JPH02107480U

JPH02107480U -

Info

Publication number: JPH02107480U
Application number: JP1571689U
Authority: JP
Priority date: 1989-02-15
Filing date: 1989-02-15
Publication date: 1990-08-27

Description

[Brief explanation of drawings]

第１図ａおよびｂは本考案のロボツトハンドの
第１実施例の構成を示す正面図および右側面図、
第２図ａ〜ｄはローデイング時におけるワークと
同例のロボツトハンドとの相対関係を示す図を時
間の経過順に並べた線図、第３図は同例において
ローデイングに用いるワークの形状および段積み
状態を示す線図である。１０……ロボツトアーム、１１……第１駆動手
段、１２……第２駆動手段、１３……基台、１４
，１５……ロツド、１６，１７……フインガ、１
８，１９……リンク機構、２０，２１……係止部
材（ストツパ）、２２……吸着手段、２３，２４
……ワーク位置検出手段（測距センサ）、２５…
…制御手段（コントローラ）、３０，３１……ロ
ータリアクチユエータ、３２，４０……ネジ部材
、３３……ピニオン、３４Ｌ〜３９Ｌ、３４Ｒ〜
３９Ｒ……リンク、４１……ロツド、４２……電
磁石。 FIGS. 1a and 1b are a front view and a right side view showing the configuration of a first embodiment of the robot hand of the present invention,
Figures 2 a to d are diagrams showing the relative relationship between the workpiece and the same robot hand during loading, arranged in chronological order, and Figure 3 shows the shape and stacking of the workpieces used for loading in the same example. It is a line diagram showing a state. 10... Robot arm, 11... First driving means, 12... Second driving means, 13... Base, 14
,15... Rod, 16,17... Finger, 1
8, 19... Link mechanism, 20, 21... Locking member (stopper), 22... Adsorption means, 23, 24
...Work position detection means (distance sensor), 25...
...Control means (controller), 30, 31...Rotary actuator, 32, 40...Screw member, 33...Pinion, 34L~39L, 34R~
39R...link, 41...rod, 42...electromagnet.

Claims

[Scope of utility model registration request]

The first driving means 1 is fixed to the robot arm 10.
A base 13 on which the first and second driving means 12 are mounted, a pair of left and right horizontal rods 14, 15 that slide in opposite directions by the operation of the first driving means, and fingers 16, 17 at their tips. A pair of left and right link mechanisms 18, 1 are equipped with pivoted parallel links and separate channel-shaped workpieces one by one as the rod slides and clamp them from below the flange portion.
9, locking members 20 and 21 for regulating the movable range of the link mechanism, and a locking member 20, 21 that slides in the vertical direction in conjunction with the operation of the link mechanism by the operation of the second driving means and comes into contact with the workpiece. A suction means 22 for adsorption, workpiece position detection means 23 and 24 for detecting the distance from the lower surface of the base to the upper surface of the flange of the workpiece, and control for controlling the first and second driving means based on the detected distance. A robot hand characterized by comprising means 25.