JPH02110491U

JPH02110491U -

Info

Publication number: JPH02110491U
Application number: JP1885489U
Authority: JP
Priority date: 1989-02-22
Filing date: 1989-02-22
Publication date: 1990-09-04

Description

[Brief explanation of the drawing]

第１図はこの考案に係わるロボツトにおけるハ
ンド着脱機構の一実施例の構成を、結合状態で示
す縦断面図；第２図は第１図に示すハンド着脱機
構を解放状態で示す縦断面図；第３Ａ図は結合状
態にあるハンド着脱機構におけるボールの挾持状
態を拡大して示す縦断面図；第３Ｂ図は解放状態
にあるハンド着脱機構におけるボールの解放状態
を拡大して示す縦断面図；第４図はハンドをアー
ムから取り外す（解放する）際のＺ軸方向への移
動距離を説明するための概略図；第５図はこの考
案に係わるハンド着脱機構の他の実施例の構成を
示す縦断面図；第６図は従来におけるハンド着脱
機構の構成を概略的に示す縦断面図；そして、第
７図は従来においてハンドをアームから取り外す
際のＺ軸方向への移動距離を説明するための概略
図である。図中、１０……ハンド着脱機構、１２……アー
ム、１４……ハンド、１６……ホルダ、１６ａ…
…固着部、１６ｂ……シリンダ部、１６ｃ……外
方フランジ部、１８……シヤンク、１８ａ……ス
ペーサ、１８ｂ……シヤンク本体、２０……ピス
トン、２０ａ……ピストン本体、２０ｂ……係止
ロツド、２０ｃ……外方テーパ面、２０ｄ……切
り欠き部、２２……ボール支持部材、２２ａ……
中央開口、２２ｂ……取付部、２２ｃ……支持部
、２２ｄ……ボール支持穴、２２ｅ……係止爪、
２２ｆ……シール部材、２４……ボール、２６…
…コイルスプリング、２８……シリンダ室、３０
……入力ポート、３２……位置決めボス、３２ａ
……開口、３２ｂ……内方フランジ部、３２ｃ…
…内方テーパ面である。 FIG. 1 is a longitudinal sectional view showing the structure of an embodiment of the hand attachment/detaching mechanism in a robot according to the invention in a connected state; FIG. 2 is a longitudinal sectional view showing the hand attachment/detachment mechanism shown in FIG. 1 in a released state; FIG. 3A is an enlarged vertical cross-sectional view showing the ball held in the hand attachment/detachment mechanism in the connected state; FIG. 3B is an enlarged vertical cross-sectional view showing the ball in the released state in the hand attachment/detachment mechanism in the released state; Fig. 4 is a schematic diagram for explaining the moving distance in the Z-axis direction when removing (releasing) the hand from the arm; Fig. 5 shows the configuration of another embodiment of the hand attachment/detachment mechanism according to this invention. A vertical cross-sectional view; FIG. 6 is a vertical cross-sectional view schematically showing the configuration of a conventional hand attaching/detaching mechanism; and FIG. FIG. In the figure, 10...Hand detachment mechanism, 12...Arm, 14...Hand, 16...Holder, 16a...
...Fixed part, 16b...Cylinder part, 16c...Outer flange part, 18...Shank, 18a...Spacer, 18b...Shank body, 20...Piston, 20a...Piston body, 20b...Locking Rod, 20c...Outward tapered surface, 20d...Notch, 22...Ball support member, 22a...
Central opening, 22b... Attachment part, 22c... Support part, 22d... Ball support hole, 22e... Locking claw,
22f... Seal member, 24... Ball, 26...
...Coil spring, 28...Cylinder chamber, 30
...Input port, 32...Positioning boss, 32a
...Opening, 32b...Inner flange portion, 32c...
...It is an inwardly tapered surface.

Claims

[Claims for Utility Model Registration] A holder provided on one of an arm and a hand of a robot and having a positioning opening formed therein; and a positioning boss provided on the other of the arm and hand and fitted into the positioning opening. a shank; a piston provided in the holder so as to be slidable along the extraction direction; a first tapered surface formed on an outer circumferential surface of the piston; and an inner circumferential surface of a positioning boss of the shank. a second tapered surface formed therein, and a plurality of balls interposed between the first and second tapered surfaces, and the balls are sandwiched between the two tapered surfaces by retracting the piston. 1. A hand attachment/detachment mechanism for a robot, characterized in that the hand is coupled and the piston is pushed out to release the ball and release the hand.