JPS62110888U

JPS62110888U -

Info

Publication number: JPS62110888U
Application number: JP20443285U
Authority: JP
Priority date: 1985-12-28
Filing date: 1985-12-28
Publication date: 1987-07-15

Description

[Brief explanation of the drawing]

第１図は本考案に係るロボツトハンド交換装置
を示す構成斜視図、第２図は本考案に係るロボツ
トハンド交換装置のハンドストツカの一部断面斜
視図、第３図は本考案に係るロボツトハンド交換
装置のハンドストツカの平面図、第４図は第３図
の―線一部省略断面図、第５図は本考案に係
るロボツトハンド交換装置におけるハンドおよび
ロボツトアームの連結機構を示す概略構成断面図
である。１０…ロボツトハンド交換装置、１２…軌道、
１４ａ，１４ｂ…ハンドストツカ、１６…ハンド
、１８…ロボツトアーム、２２…ボールねじ、３
４ａ，３４ｂ…アーム、３６…シリンダ部、５４
…爪部材、５４ａ…係合溝、５８…爪部材、５８
ａ…係合溝、７２，７４…ピン部材、７６…楔部
、７６ａ…溝部、７８…楔部、７８ａ…溝部。 FIG. 1 is a perspective view of the configuration of a robotic hand changing device according to the present invention, FIG. 2 is a partial cross-sectional perspective view of a hand stocker of the robotic hand changing device according to the present invention, and FIG. 3 is a robotic hand changing device according to the present invention. FIG. 4 is a plan view of the hand stocker of the device, FIG. 4 is a partially omitted cross-sectional view taken along the line - in FIG. 3, and FIG. be. 10... Robot hand exchange device, 12... Orbit,
14a, 14b...hand stocker, 16...hand, 18...robot arm, 22...ball screw, 3
4a, 34b...Arm, 36...Cylinder part, 54
...Claw member, 54a...Engagement groove, 58...Claw member, 58
a... Engagement groove, 72, 74... Pin member, 76... Wedge part, 76a... Groove part, 78... Wedge part, 78a... Groove part.

Claims

[Claims for Utility Model Registration] (1) In a robot hand exchange mechanism that exchanges a working hand on a robot body, a pair of arms that grip the replacement hand include a wedge portion in which a groove is formed. a hand engaging means disposed at a distal end of each of the arms and including a first engaging part that engages with the wedge part and a second engaging part that engages with the groove; 1. A robot hand exchange device comprising: a displacement means that supports the robot hand so as to be openable and closable, and is movable toward the robot body. (2) In the device according to claim 1 of the utility model registration claim, at least one set of robot hand exchange mechanisms each consisting of a pair of arms, a hand engaging means, and a displacement means are arranged in parallel, and these mechanisms are directed toward the robot body. A robot hand exchange device configured to be freely movable. (3) Scope of claims for utility model registration, paragraph 1 or 2
In the device described in 1., each hand engaging means has engaging grooves as first engaging portions facing each other, and an intermediate portion of each engaging groove is formed substantially perpendicularly to each engaging groove. A robot hand exchange device in which a pin member as a second engaging portion is disposed in a direction in which the robot hand is replaced.