JPS6216305Y2 - - Google Patents
Info
- Publication number
- JPS6216305Y2 JPS6216305Y2 JP1983101493U JP10149383U JPS6216305Y2 JP S6216305 Y2 JPS6216305 Y2 JP S6216305Y2 JP 1983101493 U JP1983101493 U JP 1983101493U JP 10149383 U JP10149383 U JP 10149383U JP S6216305 Y2 JPS6216305 Y2 JP S6216305Y2
- Authority
- JP
- Japan
- Prior art keywords
- cam
- finger
- racks
- lever
- rack
- 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
- 230000007246 mechanism Effects 0.000 claims description 26
- 239000012530 fluid Substances 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Description
【考案の詳細な説明】
〔考案の技術分野〕
本考案は、物体を把持して移送したりする場合
に使用する把持機構に関する。[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a gripping mechanism used for gripping and transporting an object.
加工物を加工機にセツトしたり、加工終了した
加工物を加工機から取外したりする作業は自動機
で行なわれるようになつてきた。また部品を組み
立てて製品を完成するような組み立て作業、組み
立て完成した品物の取り出し、塗装などの処理対
象物の移送などは、自動機で行なわれている。こ
のように品物を取り出したり、移動したり、セツ
トしたりする自動機は、産業用ロボツトとも呼ば
れている。
The work of setting a workpiece on a processing machine and removing the processed workpiece from the processing machine has come to be performed by automatic machines. In addition, automatic machines are used to perform assembly work such as assembling parts to complete a product, taking out assembled items, and transporting objects to be processed such as painting. Automatic machines that take out, move, and set items in this way are also called industrial robots.
このような自動機で物品を把持して移送したり
する場合、より大きな負荷を扱えるように把持機
構自体が軽量でよりコンパクトであることが望ま
しい。また把持動作が確実で、停電や駆動源の故
障、配管系統の漏れなどが発生しても物品が落下
したりすることのない安全な機構が要求される。
本考案は、ロボツトなどに使用される把持機構に
おけるこのような問題を解決するものである。 When such an automatic machine grips and transports articles, it is desirable that the gripping mechanism itself be lightweight and compact so that it can handle a larger load. In addition, a safe mechanism is required that ensures a reliable gripping operation and prevents the object from falling even in the event of a power outage, failure of the drive source, or leakage of the piping system.
The present invention solves these problems in gripping mechanisms used in robots and the like.
第１図は従来のロボツトの把持機構の平面図
で、ロボツトハンド３に、２つのフインガー１，
２が軸４，５を中心に回動可能に取付けられてお
り、フインガー１，２でワークＷを挾むようにな
つている。フインガー１，２の、支軸４，５に対
しワーク把持部と反対側の端部（基端）には、ロ
ーラ６，７を備えており、両ローラ６，７間に、
テーパ状の駆動カム８が配設されている。フイン
ガー１，２の基端には、ローラ６，７が常時駆動
カム８に圧接するように、コイルバネ９を取付け
てある。ロボツトハンド３には、駆動カム８を動
作させるためのエアシリンダ１０を設けてあり、
エアシリンダ１０で、駆動カム８を引つ張ると、
コイルバネ９のバネ力に抗してフインガー１，２
が閉じ、ワークＷを挾持する。ピストンロツドを
伸長させて駆動カム８を元に戻すと、コイルバネ
９のバネ力でフインガー１，２が開く。
FIG. 1 is a plan view of a conventional robot gripping mechanism, in which a robot hand 3 has two fingers 1,
2 is rotatably mounted around shafts 4 and 5, and the fingers 1 and 2 are designed to hold the workpiece W between them. The fingers 1 and 2 are provided with rollers 6 and 7 at the ends (base ends) on the side opposite to the work gripping portion with respect to the support shafts 4 and 5, and between both rollers 6 and 7,
A tapered drive cam 8 is provided. Coil springs 9 are attached to the base ends of the fingers 1 and 2 so that the rollers 6 and 7 are constantly pressed against the drive cam 8. The robot hand 3 is provided with an air cylinder 10 for operating the drive cam 8.
When the drive cam 8 is pulled with the air cylinder 10,
Fingers 1 and 2 resist the spring force of coil spring 9.
closes and clamps the workpiece W. When the piston rod is extended and the drive cam 8 is returned to its original position, the fingers 1 and 2 are opened by the spring force of the coil spring 9.
