JPH03103191U

JPH03103191U -

Info

Publication number: JPH03103191U
Application number: JP1076790U
Authority: JP
Priority date: 1990-02-06
Filing date: 1990-02-06
Publication date: 1991-10-25

Description

[Brief explanation of the drawing]

第１図〜第８図は本考案の一実施例を示すもの
で、第１図はその自動把持装置の全体側面図、第
２図は第１図の方向矢視図、第３図は把持腕の
側面図、第４図は第３図の部拡大断面図、第５
図は第４図の−線断面図、第６図は把持腕着
脱機構の拡大断面図、第７図は把持腕交換機構の
正面図、第８図は第７図の方向矢視図である。４……把持具、６……センサ、９……位置決め
ピン、１５……把持爪、Ｇ……把持腕、Ｗ……被
把持体、Ｗ_１……位置決め孔。 Figures 1 to 8 show an embodiment of the present invention. Figure 1 is an overall side view of the automatic gripping device, Figure 2 is a view taken in the direction of Figure 1, and Figure 3 is a gripping device. A side view of the arm, Figure 4 is an enlarged sectional view of Figure 3, Figure 5 is an enlarged sectional view of the arm.
The figure is a sectional view taken along the line -- in FIG. 4, FIG. 6 is an enlarged sectional view of the gripping arm attaching/detaching mechanism, FIG. 7 is a front view of the gripping arm exchange mechanism, and FIG. 8 is a view taken in the direction of FIG. 7. . 4...Gripper, 6...Sensor, 9...Positioning pin, 15...Gripping claw, G...Gripping arm, W...Gripped object, _W1 ...Positioning hole.

Claims

[Claims for Utility Model Registration] A gripping arm G is provided with a gripping arm G whose movement is controlled at least in the horizontal direction and the vertical direction, and whose rotation is controlled around a longitudinal axis.
In an automatic gripping device comprising a gripping tool 4 having a positioning pin 9 that can be fitted into a positioning hole _W1 drilled in a 9. An automatic gripping device comprising a gripping claw 15 that protrudes outward from the gripper 9 and swings between a position where it engages with the back surface of the object W to be gripped. 2. The automatic gripping device according to claim 1, wherein the gripping arm G is provided with a sensor 6 for detecting a gripped object W gripped by the gripper 4.