JPS6229290U - - Google Patents
Info
- Publication number
- JPS6229290U JPS6229290U JP11359886U JP11359886U JPS6229290U JP S6229290 U JPS6229290 U JP S6229290U JP 11359886 U JP11359886 U JP 11359886U JP 11359886 U JP11359886 U JP 11359886U JP S6229290 U JPS6229290 U JP S6229290U
- Authority
- JP
- Japan
- Prior art keywords
- robot hand
- workpiece
- swing arm
- slider
- chuck
- 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.)
- Granted
Links
- 210000000078 claw Anatomy 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Feeding Of Workpieces (AREA)
Description
第１図は従来装置の作動説明図、第２図はこの
考案に係る産業用ロボツトのロボツトハンド部分
の一部を断面で示した正面図、第３図は同平面図
、第４図は平面視で示した作動説明図である。
２……旋回アーム、３……旋回軸、４……ロボ
ツトハンド、５……油圧シリンダ、８……回転軸
、９……爪、１２，１３，１４……ストツパ、１
５……案内ロツド、２１……油圧シリンダ、２６
……案内ロツド、２７……スライダー。
Fig. 1 is an explanatory diagram of the operation of the conventional device, Fig. 2 is a front view in cross section of a part of the robot hand of the industrial robot according to this invention, Fig. 3 is a plan view of the same, and Fig. 4 is a plan view. FIG. 3 is a diagram illustrating the operation visually. 2... Rotating arm, 3... Rotating shaft, 4... Robot hand, 5... Hydraulic cylinder, 8... Rotating shaft, 9... Claw, 12, 13, 14... Stopper, 1
5... Guide rod, 21... Hydraulic cylinder, 26
...Guidance rod, 27...Slider.
Claims (1)
つて構成したロボツトハンドを設けてなる産業用
ロボツトにおいて、上記ロボツトハンドが、旋回
アーム先端に設けた、該旋回アームの先端が描く
旋回円の接線方向に沿つて摺動移動するスライダ
ーを介して取付けられており、かつ該スライダー
とロボツトハンドとの間は、上記旋回アームの旋
回軸と平行に延びる回転軸を介して取付けられて
おり、この回転軸には上記ロボツトハンドが該回
転軸まわりで回転する際に、ロボツトハンドの爪
開閉方向が上記旋回アームの旋回半径方向と旋回
軸方向とでもつて形成する平面内に含まれる位置
で位置決めするストツパを設けてあり、さらに上
記スライダーと旋回アーム間には上記接線方向へ
の摺動移動用の流体シリンダが取付けられていて
、該ロボツトハンドは、ワークのチヤツク近傍で
は、チヤツクのワーク保持面に対して直交した上
記旋回アームに直交して摺動移動し、ワークのチ
ヤツク近傍以外では上記旋回アームの旋回運動に
よつて移動することを特徴とする産業用ロボツト
。 In an industrial robot, the robot hand is provided at the tip of a rotating arm with a pair of claws that can be opened and closed. It is attached via a slider that slides along the tangential direction, and the slider and the robot hand are attached via a rotation axis extending parallel to the rotation axis of the rotation arm. The rotating shaft is positioned at a position where, when the robot hand rotates around the rotating shaft, the opening/closing direction of the claw of the robot hand is included in a plane formed by both the radial direction of the swing arm and the direction of the swing axis. A stopper is provided, and a fluid cylinder for sliding movement in the tangential direction is installed between the slider and the swing arm, and when the robot hand is near the chuck of the workpiece, the robot hand is moved against the workpiece holding surface of the chuck. An industrial robot, characterized in that it slides orthogonally to the swing arm that is perpendicular to the workpiece, and moves by the swing motion of the swing arm except near the chuck of the workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11359886U JPS6232789Y2 (en) | 1986-07-24 | 1986-07-24 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11359886U JPS6232789Y2 (en) | 1986-07-24 | 1986-07-24 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6229290U true JPS6229290U (en) | 1987-02-21 |
| JPS6232789Y2 JPS6232789Y2 (en) | 1987-08-21 |
Family
ID=30995553
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11359886U Expired JPS6232789Y2 (en) | 1986-07-24 | 1986-07-24 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6232789Y2 (en) |
-
1986
- 1986-07-24 JP JP11359886U patent/JPS6232789Y2/ja not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6232789Y2 (en) | 1987-08-21 |
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