ところがこのような構成では、フインガー１，
２の開放をコイルバネ９に頼つているため、バネ
力が弱いと、開放を迅速、確実に行なうことがで
きず、バネ力を強くすると、該バネ力に抗してフ
インガー１，２を閉じるのに大きな力を要するこ
とになり、それだけエアシリンダ１０のパワーを
大きくしなければならない。また出力を大きくす
るには、エアシリンダ１０を大型にしなければな
らず、そうするとロボツトハンドの重量が増大
し、その結果ロボツトハンドを揺動させるための
アームの駆動力を大きくする必要がある。更に駆
動カム８を直線移動させてフインガー１，２の開
閉を行なうので、モータのような回転駆動源によ
る駆動が不可能である。 However, in this configuration, finger 1,
Since the coil spring 9 relies on the coil spring 9 to open the fingers 1 and 2, if the spring force is weak, the opening cannot be done quickly and reliably.If the spring force is strong, the fingers 1 and 2 cannot be closed against the spring force. Therefore, the power of the air cylinder 10 must be increased accordingly. Furthermore, in order to increase the output, the air cylinder 10 must be made larger, which increases the weight of the robot hand, and as a result, it is necessary to increase the driving force of the arm for swinging the robot hand. Furthermore, since the fingers 1 and 2 are opened and closed by moving the drive cam 8 in a straight line, driving by a rotational drive source such as a motor is impossible.
このような問題を解決するために、実開昭50−
114077号公報に記載されているように、２つのラ
ツクを互いに対向するように平行に配置し、それ
ぞれのラツクが互いに逆向きに平行移動するよう
に、両ラツクの間にピニオンを介在させて噛み合
わせ、且つそれぞれのラツクにフインガーを取付
けた把持機構が提案されている。この構成は、ラ
ツクを流体圧シリンダに連結して駆動してもよ
く、またピニオンをモータに連結して回転させも
よいので、駆動源が流体圧シリンダに制限される
ようなことはなく、電気で駆動できるモータも使
用できる。しかも軽量化の問題も解決できるが、
フインガーが直線移動して開閉するため、フイン
ガーの動作領域が大きくなり、結局把持機構全体
を充分小型化できない。また第１図の構成と同様
に、万一駆動源が故障したりすると、把持力が消
失し、把持している物品が落下する危険がある。 In order to solve such problems,
As described in Japanese Patent No. 114077, two racks are arranged in parallel so as to face each other, and a pinion is interposed between the two racks so that each rack moves in parallel in opposite directions. A gripping mechanism has been proposed in which the racks are aligned and a finger is attached to each rack. In this configuration, the rack can be connected to a fluid pressure cylinder to drive it, and the pinion can be connected to a motor to rotate it, so the drive source is not limited to the fluid pressure cylinder and is powered by electricity. A motor that can be driven by can also be used. Moreover, the problem of weight reduction can be solved,
Since the fingers move linearly to open and close, the operating area of the fingers becomes large, and as a result, the entire gripping mechanism cannot be made sufficiently compact. Furthermore, similarly to the configuration shown in FIG. 1, if the drive source were to fail, the gripping force would be lost and there is a risk that the gripped object would fall.
これに対し特開昭57−178691号公報に記載のよ
うに、駆動源の回転運動を歯車機構を介して左右
対称な変位運動に変え、リンク機構を介してフイ
ンガーレバーを作動させる装置が提案されている
が、駆動源とフインガーレバーとの間に複雑かつ
大型な伝動機構を介在させる必要があるため、フ
インガー動作部は小型化されても、装置全体とし
ては大型化してしまう。 On the other hand, as described in Japanese Patent Application Laid-Open No. 57-178691, a device has been proposed in which the rotational motion of the drive source is converted into a symmetrical displacement motion via a gear mechanism, and the finger lever is actuated via a link mechanism. However, since it is necessary to interpose a complicated and large transmission mechanism between the drive source and the finger lever, even if the finger operating section is downsized, the device as a whole becomes large.
本考案の技術的課題は、従来の把持機構におけ
るこのような問題を解消し、２つのラツク間にピ
ニオンを介在させ、ラツクによつてフインガーを
開閉する伝動機構においても、フインガーが回動
動作可能とすることで、小型・軽量で簡素な把持
機構を実現することにある。
The technical problem of the present invention is to solve such problems with conventional gripping mechanisms, and to make it possible to rotate the fingers even in a transmission mechanism in which a pinion is interposed between two racks and the fingers are opened and closed by the racks. By doing so, the objective is to realize a compact, lightweight, and simple gripping mechanism.
