EP3263292A1 (en) * 2016-06-28 2018-01-03 Tata Consultancy Services Limited Adaptive gripper device
US11607817B2 (en) 2017-06-02 2023-03-21 The Research Foundation For The State University Of New York Robotic gripper with variable stiffness actuators and methods for same
US20210354312A1 (en) * 2019-11-05 2021-11-18 Nissan North America, Inc. End Effectors for Robotic Units Used to Open and Close Vehicle Doors
CN211792302U (zh) * 2019-12-11 2020-10-27 晋城三赢精密电子有限公司 按压件以及机台
US11642797B2 (en) * 2020-03-19 2023-05-09 Tata Consultancy Services Limited Gripper apparatus for grasping objects
DE102020131469A1 (de) 2020-11-27 2022-06-02 Karlsruher Institut für Technologie (Körperschaft des öffentlichen Rechts) Greifvorrichtung

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4846819A (ja) * 1971-10-15 1973-07-04
JPS516939A (en) * 1974-07-02 1976-01-20 Nippon Synthetic Chem Ind Benjirushianidono seizohoho
JPS55150989A (en) * 1979-05-09 1980-11-25 Miyoutoku Seisakusho Kk Automatic adsorber
NL8006194A (nl) * 1980-11-13 1982-06-01 Philips Nv Inrichting voor het gelijktijdig plaatsen van meerdere elektrische en/of elektronische onderdelen op een gedrukte bedradingspaneel.
GB2148239B (en) * 1983-09-12 1987-06-03 Imperial College Artificial hand device
JPS6150687A (ja) * 1984-08-14 1986-03-12 Mitsui Mining & Smelting Co Ltd 廃品テレビのブラウン管分解処理方法
JPS6156074A (ja) * 1984-08-27 1986-03-20 Hitachi Ltd 水生細菌の培養濃縮方法及び装置
JPH0671717B2 (ja) * 1985-05-08 1994-09-14 松下電器産業株式会社 センタリング機能付エア−チヤツク
GB8602105D0 (en) * 1986-01-29 1986-03-05 Precision Eng Products Suffolk Automatic article handling methods
JPS62181839A (ja) * 1986-02-03 1987-08-10 Kotobuki:Kk 産業用ロボツトにおける作業具装着ア−ム
US4705311A (en) * 1986-02-27 1987-11-10 Universal Instruments Corporation Component pick and place spindle assembly with compact internal linear and rotary displacement motors and interchangeable tool assemblies
GB8714175D0 (en) * 1987-06-17 1987-07-22 Dynapert Precima Ltd Suction pick-up apparatus

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0482686A (ja) * 1990-07-20 1992-03-16 Canon Inc ロボツトハンド、及び、ロボツトハンドによるワーク把持方法
JPH04283088A (ja) * 1991-03-09 1992-10-08 Bridgestone Corp 吸着把持装置
JPH11113904A (ja) * 1994-12-22 1999-04-27 Aloka Co Ltd 超音波組織評価装置
JPH10135697A (ja) * 1996-10-30 1998-05-22 Matsushita Electric Ind Co Ltd 電子部品装着装置
JPWO2017125996A1 (ja) * 2016-01-18 2018-11-08 株式会社Ｆｕｊｉ 部品装着機
JP2020040173A (ja) * 2018-09-11 2020-03-19 ファナック株式会社 ロボット用把持装置
US11148300B2 (en) 2018-09-11 2021-10-19 Fanuc Corporation Robotic gripping device
JP2020157386A (ja) * 2019-03-25 2020-10-01 アイシン・エィ・ダブリュ株式会社 物品把持装置

Also Published As

Publication number Publication date
US5050919A (en) 1991-09-24
JPH0329117Y2 (ja) 1991-06-21

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