JPH06315B2 - Hand unit attachment / detachment device - Google Patents
Hand unit attachment / detachment deviceInfo
- Publication number
- JPH06315B2 JPH06315B2 JP63151297A JP15129788A JPH06315B2 JP H06315 B2 JPH06315 B2 JP H06315B2 JP 63151297 A JP63151297 A JP 63151297A JP 15129788 A JP15129788 A JP 15129788A JP H06315 B2 JPH06315 B2 JP H06315B2
- Authority
- JP
- Japan
- Prior art keywords
- holder
- steel ball
- piston
- guide
- hand
- 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.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】 〈産業上の利用分野〉 本発明は、ロボットやマニプレータ等の先端（ハンド
部）を交換する際に用いられるハンド部の着脱装置に関
する。DETAILED DESCRIPTION OF THE INVENTION <Industrial field of use> The present invention relates to a device for attaching and detaching a hand unit used when replacing a tip (hand unit) of a robot, a manipulator, or the like.
〈従来の技術〉 ロボットやマニプレータ等の先端（ハンド部）は対象作
業の種類に応じてグリップや専用ツール等（ハンド部）
に交換されている。この場合、ロボットやマニプレータ
等の手首部とハンド部の着脱は手作業によりボルト等を
取付け取外すことで行なわれている。<Prior art> The tip (hand part) of robots, manipulators, etc. is a grip or special tool (hand part) according to the type of target work.
Have been replaced. In this case, attachment / detachment of the wrist portion and the hand portion of the robot or manipulator is performed by manually attaching and removing bolts and the like.
〈発明が解決しようとする課題〉 従来、ハンド部の取付け取外しは作業員の手作業でボル
トを介して行なっているため、手間がかかりハンド部の
交換には多くの時間を要していた。また、ハンド部はボ
ルトによって手首部に取付けられているため、遠隔地か
ら交換操作することが困難であった。<Problems to be Solved by the Invention> Conventionally, since the attachment and detachment of the hand portion are manually performed by a worker through a bolt, it takes a lot of time and time to replace the hand portion. Further, since the hand part is attached to the wrist part by the bolt, it is difficult to perform the replacement operation from a remote place.
本発明は上記状況に鑑みてなされたもので、直線的な動
作を組合わせることでハンド部の着脱が行なえるハンド
部の着脱装置を提供し、もってハンド部の交換時間を短
縮してロボットやマニプレータ等の作業効率向上を図る
と共に、遠隔地からの交換操作を可能にすることを目的
とする。The present invention has been made in view of the above circumstances, and provides a hand unit attaching / detaching device that can attach / detach the hand unit by combining linear operations, thereby shortening the time for exchanging the hand unit, The purpose is to improve the work efficiency of manipulators and the like, and to enable replacement operations from remote locations.
〈課題を解決するための手段〉 上記目的を達成するための本発明の構成は、ハンド部を
保持する手首部に取付けられ内周が多角柱状のホルダ
と、該ホルダに設けられ該ホルダ内周に前記ハンド部を
嵌入した際に該ハンド部の抜け外れを防止するストッパ
とからなり、該ストッパは、前記ホルダに固定されると
共に先端部が該ホルダを貫通して該ホルダの内周に開口
する筒状ケースと、該筒状ケースの先端部に保持され一
部が前記ホルダの内周側に突出可能な鋼球と、前記筒状
ケースの内周に摺動自在に設けられ先端が前記鋼球に当
接すると共に基端側外周に固定溝が形成されたピストン
と、前記筒状ケースと該ピストンとに亘り設けられ該ピ
ストンを先端側に付勢して前記鋼球を前記ホルダの内側
方向に押す第一ばねと、前記筒状ケースに保持され前記
ピストンの固定溝に係止可能な固定鋼球と、前記筒状ケ
ースの外周に摺動自在に設けられ該固定鋼球を前記固定
溝側に押圧する凸部が内周に形成されると共に該固定鋼
球の該固定溝への押圧を解放する凹部が該凸部に連続し
て前記ピストンの基端側方向に形成されたガイドと、前
記筒状ケースと該ガイドとに亘り設けられ該ガイドを前
記ピストンの基端側方向に付勢して前記凸部により前記
固定鋼球を前記固定溝側に押圧させる第二ばねとからな
ることを特徴とする。