この目的を達成するために講じた本考案による
技術的手段は、２つのラツクを互いに対向するよ
うに平行に配置し、それぞれのラツクが互いに逆
向きに平行移動するように、両ラツクの間にピニ
オンを介在させて噛み合わせると共に、該両ラツ
クのそれぞれに一体的にカムを設けている。ま
た、１対のフインガーレバーのそれぞれを、前記
ラツクの外側位置でベースに揺動可能に軸支し、
それぞれのフインガーレバーの軸支部に、前記カ
ムに追従して当該フインガーレバーを揺動させる
カムフオロアーレバーを設けている。
The technical means according to the present invention taken to achieve this objective is to arrange two racks in parallel so as to face each other, and to create a space between the racks so that each rack moves parallelly in opposite directions. Both racks are engaged with each other with a pinion interposed therebetween, and a cam is integrally provided on each of the two racks. Further, each of the pair of finger levers is pivotally supported on the base at a position outside the rack,
A cam follower lever is provided on the shaft support of each finger lever to follow the cam and swing the finger lever.
次に本考案による把持機構が実際上どのように
具体化されるかを実施例で説明する。第２図は把
持機構の実施例を示すもので、イ平面図、ロはイ
図のロ−ロ断面図、ハは部分断面正面図である。
把持機構のベース１１には、２本のガイド軸１
２，１３が、互いに平行になるように固設されて
おり、両平行ガイド軸１２，１３にガイドされて
移動するように、可動ブロツク１４，１５が取付
けられている。そして両可動ブロツク１４，１５
には、互いに平行に対向するようにラツク１６，
１７が固設され、両ラツク１６，１７間に、両ラ
ツク１６，１７と噛み合うようにピニオン１８が
軸支されている。
Next, how the gripping mechanism according to the present invention is actually implemented will be explained using examples. FIG. 2 shows an embodiment of the gripping mechanism, in which A is a plan view, B is a cross-sectional view of FIG. 2, and C is a partially sectional front view.
The base 11 of the gripping mechanism has two guide shafts 1.
2 and 13 are fixedly mounted parallel to each other, and movable blocks 14 and 15 are mounted so as to be guided and moved by both parallel guide shafts 12 and 13. And both movable blocks 14, 15
racks 16, parallel to each other and facing each other.
17 is fixedly installed, and a pinion 18 is pivotally supported between both racks 16 and 17 so as to mesh with both racks 16 and 17.
ラツク１７側の可動ブロツク１５は、ラツク１
６側のガイド軸１２側に、ブリツジ部１５ａによ
つて延長し、該ブリツジ部１５ａがガイド軸１２
にガイドされている。またラツク１６側の可動ブ
ロツク１４は、ラツク１７側のガイド軸１３側
に、ブリツジ部１４ａによつて延長し、該ブリツ
ジ部１４ａがガイド軸１３にガイドされている。
このようにガイド軸を相互に共用することによ
り、構成が小型化、簡素化され、把持機構の重量
が軽減される。 The movable block 15 on the rack 17 side is
The bridge portion 15a extends to the guide shaft 12 side on the 6 side, and the bridge portion 15a extends to the guide shaft 12 side.
are guided by. Furthermore, the movable block 14 on the rack 16 side extends to the guide shaft 13 side on the rack 17 side by a bridge portion 14a, and the bridge portion 14a is guided by the guide shaft 13.
By mutually sharing the guide shaft in this way, the configuration is made smaller and simpler, and the weight of the gripping mechanism is reduced.
この構成において、いまピニオン１８を矢印a1
で示すように右回転させると、ラツク１６とブロ
ツク１４は矢印a2で示すように右側に移動し、ラ
ツク１７とブロツク１５は矢印a3で示すように左
側に移動する。把持機構をモータで駆動する場合
は、ピニオン１８をモータに連結して、前記のよ
うにピニオン１８でラツク１６，１７を介してブ
ロツク１４，１５を移動させるのがよい。ピニオ
ン１８を矢印a1と逆方向に回転させると、ブロツ
ク１４，１５は矢印a2，a3と逆方向に移動する。
把持機構を流体圧シリンダで駆動する場合は、ブ
ロツク１４または１５に流体圧シリンダのピスト
ンロツドを連結し、ブロツク１４，１５のいずれ
かを矢印a2，a3方向に直線移動させることで、前
記と同様にブロツク１４，１５をそれぞれ逆向き
に移動させることができる。 In this configuration, the pinion 18 is now indicated by the arrow a 1
When rotated clockwise as shown, the rack 16 and block 14 move to the right as shown by arrow a2 , and the rack 17 and block 15 move to the left as shown by arrow a3 . If the gripping mechanism is driven by a motor, it is preferable to connect the pinion 18 to the motor so that the pinion 18 moves the blocks 14, 15 through the racks 16, 17 as described above. When the pinion 18 is rotated in the direction opposite to the arrow a 1 , the blocks 14 and 15 move in the opposite direction to the arrows a 2 and a 3 .
