JPS60149731U

JPS60149731U - Robotic hand in machining system

Info

Publication number: JPS60149731U
Application number: JP3546484U
Authority: JP
Inventors: 中野　充孝; 多田　公
Original assignee: 日立精機株式会社
Priority date: 1984-03-13
Filing date: 1984-03-13
Publication date: 1985-10-04
Also published as: JPH035391Y2

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Brief explanation of drawings]

第１図は本考案のロボットハンドを設けたロボットの概
要を示す斜視図、第２図は本考案の一実施例の縦断面図
、第３図は第２図の■−■線断面図、第４図は実施例の
作用を説明する側面図、第５図は実施例の作用を説明す
る平面図、第６図は実施例を用いた工具の受渡し状態を
示す説明図である。１・・・ロボット、２・・田ポットハンド、３・・・ケ
ース本体、４・・・アーム、５・・・搬送装置本体、６
・・・コラム、７・・・ベース、訃・・、配管、９・・
・スリーブ、９ａ　””テーパ穴、１０ｔ　　１０　ａ
ｔ　　１０　ｂｔ　　１０　ｃｔｌｅｄ、１０ｅ、１０
ｆ、１０ｇ、１０ｈ・・・工具、１１，７２・・・凹部
、１３，１４，２６・・・穴、１５・・・位置決めキー
、１６・・・プルスタッド、１７・・・爪、１７−ａ・
・・係止部、１７ｂ・・・傾斜面、１８・・・保持金Ｌ
　　１９・・・ピン、２０・・・ストッパ、３７゜２５
・・・ばね、２１・・・シリンダケース、２２・・・ピ
ストン、２３・・・ピストンロッド、２４・・・ブシュ
、２　。７・・・空気抜き穴、２８．２９．　３０・・・近接ス
イッチ、３１・・・横形パレット、３２．３４・・・ツ
ールストッカ、３３・・・立形パレット、３５・・・受
取り場所、３６・・・受渡し場所。FIG. 1 is a perspective view showing an outline of a robot equipped with a robot hand of the present invention, FIG. 2 is a longitudinal sectional view of an embodiment of the present invention, and FIG. 3 is a sectional view taken along the line ■-■ of FIG. 2. FIG. 4 is a side view illustrating the operation of the embodiment, FIG. 5 is a plan view illustrating the operation of the embodiment, and FIG. 6 is an explanatory diagram illustrating a tool delivery state using the embodiment. 1...Robot, 2...Tapot hand, 3...Case body, 4...Arm, 5...Transfer device body, 6
...Column, 7...Base, Death..., Piping, 9...
・Sleeve, 9a "" Tapered hole, 10t 10a
t 10 bt 10 ctled, 10e, 10
f, 10g, 10h... Tool, 11, 72... Recess, 13, 14, 26... Hole, 15... Positioning key, 16... Pull stud, 17... Claw, 17- a・
...Locking part, 17b...Slanted surface, 18...Holding metal L
19...pin, 20...stopper, 37°25
...Spring, 21...Cylinder case, 22...Piston, 23...Piston rod, 24...Bushing, 2. 7...Air vent hole, 28.29. 30... Proximity switch, 31... Horizontal pallet, 32.34... Tool stocker, 33... Vertical pallet, 35... Receiving location, 36... Delivery location.

Claims

[Scope of utility model registration request]

In a robot hand disposed in a machining system to convey a tool, the case body is attached to the arm of the robot and has a tool insertion opening into which the tool having a pull stud is removably fitted; a claw that is provided in the case body and that engages with the pull stud of the tool fitted in the tool insertion opening in a freely openable and closable manner; an opening/closing means that is provided in the case body that opens and closes the mold; and a detection means for detecting attachment and detachment of the tool.
Characteristics of the robot hand in machined γ-stem.