JPH0174085U - - Google Patents
Info
- Publication number
- JPH0174085U JPH0174085U JP1987169087U JP16908787U JPH0174085U JP H0174085 U JPH0174085 U JP H0174085U JP 1987169087 U JP1987169087 U JP 1987169087U JP 16908787 U JP16908787 U JP 16908787U JP H0174085 U JPH0174085 U JP H0174085U
- Authority
- JP
- Japan
- Prior art keywords
- storage body
- gripping member
- movable bodies
- driven
- shape
- 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
- 238000010586 diagram Methods 0.000 description 2
Description
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。
Figure 1 is a partially cutaway external perspective view showing the state in which the robot arm and the hand of the present invention are attached.
The figure is a partially cutaway external perspective view of the hand shown in Fig. 1, Fig. 3 is an X-X' joint view of Fig. 2, Fig. 4 is a bottom view of the hand part of Fig. 2, and Fig. 5 a, b, and c are external perspective views showing an example of how the hand shown in Fig. 2 is used, Fig. 6 is a block diagram showing the components of the embodiment, and Fig. 7 is a flow chart based on the block diagram of Fig. 6. be. In the figure, 1...Hand, 2...Base, 3...Hand mounting part, 4...Servo motor, 5...Robot arm, 6
a...Motor pulley, 6b...Pulley, 8...Screw shaft,
10...Belt, 11a, 11b...Guide shaft, 12
...Left cylinder storage body, 14...Right cylinder storage body,
16...Left angle, 18...Right angle, Cn ...Cylinder, An ...Connecting plate, Fn ...Finger, 43...
Piston, 40...Piston rod, 45...Return spring.
Claims (1)
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し、 前記シリンダは略放射状形に配設され、 前記第２把持部材並びに吸引部材は前記放射状
形の略中心点近傍に収束されることを特徴とする
ロボツト用ハンド。 (2) 前記収納体は横断面形状が略半円の略半円
筒形で形成され、 前記収納体の四角形平面部分へ下ろした垂線が
前記駆動手段の駆動軸の長手方向軸に対して所定
角度傾斜するように前記収納体を駆動して、 前記収納体に配設される前記シリンダの個数を
最大にすることを特徴とする実用新案登録請求の
範囲第１項記載のロボツト用ハンド。[Claims for Utility Model Registration] (1) A driving means provided on a base member fixed to a robot arm, a pair of movable bodies driven by the driving means, and a pair of movable bodies fixed to each of the movable bodies. a first gripping member; a plurality of cylinders disposed within the movable body; a second gripping member connected to a piston provided in each of the cylinders and driven forward and backward while being guided by the first gripping member; a suction member, wherein the cylinder is arranged in a substantially radial shape, and the second gripping member and the suction member are converged near a substantially center point of the radial shape. (2) The storage body is formed in a substantially semicylindrical shape with a substantially semicircular cross-sectional shape, and a perpendicular line drawn to a quadrangular plane portion of the storage body forms a predetermined angle with respect to the longitudinal axis of the drive shaft of the drive means. The robot hand according to claim 1, characterized in that the storage body is driven so as to be tilted to maximize the number of cylinders disposed in the storage body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16908787U JPH0329118Y2 (en) | 1987-11-06 | 1987-11-06 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16908787U JPH0329118Y2 (en) | 1987-11-06 | 1987-11-06 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0174085U true JPH0174085U (en) | 1989-05-18 |
| JPH0329118Y2 JPH0329118Y2 (en) | 1991-06-21 |
Family
ID=31458842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16908787U Expired JPH0329118Y2 (en) | 1987-11-06 | 1987-11-06 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0329118Y2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0438390U (en) * | 1990-07-27 | 1992-03-31 | ||
| JP2014208387A (en) * | 2013-04-16 | 2014-11-06 | トヨタ自動車株式会社 | Robot hand |
| JPWO2021125035A1 (en) * | 2019-12-17 | 2021-06-24 |
-
1987
- 1987-11-06 JP JP16908787U patent/JPH0329118Y2/ja not_active Expired
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0438390U (en) * | 1990-07-27 | 1992-03-31 | ||
| JP2014208387A (en) * | 2013-04-16 | 2014-11-06 | トヨタ自動車株式会社 | Robot hand |
| JPWO2021125035A1 (en) * | 2019-12-17 | 2021-06-24 | ||
| WO2021125035A1 (en) * | 2019-12-17 | 2021-06-24 | Thk株式会社 | Robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0329118Y2 (en) | 1991-06-21 |
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