JPS5940595B2 - machine hand - Google Patents
machine handInfo
- Publication number
- JPS5940595B2 JPS5940595B2 JP8933977A JP8933977A JPS5940595B2 JP S5940595 B2 JPS5940595 B2 JP S5940595B2 JP 8933977 A JP8933977 A JP 8933977A JP 8933977 A JP8933977 A JP 8933977A JP S5940595 B2 JPS5940595 B2 JP S5940595B2
- Authority
- JP
- Japan
- Prior art keywords
- claw
- claws
- support base
- inner claw
- workpieces
- 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
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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
Description
【発明の詳細な説明】
本発明は、複数の物体を同時につかみ、移送可能とした
マシン・・ンドに関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a machine capable of simultaneously grasping and transporting a plurality of objects.
工業用ロボット等に設けられるマシンハンドは能率向上
のため複数（例えば２個）のワークを同時につかみ、種
々の作業を行なわせることが成されるが、従来は先端に
開閉爪を有する２組のフィンガを設けて２個同時につか
ませる構造のものは駆動源を２つ必要としていた。さら
に、１個つかみのフィンガでは作業ダクトが延びるだけ
でなく、２個のワークのセット位置が違つてくるので、
その位置決め制御機構を必要とし、コスト高になる。本
発明は、前記した従来技術の欠点に鑑み、２個のワーク
を１つの駆動源によるつかみ機構によつて一諸につかめ
るようにしたマシンハンドを構成することを目的とする
ものである。また本発明は外側爪と内側爪の開度を調節
可能にすることを目的とするものである。そこで本発明
においては、１つのフィンガフレーム上で互いに近づき
、また遠ざかり得るようにした１つの、駆動源で動作す
る一対の外側爪を設けると共に、その外側爪の間にサポ
ート台を設け、そのサポート台に前記外側爪と対を成す
内側爪を設け、外側爪を駆動することによつて動作軸を
介して内側爪も同時に回動し得るようにし、２個のワー
クを同時につかませるようにしたものである。Machine hands installed in industrial robots, etc. are capable of gripping multiple (for example, two) workpieces at the same time to perform various tasks in order to improve efficiency. Those with a structure in which two fingers are provided to grip two fingers at the same time require two drive sources. Furthermore, with a single gripping finger, not only does the work duct become longer, but the two workpieces are set at different positions.
This requires a positioning control mechanism, which increases costs. SUMMARY OF THE INVENTION In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to construct a machine hand that can grip two workpieces at once using a gripping mechanism using a single drive source. Another object of the present invention is to make it possible to adjust the opening degree of the outer claw and the inner claw. Therefore, in the present invention, a pair of outer claws operated by a driving source are provided on one finger frame so that they can move toward and away from each other, and a support base is provided between the outer claws, and the support base is provided between the outer claws. The table is provided with an inner claw that pairs with the outer claw, and by driving the outer claw, the inner claw can also be rotated at the same time via the operating shaft, so that two workpieces can be gripped at the same time. It is something.
また本発明に於いては動作軸の外側爪への取付部から内
側爪への当接部までの長さを調節可能に構成することに
より外側爪と内側爪との間の開度を調節可能にしたもの
である。以下、添付図に従つて本発明を詳述する。第１
図〜第３図は本発明によるワークつかみフィンガ機構の
一実施例を示すものであり、第１図は２個のワークをつ
かむ前の状態を示し、第２図はつかんだ状態を示してい
る。Furthermore, in the present invention, the length between the attachment part of the operating shaft to the outer claw and the contact part to the inner claw can be adjusted, so that the degree of opening between the outer claw and the inner claw can be adjusted. This is what I did. The present invention will be described in detail below with reference to the accompanying drawings. 1st
3 to 3 show an embodiment of the workpiece gripping finger mechanism according to the present invention, FIG. 1 shows the state before gripping two workpieces, and FIG. 2 shows the gripped state. .