<Means for Solving the Problems> The configuration of the present invention for achieving the above-mentioned object is a holder having a polygonal columnar inner periphery that is attached to the wrist portion that holds the hand portion, and the holder inner periphery provided in the holder. A stopper that prevents the hand part from coming off when the hand part is inserted into the holder. The stopper is fixed to the holder and has a tip portion penetrating the holder and opening to the inner circumference of the holder. A tubular case, a steel ball that is held by the tip of the tubular case and is partially projectable toward the inner circumference of the holder, and the tip is slidably provided on the inner circumference of the tubular case. A piston that is in contact with a steel ball and has a fixed groove formed on the outer periphery on the base end side, is provided across the cylindrical case and the piston, and urges the piston toward the tip side to move the steel ball inside the holder. The first spring that pushes in the direction A fixed steel ball that is held and can be locked in the fixed groove of the piston, and a convex portion that is slidably provided on the outer circumference of the cylindrical case and presses the fixed steel ball toward the fixed groove is formed on the inner circumference. In addition, a concave portion for releasing the pressing of the fixed steel ball to the fixing groove is provided over a guide formed in the base end side direction of the piston continuously with the convex portion, the cylindrical case and the guide. And a second spring for urging the guide toward the base end side of the piston to press the fixed steel ball toward the fixed groove by the convex portion.
〈作用〉 ハンド部はホルダ内に回転不能に嵌入されてストッパに
よって抜け外れが防止される。ストッパは、第一ばねの
ばね力によってピストンがホルダの内周方向に付勢され
鋼球の一部が突出してホルダ内に嵌入されたハンド部を
押圧する。ピストンの固定溝には固定鋼球が嵌合し、固
定鋼球はガイド内周の凸部によって押圧され固定溝に係
止する。従ってピストンは摺動不能となって鋼球のハン
ド部への押圧力は保持されてハンド部は抜け外れない。
ハンド部の取付け取外しに際してストッパを解除する場
合、第二ばねのばね力に抗してガイドをホルダ側に押す
と、凸部に押圧されていた固定鋼球が凹部に支持される
ようになり、ピストンへの押圧力が無くなってピストン
は第一ばねのばね力だけでホルダの内周側に付勢され
る。この状態では、ホルダの外方側へ鋼球に押圧力が作
用すると、第一ばねのばね力に抗してピストンが摺動し
て鋼球が没動するので、ホルダに対してハンド部が挿脱
自在となる。<Operation> The hand portion is non-rotatably fitted in the holder, and the stopper prevents the hand portion from coming off. The stopper urges the piston in the inner circumferential direction of the holder by the spring force of the first spring to cause a part of the steel ball to project and press the hand portion fitted into the holder. A fixed steel ball is fitted in the fixed groove of the piston, and the fixed steel ball is pressed by the convex portion on the inner circumference of the guide and locked in the fixed groove. Therefore, the piston cannot slide and the pressing force of the steel ball on the hand portion is maintained, and the hand portion cannot be removed.
When releasing the stopper when attaching and detaching the hand part, if the guide is pushed to the holder side against the spring force of the second spring, the fixed steel ball pressed by the convex part will be supported by the concave part, There is no pressing force on the piston, and the piston is urged toward the inner peripheral side of the holder only by the spring force of the first spring. In this state, when a pressing force acts on the steel ball toward the outside of the holder, the piston slides against the spring force of the first spring and the steel ball sinks, so that the hand part moves against the holder. It can be inserted and removed freely.
〈実施例〉 第１図には本発明の一実施例に係るハンド部の着脱装置
の平面、第２図には第１図中のII−II線矢視、第３図に
は第１図中のIII−III線矢視、第４図には第１図中のIV
−IV線矢視を示してある。<Embodiment> FIG. 1 is a plan view of an attachment / detachment device for a hand portion according to an embodiment of the present invention, FIG. 2 is a view taken along line II-II in FIG. 1, and FIG. III-III line arrow in the inside, IV in FIG. 1 in FIG.
-IV line view is shown.