When the gripping mechanism is driven by a fluid pressure cylinder, the piston rod of the fluid pressure cylinder is connected to the block 14 or 15, and either of the blocks 14 or 15 is moved linearly in the direction of the arrows a 2 and a 3 to achieve the above-mentioned gripping mechanism. Similarly, blocks 14 and 15 can be moved in opposite directions.
この機構は前記の本考案出願人が先に提案した
考案と同じであるが、本考案の場合は、ブロツク
１４，１５から延長したブリツジ部１４ａ，１５
ａに、楔状のカム１９，２０が固設されている。
そしてベース１１の両端に固設した軸２１，２２
に、フインガーレバー２３，２４をそれぞれ軸支
してある。また軸２１，２２には、前記カム１
９，２０上に延びるカムフオロアーレバー２５，
２６を軸支し、先端にカムフオロアーとなるロー
ラ２７，２８を設けてある。なお図示例では、フ
インガーレバー２３とカムフオロアーレバー２
５、フインガーレバー２４とカムフオロアーレバ
ー２６がそれぞれ軸支部で一体になつているが、
それぞれ別体に構成して、支軸２１，２２にキー
で固定し、互いに支軸２１，２２を介して連結し
てもよい。 This mechanism is the same as the device previously proposed by the applicant of the present invention, but in the case of the present invention, bridge portions 14a and 15 extending from blocks 14 and 15 are used.
Wedge-shaped cams 19 and 20 are fixed to a.
And shafts 21 and 22 fixed to both ends of the base 11
Finger levers 23 and 24 are respectively pivotally supported. Further, the shafts 21 and 22 have the cam 1
9, 20 extending cam follower lever 25,
26 is pivotally supported, and rollers 27 and 28 serving as cam followers are provided at the tips. In the illustrated example, the finger lever 23 and the cam follower lever 2
5. The finger lever 24 and the cam follower lever 26 are each integrated by a shaft support,
They may be constructed separately, fixed to the support shafts 21 and 22 with keys, and connected to each other via the support shafts 21 and 22.
この構成において、いまブリツジ部１４ａと１
５ａが図示のように接近している状態で、前記の
ようにブロツク１４，１５を矢印a2，a3方向に移
動させると、カム１９，２０も矢印a2，a3方向に
移動し、ローラ２７，２８を介してカムフオロア
ーレバー２５，２６を押し上げる。その結果、フ
インガーレバー２３，２４が支軸２１，２２を中
心にして、矢印a4，a5で示すように、閉じる方向
に回動する。そして把持の対象である物品Ｗが把
持される。 In this configuration, the bridge portions 14a and 1
When the blocks 14 and 15 are moved in the directions of the arrows a 2 and a 3 as described above while the cams 5 a are approaching each other as shown, the cams 19 and 20 are also moved in the directions of the arrows a 2 and a 3 . The cam follower levers 25 and 26 are pushed up via the rollers 27 and 28. As a result, the finger levers 23 and 24 rotate about the support shafts 21 and 22 in the closing direction as shown by arrows a 4 and a 5 . Then, the object W to be gripped is gripped.
把持している物品Ｗを開放する場合は、ブロツ
ク１４，１５を矢印a2，a3と逆方向に移動させれ
ば、捻りバネ２９，３０でフインガーレバー２
３，２４が矢印a4，a5と逆向きに回動されて、開
く。 When releasing the gripped article W, by moving the blocks 14 and 15 in the direction opposite to the arrows a2 and a3 , the torsion springs 29 and 30 will release the finger lever 2.
3 and 24 are rotated in the opposite direction of arrows a 4 and a 5 to open.