また、第３図は第１図のイーイ′線に沿う断面側面図で
ある。添付図にも示すように、本発明のフィンガ機構は
、フィンガフレーム１０の両側端には、先端に外側爪９
、９’を取付けたフィンガ６．６’が設けてあり、この
フィンガ６、６’は図示していない１つの駆動源により
フィンガフレーム１０の中心方向に往復運動できるよう
に構成してある。また、フインガフレーム１０の中央部
にはサポート台２が設けてあり、このサポート台２の先
端両側には前記外側爪９，９′と対を成す内側爪３，３
′がピン４，４′により枢着され、かつその内側爪３，
３７の上方端はローラ５，５／が取付けられ、アーム６
，６′の動作により直線運動する動作軸７，ｒによつて
第２図の矢印Ｂ，ｂ／方向に回動する如く取付けてある
。８，８′はアーム６，６／が矢印Ａ，ａ′方向に作動
したとき内側爪３，３／を元に戻すための引張りバネで
ある。3 is a cross-sectional side view taken along line E' in FIG. 1. As shown in the accompanying drawings, the finger mechanism of the present invention has outer claws 9 at the tips on both ends of the finger frame 10.
, 9' are provided, and these fingers 6, 6' are configured to be able to reciprocate in the direction of the center of the finger frame 10 by a single drive source (not shown). Further, a support stand 2 is provided in the center of the finger frame 10, and on both sides of the tip of the support stand 2, inner claws 3, 3 forming a pair with the outer claws 9, 9' are provided.
' is pivotally connected by pins 4, 4', and its inner claws 3,
The upper end of 37 has rollers 5, 5/ attached thereto, and arm 6
, 6' are mounted so as to rotate in the directions of arrows B and b/ in FIG. Reference numerals 8 and 8' designate tension springs for returning the inner claws 3 and 3/ to their original positions when the arms 6 and 6/ are operated in the directions of arrows A and a'.
次にこのワークつかみ機構の動作について説明する。Next, the operation of this workpiece gripping mechanism will be explained.
まず、フィンガフレーム１０を下降し、２個のワーク１
，１／の間にサポート台２を嵌合してほぼワーク中心位
置で停止させる。次にフィンガ６，６７を図示していな
い駆動機構によりサポート台２側に移動させ、閉じ動作
に入る。その場合、第２図にも示すようにフインガ６，
６′のストロークにより上方に取付けた動作軸７，７′
の先端部でローラ５，５′はサポート台２の中心方向に
押され、それによつて内側爪３，３１はピン４，４′を
支点として矢印Ｂ，ｂ′方向に旋回し、それぞれのワー
ク１，１１を同時につかみ、フィンガフレーム１０の上
下あるいは左右動により所定の位置ＶＣ２個のワーク１
，「を運搬する。そして、つかんだワーク１，１′を離
す場合は前述動作の逆工程により行なう。な卦、動作軸
７に取付けたネジＳは内側爪３，３′と外側爪９，９′
がワーク１，１′を確実につかむため、動作軸のストロ
ーク寸法を調節する調整ネジである。First, the finger frame 10 is lowered and the two workpieces 1 are
, 1/, and the support stand 2 is fitted between them and stopped at approximately the center position of the workpiece. Next, the fingers 6 and 67 are moved toward the support base 2 by a drive mechanism (not shown), and a closing operation begins. In that case, as shown in FIG.
Operating shafts 7, 7' mounted above with a stroke of 6'
The rollers 5, 5' are pushed toward the center of the support table 2 at the tip of the rollers 5, 5', and the inner claws 3, 31 pivot in the directions of arrows B and b' using the pins 4, 4' as fulcrums, and release the respective workpieces. 1 and 11 at the same time, move the finger frame 10 up and down or left and right to move the two pieces of workpiece 1 to a predetermined position VC.
, ``.Then, when releasing the gripped workpieces 1, 1', the process is reversed to the above-mentioned operation.The screw S attached to the operating shaft 7 connects the inner claws 3, 3' and the outer claws 9, 9′
This is an adjustment screw that adjusts the stroke dimension of the operating axis in order to securely grip the workpieces 1 and 1'.