図において、１はマニプレータやロボット（図示省略）
の先端の手首部で、手首部１にはホルダ２が取付けられ
ている。第３図に示すように、ホルダ２の内面は多角形
（図示例では八角形）となっており、着脱の対象となる
グリップ又は先端ツール（ハンド部）３の外径部が嵌合
可能となっている。ホルダ２の内面にはＶ字形の溝４が
二箇所設けられ、ハンド部３の相対する部位には、ばね
５ａによってボール５ｂが溝４側に押圧されるボールプ
ランジャ５が設けられている。ホルダ２にはストッパ６
が二組設けられ、ストッパ６によってホルダ２からハン
ド部３が抜け外れるのが防止されている。In the figure, 1 is a manipulator or robot (not shown)
The holder 2 is attached to the wrist portion 1 at the wrist portion at the tip. As shown in FIG. 3, the inner surface of the holder 2 is polygonal (octagonal in the illustrated example), so that the grip or the outer diameter portion of the tip tool (hand portion) 3 to be attached / detached can be fitted. Has become. Two V-shaped grooves 4 are provided on the inner surface of the holder 2, and ball plungers 5 are provided at opposing parts of the hand portion 3 so that a ball 5b is pressed toward the groove 4 by a spring 5a. Stopper 6 for holder 2
2 sets are provided, and the stopper 6 prevents the hand portion 3 from coming off from the holder 2.
第４図に基づいてストッパ６の構成を説明する。尚、第
４図(a)はストッパ６がハンド部３の溝７に嵌合しハン
ド部３が固定された状態を示し、第４図(b)はストッパ
６が解除された状態を示してある。The structure of the stopper 6 will be described with reference to FIG. Incidentally, FIG. 4 (a) shows a state in which the stopper 6 is fitted into the groove 7 of the hand portion 3 and the hand portion 3 is fixed, and FIG. 4 (b) shows a state in which the stopper 6 is released. is there.
ホルダ２には円筒状のケース８が固定され、ケース８の
先端はホルダ２を貫通してホルダ２の内周に開口してい
る。ケース８の先端内部には鋼球９が保持され、鋼球９
は一部がホルダ２の内周側に突出可能で且つ抜け外れな
いようになっている。ケース８の内部にはピストン１０
が摺動可能に嵌合され、ピストン１０の先端は鋼球９に
当接している。ケース８の後端は止め栓１１により塞が
れ、止め栓１１とピストン１０とに亘り第一ばね１２が
設けられ、ピストン１０は第一ばね１２によって常時ホ
ルダ２の内側方向（第４図中左側）に付勢されている。
ケース８の基端側には固定鋼球としての小鋼球１３が通
過可能な穴１４が複数箇所設けられ、ピストン１０の外
周には小鋼球１３が嵌合する固定溝としてのＶ字溝１５
が設けられている。A cylindrical case 8 is fixed to the holder 2, and the tip of the case 8 penetrates the holder 2 and opens to the inner circumference of the holder 2. A steel ball 9 is held inside the tip of the case 8, and the steel ball 9
A part of it can protrude to the inner peripheral side of the holder 2 and cannot come off. Inside the case 8, the piston 10
Is slidably fitted, and the tip of the piston 10 is in contact with the steel ball 9. The rear end of the case 8 is closed by a stopper 11 and a first spring 12 is provided between the stopper 11 and the piston 10. The piston 10 is always inwardly directed to the holder 2 by the first spring 12 (in FIG. 4). The left side) is urged.
A plurality of holes 14 through which small steel balls 13 as fixed steel balls can pass are provided on the base end side of the case 8, and a V-shaped groove as a fixed groove into which the small steel balls 13 are fitted is provided on the outer periphery of the piston 10. 15
Is provided.
一方、ケース８の外周にはガイド１６が摺動自在に設け
られ、ガイド１６は第二ばね１７によって止め栓１１側
（ピストン１０の基端側）に付勢されている。ガイド１
６の内周には、小鋼球１３をＶ字溝１５に押圧する凸部
１８と、凸部１８に連続してピストン１０の基端側方向
に形成された凹部１９とが設けられている。またガイド
１６の途中には空気穴２０が数箇所設けられている。On the other hand, a guide 16 is slidably provided on the outer periphery of the case 8, and the guide 16 is urged by the second spring 17 toward the stopper 11 side (base end side of the piston 10). Guide 1
The inner periphery of 6 is provided with a convex portion 18 that presses the small steel ball 13 against the V-shaped groove 15, and a concave portion 19 that is continuous with the convex portion 18 and that is formed in the proximal direction of the piston 10. . Further, several air holes 20 are provided in the middle of the guide 16.