第３図は把持機構に流体圧シリンダ３１を装備
した例の部分断面正面図である。支軸２１および
ガイド軸１２，１３の右端を支持するためにベー
ス１１から立ち上つている部分１１ａに、流体圧
シリンダ３１を固定し、ピストンロツド３２をブ
ロツク１４ないしブリツジ部１４ａに連結してあ
る。この流体圧シリンダ３１は単動型で、ピスト
ン３３とロツドカバー部との間に強力なバネ３４
を介在させてあり、このバネ３４でピストンロツ
ド３２は常に矢印a6で示すように、ピストンロツ
ド３２を引つ込める方向の力を受けている。した
がつてブロツク１４はこのバネ３４の力で、常に
フインガーレバー２３，２４を閉じる方向の力を
受ける。流体圧シリンダ３１のヘツドカバー側に
設けたポート３５から圧縮空気圧や油圧を作用さ
せて、ピストンロツド３２をバネ３４に抗して前
進させると、ブロツク１４，１５が矢印a2，a3と
逆方向に移動し、捻りバネ２９，３０でフインガ
ーレバー２３，２４が開かれる。 FIG. 3 is a partially sectional front view of an example in which the gripping mechanism is equipped with a fluid pressure cylinder 31. A fluid pressure cylinder 31 is fixed to a portion 11a rising from the base 11 to support the right ends of the support shaft 21 and guide shafts 12, 13, and a piston rod 32 is connected to the block 14 or the bridge portion 14a. This fluid pressure cylinder 31 is a single-acting type, with a strong spring 34 between the piston 33 and the rod cover.
With this spring 34, the piston rod 32 is constantly receiving a force in the direction of retracting the piston rod 32, as shown by arrow a6 . Therefore, the block 14 always receives a force in the direction of closing the finger levers 23 and 24 due to the force of this spring 34. When the piston rod 32 is moved forward against the spring 34 by applying compressed air pressure or oil pressure from the port 35 provided on the head cover side of the fluid pressure cylinder 31, the blocks 14 and 15 move in the direction opposite to the arrows a2 and a3 . The finger levers 23 and 24 are opened by the torsion springs 29 and 30.
このようにフインガーレバー２３，２４の開放
を流体圧で行ない、閉じる操作をバネ力で行なう
ようにすれば、停電や配管漏れなどで流体圧シリ
ンダへの流体圧の供給が断たれたりしても、バネ
力で確実にフインガーレバー２３，２４を閉じ
て、物品の把持力を維持することができ、極めて
安全である。 If the finger levers 23 and 24 are opened using fluid pressure and closed using spring force, the supply of fluid pressure to the fluid pressure cylinder will be cut off due to a power outage or pipe leak. Also, the finger levers 23 and 24 can be reliably closed by the spring force, and the gripping force of the article can be maintained, which is extremely safe.
以上のように本考案によれば、互いに対向する
２つのラツクの間にピニオンを噛合させ、両ラツ
クと一体動作するブロツクに設けたカムで、フイ
ンガーレバーを開閉する構成を採つている。その
ため、フインガーレバーが支軸を支点にして回動
する構成となり、フインガーレバーが直線移動し
て開閉する構成より小型化される。しかもカムを
移動させるブロツクがラツクを介してピニオンと
噛合しているので、フインガーレバーの開閉動作
が確実で、動作の信頼性が向上する。ピニオンを
駆動すれば駆動源としてモータを使用でき、ブロ
ツク側を駆動すれば、駆動源として流体圧シリン
ダを使用できるので、駆動源が制限されない。
As described above, according to the present invention, a pinion is engaged between two racks facing each other, and a cam provided on a block that operates integrally with both racks is used to open and close the finger lever. Therefore, the finger lever has a structure in which it rotates about the support shaft, which is more compact than a structure in which the finger lever moves linearly to open and close. Moreover, since the block that moves the cam is engaged with the pinion via the rack, the finger lever can be opened and closed reliably, improving the reliability of the operation. If the pinion is driven, a motor can be used as the drive source, and if the block side is driven, a fluid pressure cylinder can be used as the drive source, so the drive source is not limited.
第１図は従来の把持機構を示す平面図、第２図
は本考案による把持機構の実施例を示す平面図、
断面図および正面図、第３図は把持機構に流体圧
シリンダを装備した例を示す部分断面正面図であ
る。
図において、１２，１３はガイド軸、１４，１
５はブロツク、１４ａ，１５ａはブリツジ部、１
６，１７はラツク、１８はピニオン、１９，２０
はカム、２１，２２は支軸、２３，２４はフイン
ガーレバー、２５，２６はカムフオロアーレバ
ー、２７，２８はカムフオロアーローラ、３１は
流体圧シリンダをそれぞれ示す。
FIG. 1 is a plan view showing a conventional gripping mechanism, FIG. 2 is a plan view showing an embodiment of the gripping mechanism according to the present invention,
A sectional view and a front view. FIG. 3 is a partially sectional front view showing an example in which the gripping mechanism is equipped with a fluid pressure cylinder. In the figure, 12 and 13 are guide shafts, 14 and 1
5 is a block, 14a and 15a are bridge parts, 1
6, 17 is rack, 18 is pinion, 19, 20
21 and 22 are cams, 21 and 22 are support shafts, 23 and 24 are finger levers, 25 and 26 are cam follower levers, 27 and 28 are cam follower rollers, and 31 is a fluid pressure cylinder, respectively.