以上、説明したように本発明によれば、１つの駆動源で
２対のワークつかみ爪を同時に作動させるようにしたも
のであるから、近接して並ぶ２個のワークを同時につか
み移送することができ、作業能率は向上する。As explained above, according to the present invention, two pairs of workpiece gripping claws are operated simultaneously by one drive source, and therefore two workpieces arranged close to each other can be simultaneously gripped and transferred. This will improve work efficiency.
また動作軸の長さを調節できるようにしたので外側爪と
内側爪間の開度を個々に調節すること力ζできる。Furthermore, since the length of the operating axis can be adjusted, the opening degree between the outer claw and the inner claw can be adjusted individually.
添付図は本発明によるワークつかみ機構の一実施例を示
すものであつて、第１図は２個のワークをつかむ前の状
態を示す正面図、第２図はワークをつかんだ状態を示す
正面図、第３図は第１図のイ、イ５線に沿う断面側面図
である。
１，「・・・ワーク、２・・・サポート台、３，３′・
・・内側爪、４，４′・・・ピン、５，５′・・・ロー
ラ、６，６／・・・フィンガ、７，７／・・・動作軸、
８，８′・・・バネ、９，９′・・・外側爪、１０・・
・フインガフレーム、Ｓ・・・ストローク調整ネジ。The attached drawings show an embodiment of the workpiece gripping mechanism according to the present invention, in which FIG. 1 is a front view showing the state before gripping two workpieces, and FIG. 2 is a front view showing the state in which the workpieces are gripped. 3 are cross-sectional side views taken along lines A and A5 in FIG. 1. 1, "...work, 2... support stand, 3, 3'.
...inner claw, 4,4'...pin, 5,5'...roller, 6,6/...finger, 7,7/...operating axis,
8, 8'... Spring, 9, 9'... Outer claw, 10...
・Finger frame, S...Stroke adjustment screw.
Claims (1)
ようにした一対の外側爪と、該外側爪の間に設けたサポ
ート台と、該サポート台に枢着してあり、前記外側爪と
夫々対を成す２つの内側爪と、前記外側爪から前記内側
爪に向つて伸び、前記内側爪の前記サポート台への枢着
点から離れた位置で前記内側爪に当接して、前記外側爪
が互いに近づく方向に動作したときに前記内側爪を回動
させる動作軸とを備えており、更に該動作軸は、前記外
側爪への取付部から前記内側爪への当接部までの長さが
調節可能に構成してあることを特徴とするマシンハンド
。1. A pair of outer claws that can be moved toward and away from each other by one driving source, a support base provided between the outer claws, and a support base provided between the outer claws, and a support base provided between the outer claws and the respective pairs. and two inner claws extending from the outer claw toward the inner claw and abutting the inner claw at a position away from the pivot point of the inner claw to the support base, so that the outer claws approach each other. and an operating shaft that rotates the inner claw when the inner claw is moved in the direction, and the length of the operating shaft from the attachment part to the outer claw to the contact part to the inner claw is adjustable. A machine hand characterized by comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8933977A JPS5940595B2 (en) | 1977-07-27 | 1977-07-27 | machine hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8933977A JPS5940595B2 (en) | 1977-07-27 | 1977-07-27 | machine hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5425058A JPS5425058A (en) | 1979-02-24 |
| JPS5940595B2 true JPS5940595B2 (en) | 1984-10-01 |
Family
ID=13967927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8933977A Expired JPS5940595B2 (en) | 1977-07-27 | 1977-07-27 | machine hand |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5940595B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2831087B1 (en) * | 2001-10-22 | 2004-01-30 | Bema Ingenierie | DEVICE FOR GRIPPING A WORKPIECE, AND METHOD FOR THE PRODUCTION THEREOF |
| JP6428226B2 (en) * | 2014-12-12 | 2018-11-28 | 村田機械株式会社 | Side arm transfer equipment |
-
1977
- 1977-07-27 JP JP8933977A patent/JPS5940595B2/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5425058A (en) | 1979-02-24 |
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