ハンド部３の着脱動作は以下の手順で行なわれる。ま
ず、ハンド部３をホルダ２に装着するには、ストッパ６
を第４図(b)に示すように解除する。即ち、第二ばね１
７のばね力に抗してガイド１６を先端側（矢印Ａ方向）
に押し込むことにより、凸部１８に押されていた小鋼球
１３が凹部１９に支持され、ケース８の穴１４の外方に
突出可能となり、鋼球９が矢印Ｂ方向（ホルダ２の外方
側）に押された場合、ピストン１０が第一ばね１２のば
ね力に抗して基端側に移動可能となる。この状態でハン
ド部３をホルダ２内に挿入していくと、ハンド部３のガ
イド面により鋼球９が矢印Ｂ方向に押されて容易に挿入
されていく。所定位置まで到達し、ハンド部３の溝７が
鋼球９の位置に一致すると、第一ばね１２のばね力によ
りピストン１０と鋼球９が付勢され、鋼球９が溝７に嵌
合する。この状態で矢印Ａ方向に押していたガイド１６
を放すと、第二ばね１７のばね力によりガイド１６が基
端側に移動する。これにより凸部１８に小鋼球１３が押
されＶ字溝１５に係止し、ピストン１０が移動不能とな
りハンド部３はホルダ２に固定される。The attaching / detaching operation of the hand unit 3 is performed in the following procedure. First, to attach the hand unit 3 to the holder 2, the stopper 6
Is released as shown in FIG. 4 (b). That is, the second spring 1
7 against the spring force of 7, the guide 16 on the tip side (direction of arrow A)
The small steel ball 13 pushed by the convex portion 18 is supported by the concave portion 19 by being pushed into the concave portion 19 and can be projected to the outside of the hole 14 of the case 8. When pushed to the side), the piston 10 can move to the base end side against the spring force of the first spring 12. When the hand part 3 is inserted into the holder 2 in this state, the steel ball 9 is pushed in the arrow B direction by the guide surface of the hand part 3 and easily inserted. When reaching the predetermined position and the groove 7 of the hand portion 3 coincides with the position of the steel ball 9, the piston 10 and the steel ball 9 are biased by the spring force of the first spring 12, and the steel ball 9 is fitted into the groove 7. To do. Guide 16 pushed in the direction of arrow A in this state
When is released, the guide 16 is moved to the base end side by the spring force of the second spring 17. As a result, the small steel ball 13 is pushed by the convex portion 18 and locked in the V-shaped groove 15, the piston 10 becomes immovable, and the hand portion 3 is fixed to the holder 2.
ハンド部３側に設けたボールプランジャ５は、ばね５ａ
のばね力でホルダ２の溝４にボール５ｂを押し付けるこ
とにより装着後のガタを無くしている。The ball plunger 5 provided on the side of the hand portion 3 has a spring 5a.
By pressing the ball 5b into the groove 4 of the holder 2 with the spring force of 1, the backlash after mounting is eliminated.
ハンド部３を取外す場合、前述した装着時と同様にガイ
ド１６を矢印Ａ方向に押し込んだ状態でハンド部３を抜
き取れば良い。When removing the hand portion 3, the hand portion 3 may be removed with the guide 16 being pushed in the direction of arrow A as in the case of the above-described mounting.
ハンド部３が固定された状態（第４図(a)の状態）で
は、小鋼球１３はガイド１６の凸部１８に押圧され、ピ
ストン１０のＶ字溝１５から外れることができないた
め、ピストン１０は移動不能で鋼球９も動かない。従っ
てハンド部３に設けられら溝７に嵌まり込んだ状態が維
持される。When the hand portion 3 is fixed (the state shown in FIG. 4 (a)), the small steel ball 13 is pressed by the convex portion 18 of the guide 16 and cannot be disengaged from the V-shaped groove 15 of the piston 10. 10 is immovable and the steel ball 9 does not move either. Therefore, the state in which the hand portion 3 is fitted into the groove 7 is maintained.