Claims (1)
置し、それぞれのラツクが互いに逆向きに平行移
動するように、両ラツクの間にピニオンを介在さ
せて噛み合わせると共に、該両ラツクのそれぞれ
に一体的にカムを設け、且つ１対のフインガーレ
バーのそれぞれを、前記ラツクの外側位置でベー
スに揺動可能に軸支し、それぞれのフインガーレ
バーの軸支部に、前記カムに追従して当該フイン
ガーレバーを揺動させるカムフオロアーレバーを
設けたことを特徴とする把持機構。 Two racks are arranged in parallel so as to face each other, and a pinion is interposed between the two racks so that they move in parallel in opposite directions. A cam is provided on the rack, and each of the pair of finger levers is swingably supported on the base at a position outside the rack, and the finger lever is provided with a cam on the shaft support of each finger lever in a manner that follows the cam. A gripping mechanism characterized by having a cam follower lever that swings the swinger lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10149383U JPS6011786U (en) | 1983-06-30 | 1983-06-30 | Gripping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10149383U JPS6011786U (en) | 1983-06-30 | 1983-06-30 | Gripping mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6011786U JPS6011786U (en) | 1985-01-26 |
| JPS6216305Y2 true JPS6216305Y2 (en) | 1987-04-24 |
Family
ID=30239644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10149383U Granted JPS6011786U (en) | 1983-06-30 | 1983-06-30 | Gripping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6011786U (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6302340B2 (en) * | 2014-04-23 | 2018-03-28 | Thk株式会社 | Gripping device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57178691A (en) * | 1981-04-30 | 1982-11-02 | Nissan Motor | Mechanical hand |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5351009Y2 (en) * | 1974-02-27 | 1978-12-06 |
-
1983
- 1983-06-30 JP JP10149383U patent/JPS6011786U/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57178691A (en) * | 1981-04-30 | 1982-11-02 | Nissan Motor | Mechanical hand |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6011786U (en) | 1985-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US3901547A (en) | Multiple prehension mechanism | |
| US4544193A (en) | Robot grippers | |
| CN108214534B (en) | Self-adaptive under-actuated robot clamping jaw | |
| JPS6335395B2 (en) | ||
| US8459709B2 (en) | Gripper mechanism with two drive shafts per gripping finger | |
| WO2022143665A1 (en) | Two-jaw flexible manipulator having indexable finger roots | |
| CN111168698A (en) | Rope-driven bionic mechanical gripper and rehabilitation nursing device | |
| JPS5837590Y2 (en) | Double hand for shaft work | |
| JPH0474152B2 (en) | ||
| JPS6216305Y2 (en) | ||
| CN207616571U (en) | A kind of coupling parallel institution of link-type multistage altogether | |
| CN108189055B (en) | Rack cosine telescopic straight-line parallel clamping self-adaptive finger device | |
| JPH01274987A (en) | Gripper device | |
| CN103101055B (en) | A kind of tendon formula under-driven adaptive multi-finger hand device | |
| JP6080724B2 (en) | Work movement mechanism | |
| CN107344356A (en) | A kind of anthropomorphic wrist refers to hybrid mechanism | |
| CN208305082U (en) | Disk tooth shifting multi-mode formula merges adaptive robot finger apparatus | |
| JPS5821665Y2 (en) | Through type double hand | |
| JP2010017815A (en) | Robot hand | |
| CN109834722A (en) | The tooth band compound crawl robot finger apparatus of connecting rod serial-parallel mirror | |
| CN218170448U (en) | Self-adaptive robot hand | |
| JPS61241092A (en) | Robot hand with position compensator | |
| TWI822601B (en) | Clamping jaw adjustment device | |
| CN217669498U (en) | Finger linkage opening and closing mechanism and manipulator | |
| JPS6035565Y2 (en) | Work chuck device |