JPH0192396U - - Google Patents

Info

Publication number
JPH0192396U
JPH0192396U JP18612887U JP18612887U JPH0192396U JP H0192396 U JPH0192396 U JP H0192396U JP 18612887 U JP18612887 U JP 18612887U JP 18612887 U JP18612887 U JP 18612887U JP H0192396 U JPH0192396 U JP H0192396U
Authority
JP
Japan
Prior art keywords
hand
robot
main body
pin
hand body
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
JP18612887U
Other languages
Japanese (ja)
Other versions
JPH0627347Y2 (en
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 JP1987186128U priority Critical patent/JPH0627347Y2/en
Publication of JPH0192396U publication Critical patent/JPH0192396U/ja
Application granted granted Critical
Publication of JPH0627347Y2 publication Critical patent/JPH0627347Y2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Landscapes

  • Load-Engaging Elements For Cranes (AREA)

Description

【図面の簡単な説明】[Brief explanation of the drawing]

第１図ないし第３図は本考案の第１実施例を示
すもので、第１図はロボツトハンドを示す斜視図
、第２図は同じく一部断面側面図、第３図Ａ，Ｂ
，Ｃ，Ｄはロボツトハンドのワーク把持過程をそ
れぞれ示す説明図、第４図は第２実施例のロボツ
トハンドを示す一部断面側面図、第５図は従来の
ロボツトハンドを示す斜視図である。 ２……ハンド本体、３……ロボツト取付部、４
……リンク、４ａ……長穴、４ｂ……ピン孔、５
……把持爪、６……倣いガイド、７……下部連結
ピン、８……上部連結ピン、１１，２１……ロボ
ツトハンド、１２，１３……シリンダ支持軸、１
４……エアシリンダ、１４ａ……シリンダロツド
、２２……コイルスプリング、Ｗ……ワーク。 1 to 3 show a first embodiment of the present invention, in which FIG. 1 is a perspective view showing a robot hand, FIG. 2 is a partially sectional side view, and FIGS. 3A and B.
, C, and D are explanatory diagrams showing the work gripping process of the robot hand, respectively; FIG. 4 is a partially sectional side view showing the robot hand of the second embodiment; and FIG. 5 is a perspective view showing the conventional robot hand. . 2...Hand body, 3...Robot mounting part, 4
...link, 4a...long hole, 4b...pin hole, 5
... Gripping claw, 6 ... Copying guide, 7 ... Lower connection pin, 8 ... Upper connection pin, 11, 21 ... Robot hand, 12, 13 ... Cylinder support shaft, 1
4...Air cylinder, 14a...Cylinder rod, 22...Coil spring, W...Work.

Claims (1)

【実用新案登録請求の範囲】 (1) ワークを保持するハンド本体と、このハン
ド本体をロボツトのアームに取付けるロボツト取
付部とを、前記ハンド本体のワーク姿勢に対する
倣い動作が可能なように連結したロボツトハンド
において、前記ハンド本体とロボツト取付部とを
、これらハンド本体とロボツト取付部とにそれぞ
れピン連結して各ピン連結部においてそれぞれ前
記ハンド本体の倣い動作方向の回動を許容し且つ
ハンド本体のロボツト取付部方向への移動を許容
する連結部材を介して連結するとともに、前記ハ
ンド本体をロボツト取付部から離隔する方向へ弾
性的に付勢するアクチユエータあるいはスプリン
グ等の弾性付勢手段を、ハンド本体の非倣い動作
時における前記両ピン連結部を結ぶ直線上で且つ
両ピン連結部のそれぞれ外側となるハンド本体上
の位置およびロボツト取付部上の位置をそれぞれ
押圧点として両押圧点間に、前記各ピン連結部の
回動を許容するように支持して設けたことを特徴
とするロボツトハンド。 (2) 前記弾性付勢手段が、ハンド本体をロボツ
ト取付部から離隔する方向へ付勢する付勢力を増
大させてハンド本体の倣い方向の回動を規制可能
な構成であることを特徴とする実用新案登録請求
の範囲第１項記載のロボツトハンド。[Claims for Utility Model Registration] (1) A hand body that holds a workpiece and a robot attachment part that attaches the hand body to the arm of a robot are connected so that the hand body can perform a motion that follows the posture of the workpiece. In the robot hand, the hand main body and the robot mounting portion are connected to each other by pins, respectively, and each pin connection portion allows rotation of the hand main body in the tracing motion direction, and the hand main body is connected to the robot mounting portion by a pin. The hand is connected to an elastic biasing means such as an actuator or a spring that is connected via a connecting member that allows the hand body to move toward the robot mounting part, and elastically biases the hand body in a direction away from the robot mounting part. Between the two pressing points, the position on the hand body and the position on the robot mounting part, which are on the straight line connecting both the pin connecting parts and on the outside of both the pin connecting parts, respectively, are the pressing points during the non-copying operation of the main body, A robot hand characterized in that each of the pin connecting parts is supported and provided to allow rotation. (2) The elastic biasing means is configured to increase the biasing force that biases the hand body in the direction of separating the hand body from the robot mounting portion, thereby restricting rotation of the hand body in the tracing direction. A robot hand according to claim 1 of the utility model registration claim.
JP1987186128U 1987-12-07 1987-12-07 Robot hand Expired - Lifetime JPH0627347Y2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1987186128U JPH0627347Y2 (en) 1987-12-07 1987-12-07 Robot hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1987186128U JPH0627347Y2 (en) 1987-12-07 1987-12-07 Robot hand

Publications (2)

Publication Number Publication Date
JPH0192396U true JPH0192396U (en) 1989-06-16
JPH0627347Y2 JPH0627347Y2 (en) 1994-07-27

Family

ID=31477374

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1987186128U Expired - Lifetime JPH0627347Y2 (en) 1987-12-07 1987-12-07 Robot hand

Country Status (1)

Country Link
JP (1) JPH0627347Y2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010228022A (en) * 2009-03-26 2010-10-14 Panasonic Electric Works Co Ltd Double-arm robot and method of handling the same
WO2018079146A1 (en) * 2016-10-25 2018-05-03 村田機械株式会社 Overhead transport vehicle

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5076277B2 (en) * 2005-01-18 2012-11-21 日産自動車株式会社 Work transfer device and transfer method

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5851091A (en) * 1981-09-21 1983-03-25 東レエンジニアリング株式会社 Articulated arm

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5851091A (en) * 1981-09-21 1983-03-25 東レエンジニアリング株式会社 Articulated arm

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010228022A (en) * 2009-03-26 2010-10-14 Panasonic Electric Works Co Ltd Double-arm robot and method of handling the same
WO2018079146A1 (en) * 2016-10-25 2018-05-03 村田機械株式会社 Overhead transport vehicle

Also Published As

Publication number Publication date
JPH0627347Y2 (en) 1994-07-27

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