上述したハンド部の着脱装置は、ホルダ２へのハンド部
３の脱着が、ガイド１６の押し込みとハンド部３の挿入
又は抜き取りという直線的な動作のみで可能となり、遠
隔操作化が容易に可能となる。In the device for attaching / detaching the hand portion described above, the attachment / detachment of the hand portion 3 to / from the holder 2 can be performed only by a linear operation of pushing the guide 16 and inserting or withdrawing the hand portion 3, and remote operation can be easily performed. Become.
〈発明の効果〉 本発明のハンド部の着脱装置は、ガイドの押し込みとハ
ンド部の挿抜といった直線的な動作を組合わせることで
ハンド部の着脱が行なえる。この結果、ハンド部の交換
時間が単短縮しロボットやマニプレータ等の作業効率向
上が図れると共に、遠隔地からのハンド部の交換操作が
可能になる。<Advantages of the Invention> The hand unit attaching / detaching device of the present invention can attach / detach the hand unit by combining linear operations such as pushing the guide and inserting / removing the hand unit. As a result, the replacement time of the hand unit is simply shortened, the work efficiency of the robot, manipulator, etc. can be improved, and the replacement operation of the hand unit from a remote place becomes possible.
第１図は本発明の一実施例に係るハンド部の着脱装置の
平面図、第２図は第１図中のII−II線矢視図、第３図は
第１図中のIII−III線矢視図、第４図は第１図中のIV−
IV線矢視図である。 図面中、 ２はホルダ、 ３はハンド部、 ６はストッパ、 ８はケース、９は鋼球、 １０はピストン、 １１は止め栓、 １２は第一ばね、 １３は小鋼球、 １５はＶ字溝、 １６はガイド、 １７は第二ばね、 １８は凸部、 １９は凹部である。FIG. 1 is a plan view of a device for attaching / detaching a hand portion according to an embodiment of the present invention, FIG. 2 is a view taken along the line II-II in FIG. 1, and FIG. 3 is a III-III in FIG. Fig. 4 is a view in the direction of the arrow, and IV- in Fig. 1
It is a IV line arrow line view. In the drawings, 2 is a holder, 3 is a hand part, 6 is a stopper, 8 is a case, 9 is a steel ball, 10 is a piston, 11 is a stopper, 12 is a first spring, 13 is a small steel ball, and 15 is a V-shape. A groove, 16 is a guide, 17 is a second spring, 18 is a convex portion, and 19 is a concave portion.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 吉岡 邦康 兵庫県高砂市荒井町新浜２丁目１番１号 三菱重工業株式会社高砂研究所内 (72)発明者 重光 裕昭 兵庫県高砂市荒井町新浜２丁目１番１号 三菱重工業株式会社高砂研究所内 (72)発明者 浜田 彰一 兵庫県神戸市兵庫区和田崎町１丁目１番１ 号 三菱重工業株式会社神戸造船所内 (72)発明者 黒川 秀幸 兵庫県神戸市兵庫区和田崎町１丁目１番１ 号 三菱重工業株式会社神戸造船所内 (72)発明者 辻 洋 兵庫県神戸市兵庫区和田崎町１丁目１番１ 号 三菱重工業株式会社神戸造船所内 (56)参考文献 特開 昭61−188096（ＪＰ，Ａ) 実開 昭59−46690（ＪＰ，Ｕ) ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Kuniyasu Yoshioka 2-1-1, Niihama, Arai-cho, Takasago-shi, Hyogo Mitsubishi Heavy Industries, Ltd. Takasago Research Laboratory (72) Inventor Hiroaki Shigemitsu 2-1-1, Niihama, Arai-cho, Takasago-shi, Hyogo No. 1 Mitsubishi Heavy Industries, Ltd. Takasago Research Institute (72) Inventor Shoichi Hamada 1-1-1 Wadazakicho, Hyogo-ku, Kobe, Hyogo Prefecture Mitsubishi Heavy Industries Ltd., Kobe Shipyard (72) Inventor Hideyuki Kurokawa Kobe, Hyogo Prefecture Hyogo Prefecture 1-1-1 Wadasaki-cho, ward Inside Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (72) Inventor Hiroshi Tsuji 1-1-1 Wadazaki-cho, Hyogo-ku, Hyogo Prefecture Kobe City Mitsubishi Heavy Industries Ltd. (56) Reference References JP-A-61-188096 (JP, A) Actual development Sho-59-46690 (JP, U)
Claims (1)
周が多角柱状のホルダと、該ホルダに設けられ該ホルダ
内周に前記ハンド部を嵌入した際に該ハンド部の抜け外
れを防止するストッパとからなり、該ストッパは、前記
ホルダに固定されると共に先端部が該ホルダを貫通して
該ホルダの内周に開口する筒状ケースと、該筒状ケース
の先端部に保持され一部が前記ホルダの内周側に突出可
能な鋼球と、前記筒状ケースの内周に摺動自在に設けら
れ先端が前記鋼球に当接すると共に基端側外周に固定溝
が形成されたピストンと、前記筒状ケースと該ピストン
とに亘り設けられ該ピストンを先端側に付勢して前記鋼
