JPS63136842U

JPS63136842U -

Info

Publication number: JPS63136842U
Application number: JP2848587U
Authority: JP
Priority date: 1987-02-27
Filing date: 1987-02-27
Publication date: 1988-09-08

Description

[Brief explanation of the drawing]

第１図はこの考案の第１実施例の概略断面図、
第２図は他の実施例を示す概略断面図、第３図は
ワークの移動状態を示す説明図、第４図はワーク
を取り出す状態を示す説明図、第５図ａ，ｂは多
関節型のロボツトハンドを示す概略図、第６図は
従来のものを示す概略説明図である。１，３１……マシニングセンター、２……主軸
、３……プルスタツド、４……位置決めブロツク
、５……位置決めピン、５ａ……位置決めピンの
下端、５ｂ……位置決めピンの一部、６……ロボ
ツトハンド本体、６ａ，１２……孔、７，３３…
…ロボツトハンド部、１０……貫通孔、１１……
ピン、１３……配管、１４……ロータリーアクチ
ユエータ、２０……マシニングセンターテーブル
、２１，２２，３５……ワーク、２３……ワーク
ストツカー、２４……加工台、２５……関節部、
２６……リンク、２７……マシニングセンター外
板、２８……コンベヤ。 FIG. 1 is a schematic sectional view of the first embodiment of this invention;
Fig. 2 is a schematic sectional view showing another embodiment, Fig. 3 is an explanatory drawing showing the moving state of the workpiece, Fig. 4 is an explanatory drawing showing the state of taking out the workpiece, and Fig. 5 a and b are multi-jointed type. FIG. 6 is a schematic diagram showing a conventional robot hand. 1, 31... Machining center, 2... Main spindle, 3... Pull stud, 4... Positioning block, 5... Positioning pin, 5a... Lower end of positioning pin, 5b... Part of positioning pin, 6... Robot Hand body, 6a, 12... hole, 7, 33...
...Robot hand part, 10... Through hole, 11...
Pin, 13... Piping, 14... Rotary actuator, 20... Machining center table, 21, 22, 35... Workpiece, 23... Workpiece stocker, 24... Processing table, 25... Joint part,
26... Link, 27... Machining center outer plate, 28... Conveyor.

補正昭６２．７．２４実用新案登録請求の範囲を次のように補正する
。Amendment July 24, 1982 The scope of claims for utility model registration is amended as follows.

【実用新案登録請求の範囲】 (1) マシニングセンター１の主軸２に嵌入し得
るシヤンク３と、前記マシニングセンター１に取
付けられた位置決めブロツク４に嵌入し得る位置
決めピン５とが上面に設けられたロボツトハンド
本体６と、該ロボツトハンド本体６に取付けられ
てワークを掴持し得るロボツトハンド部７とを具
え、前記シヤンク３がマシニングセンター１の主
軸２に嵌入した際、前記位置決めピン５がマシニ
ングセンター１の位置決めブロツク４に嵌入し、
これによつてマシニングセンター１の主軸２の軸
線方向に対して直交する方向の位置決めが行なわ
れることを特徴とするロボツトハンド。 (2) 前記位置決めピン５に貫通孔１０が設けら
れるとともに、この貫通孔１０と前記ロボツトハ
ンド部７との間には配管１３がなされ、前記マシ
ニングセンター１の位置決めブロツク４に位置決
めピン５が嵌入した際、位置決めブロツク４に設
けた孔１２と前記配管１３とが連通する実用新案
登録請求の範囲第１項記載のロボツトハンド。図面の簡単な説明を次のように補正する。明細書中第１１頁下から６行目の「３……プル
スタツド」を「３……シヤンク」と補正する。[Claims for Utility Model Registration] (1) A robot hand having a shank 3 that can be fitted into the main shaft 2 of the machining center 1 and a positioning pin 5 that can be fitted into the positioning block 4 attached to the machining center 1 on the upper surface. The robot hand section 7 is equipped with a main body 6 and a robot hand section 7 that is attached to the robot hand main body 6 and can grip and hold a workpiece. Insert into block 4,
A robot hand characterized in that positioning in a direction perpendicular to the axial direction of the main shaft 2 of the machining center 1 is thereby performed. (2) A through hole 10 is provided in the positioning pin 5, and a pipe 13 is provided between the through hole 10 and the robot hand section 7, and the positioning pin 5 is fitted into the positioning block 4 of the machining center 1. The robot hand according to claim 1, wherein the hole 12 provided in the positioning block 4 and the pipe 13 communicate with each other. The brief description of the drawing has been amended as follows. "3...pull stud" on the 6th line from the bottom of page 11 in the specification is corrected to "3...shank."

Claims

[Claims for Utility Model Registration] (1) A pull stud 3 that can be fitted into the main shaft 2 of the machining center 1;
A robot hand body 6 is provided with a positioning pin 5 that can be fitted into a positioning block 4 attached to the robot hand body 6, and a robot hand part 7 is attached to the robot hand body 6 and can grip and hold a workpiece. When the pull stud 3 is fitted into the main shaft 2 of the machining center 1, the positioning pin 5
is fitted into a positioning block 4 of a machining center 1, thereby positioning the robot hand in a direction perpendicular to the axial direction of a main shaft 2 of the machining center 1. (2) A through hole 10 is provided in the positioning pin 5, and a pipe 13 is provided between the through hole 10 and the robot hand section 7, and the positioning pin 5 is fitted into the positioning block 4 of the machining center 1. The robot hand according to claim 1, wherein the hole 12 provided in the positioning block 4 and the pipe 13 communicate with each other.