JPS63113587U - - Google Patents
Info
- Publication number
- JPS63113587U JPS63113587U JP422587U JP422587U JPS63113587U JP S63113587 U JPS63113587 U JP S63113587U JP 422587 U JP422587 U JP 422587U JP 422587 U JP422587 U JP 422587U JP S63113587 U JPS63113587 U JP S63113587U
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- right support
- left support
- pawl
- stepped portion
- 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
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Load-Engaging Elements For Cranes (AREA)
Description
第１図は、本考案の一実施例に係るロボツトの
ハンドの縦断面図、第２図は、第１図のワーク当
て金の取り付け構造の斜視図、第３図は、第１図
のセンサー取り付け部材の斜視図、第４図は、第
１図のロボツトのハンドが品物を把持している状
態の斜視図、第５図は、第１図のハンドが装着さ
れるロボツトの側面図、第６図は、第１図のハン
ドの作動説明図、第７図は、従来のロボツトのハ
ンドの斜視図、第８図は、従来のロボツトのハン
ドの作動説明図である。
１……アーム、５……ハンド、１０……ロボツ
ト、３０……メインシヤフト、４７……右サポー
ト、４８……左サポート、５４……コイル（駆動
手段）、６１，６２……ワーク当て金、８５……
ワーク当て金の品物への当接面、９８……段付部
、９９……爪。
1 is a vertical cross-sectional view of a robot hand according to an embodiment of the present invention, FIG. 2 is a perspective view of the mounting structure of the workpiece support shown in FIG. 1, and FIG. 3 is a view of the sensor shown in FIG. 1. FIG. 4 is a perspective view of the attachment member, and FIG. 4 is a perspective view of the robot hand shown in FIG. 1 gripping an item. FIG. 5 is a side view of the robot to which the hand shown in FIG. 6 is an explanatory diagram of the operation of the hand of FIG. 1, FIG. 7 is a perspective view of the conventional robot hand, and FIG. 8 is an explanatory diagram of the operation of the conventional robot hand. 1...Arm, 5...Hand, 10...Robot, 30...Main shaft, 47...Right support, 48...Left support, 54...Coil (driving means), 61, 62...Workpiece support , 85...
A contact surface of the work piece against the item, 98...Stepped portion, 99...Claw.
Claims (1)
メインシヤフトと、該メインシヤフトに固定され
ておりある間隔を持つて平行に延びている右サポ
ートと左サポートとを有するロボツトのハンドに
おいて、 前記右サポートと前記左サポートとの先端には
品物を把持するためのワーク当て金が取り付けら
れており、前記ワーク当て金の品物への当接面は
品物の形に整合する形状とされており、また前記
右サポートと前記左サポートとの先端には前記ワ
ーク当て金の方に延びる爪が設けられており、前
記ワーク当て金には該爪に係合する段付部が設け
られており、前記ワーク当て金の段付部は上方か
ら前記爪に脱着可能に係合するようにされており
、前記爪と前記段付部とが係合しているとき前記
ワーク当て金は前記右サポートと前記左サポート
とに対して一体的にされ、前記爪と前記段付部と
の係合が外れているときには前記ワーク当て金は
前記右サポートと前記左サポートに対して上下方
向に摺動可能且つ前後方向に回動可能にされ、ま
た前記右サポートと前記左サポートとには前記ワ
ーク当て金をして前記品物を把持せしめるための
駆動手段が取り付けられていることを特徴とする
ロボツトのハンド。[Claims for Utility Model Registration] A robot having a main shaft attached to the tip of an arm of the robot, and a right support and a left support fixed to the main shaft and extending in parallel with a certain distance between them. In the hand, a workpiece for gripping an item is attached to the tips of the right support and the left support, and a surface of the workpiece that comes into contact with the item has a shape that matches the shape of the item. Further, the right support and the left support are provided with claws extending toward the workpiece at the tips thereof, and the workpiece is provided with a stepped portion that engages with the claws. The stepped portion of the workpiece pad is configured to removably engage with the pawl from above, and when the pawl and the stepped portion are engaged, the workpiece pad is removably engaged with the pawl from above. The work piece is made integral with the right support and the left support, and when the pawl and the stepped portion are disengaged, the work piece slides vertically with respect to the right support and the left support. The robot is movable and rotatable in the front-rear direction, and the right support and the left support are provided with drive means for gripping the object by applying the work stopper. hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP422587U JPH042788Y2 (en) | 1987-01-14 | 1987-01-14 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP422587U JPH042788Y2 (en) | 1987-01-14 | 1987-01-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63113587U true JPS63113587U (en) | 1988-07-21 |
| JPH042788Y2 JPH042788Y2 (en) | 1992-01-30 |
Family
ID=30784702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP422587U Expired JPH042788Y2 (en) | 1987-01-14 | 1987-01-14 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH042788Y2 (en) |
-
1987
- 1987-01-14 JP JP422587U patent/JPH042788Y2/ja not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| JPH042788Y2 (en) | 1992-01-30 |
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