球を前記ホルダの内側方向に押す第一ばねと、前記筒状
ケースに保持され前記ピストンの固定溝に係止可能な固
定鋼球と、前記筒状ケースの外周に摺動自在に設けられ
該固定鋼球を前記固定溝側に押圧する凸部が内周に形成
されると共に該固定鋼球の該固定溝への押圧を解放する
凹部が該凸部に連続して前記ピストンの基端側方向に形
成されたガイドと、前記筒状ケースと該ガイドとに亘り
設けられ該ガイドを前記ピストンの基端側方向に付勢し
て前記凸部により前記固定鋼球を前記固定溝側に押圧さ
せる第二ばねとからなることを特徴とするハンド部の着
脱装置。1. A holder having a polygonal columnar inner circumference, which is attached to a wrist portion for holding a hand portion, and prevents the hand portion from coming off when the hand portion is fitted into the holder inner periphery. The stopper is fixed to the holder and has a tip end that penetrates the holder and opens to the inner circumference of the holder, and is held by the tip end of the cylinder case. A steel ball whose portion is capable of projecting to the inner peripheral side of the holder, and a slidably provided on the inner peripheral surface of the tubular case, the tip of which abuts the steel ball and a fixing groove is formed on the outer periphery of the base end side. A piston, a first spring provided over the tubular case and the piston, and urging the piston toward the tip side to push the steel ball inward of the holder; and the piston held by the tubular case. Fixed steel ball that can be locked in the fixing groove of A convex portion that is slidably provided on the outer circumference of the case and presses the fixed steel ball toward the fixing groove is formed on the inner circumference, and a concave portion that releases the pressing of the fixed steel ball to the fixing groove is the convex. A guide formed continuously in the base end side direction of the piston, the tubular case and the guide provided across the guide, and biasing the guide in the base end side direction of the piston by the convex portion. A device for attaching and detaching a hand portion, comprising a second spring for pressing the fixed steel ball toward the fixed groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63151297A JPH06315B2 (en) | 1988-06-21 | 1988-06-21 | Hand unit attachment / detachment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63151297A JPH06315B2 (en) | 1988-06-21 | 1988-06-21 | Hand unit attachment / detachment device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01321186A JPH01321186A (en) | 1989-12-27 |
| JPH06315B2 true JPH06315B2 (en) | 1994-01-05 |
Family
ID=15515605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63151297A Expired - Lifetime JPH06315B2 (en) | 1988-06-21 | 1988-06-21 | Hand unit attachment / detachment device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06315B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITTO20120212A1 (en) * | 2012-03-09 | 2013-09-10 | Robotools S R L | DEVICE FOR CONNECTING A TOOL ON A ROBOT ARM |
| CN118163135B (en) * | 2024-05-15 | 2024-08-16 | 济南二机床固德自动化有限公司 | Automatic quick-change locking mechanism of end effector |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5946690U (en) * | 1982-09-21 | 1984-03-28 | 豊田工機株式会社 | Gripping device for robots |
| JPS61188096A (en) * | 1985-02-14 | 1986-08-21 | 三菱電機株式会社 | Robot hand exchanger |
-
1988
- 1988-06-21 JP JP63151297A patent/JPH06315B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01321186A (en) | 1989-12-27 |
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