JPS6347884U - - Google Patents
Info
- Publication number
- JPS6347884U JPS6347884U JP1986140590U JP14059086U JPS6347884U JP S6347884 U JPS6347884 U JP S6347884U JP 1986140590 U JP1986140590 U JP 1986140590U JP 14059086 U JP14059086 U JP 14059086U JP S6347884 U JPS6347884 U JP S6347884U
- Authority
- JP
- Japan
- Prior art keywords
- clamping
- frame
- article
- industrial robot
- suction
- 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
- 210000000707 wrist Anatomy 0.000 claims 1
- 238000001179 sorption measurement Methods 0.000 description 1
Landscapes
- Load-Engaging Elements For Cranes (AREA)
Description
第１図は本考案の１実施例の原理を示すための
正面図、第２図ないし第５図は本考案の１実施例
を示す図で、第２図はその正面図、第３図は第２
図の要部の拡大正面図、第４図は第３図において
矢視―でみた側面図、第５図は第４図におい
て矢視―でみた平面図、第６図は本考案の他
の実施例を示す平面図である。
１…枠体、２０…吸着機構、４０…把握機構、
５０…挾みフレーム、６０…ラツクピニオン機構
、７０…挾み板。
Fig. 1 is a front view showing the principle of one embodiment of the present invention, Figs. 2 to 5 are views showing one embodiment of the invention, Fig. 2 is a front view thereof, and Fig. 3 is a front view thereof. Second
FIG. 4 is a side view taken in the direction of the arrow in FIG. 3, FIG. 5 is a plan view taken in the direction of the arrow in FIG. FIG. 2 is a plan view showing an example. 1...Frame body, 20...Adsorption mechanism, 40...Grasping mechanism,
50... pinching frame, 60... rack and pinion mechanism, 70... pinching plate.
Claims (1)
れる枠体の略中央部に位置し、物品の上表面を真
空力によつて吸着するように構成された吸着機構
と、該吸着機構の両側に位置して物品の両側面を
挾持する挾み機構とから成り、前記挾み機構は前
記枠体に水平方向にヒンジピンで枢着され、挾み
幅或いは挾み力が変更可能に設けられている挾み
フレームと、該挾みフレームに上下方向に移動可
能に設けられて物品を把握する挾み板とから成り
、該挾み板の上下方向の移動はラツクピニオン機
構によつて駆動源の倍の距離駆動されることを特
徴とする産業用ロボツトの複合機構ハンド。 A suction mechanism is located approximately in the center of the frame that is connected to the wrist end of the arm of the industrial robot, and is configured to suction the upper surface of the article using vacuum force. It consists of a clamping mechanism that is positioned to clamp both sides of the article, and the clamping mechanism is pivotally connected to the frame in the horizontal direction by a hinge pin, and the clamping width or clamping force can be changed. It consists of a clamping frame and a clamping plate that is installed on the clamping frame so as to be movable in the vertical direction and grips the article.The vertical movement of the clamping plate is carried out by a rack and pinion mechanism that uses double the drive source. A multi-mechanism hand for an industrial robot characterized by being driven over a distance of .
Priority Applications (10)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1986140590U JPH047909Y2 (en) | 1986-09-16 | 1986-09-16 | |
| US07/092,973 US4828304A (en) | 1986-09-09 | 1987-09-04 | Vacuum adsorption hand |
| CA000546295A CA1308763C (en) | 1986-09-09 | 1987-09-08 | Vacuum absorption hand |
| KR1019870009939A KR950005123B1 (en) | 1986-09-09 | 1987-09-09 | Robot hand |
| DE90201735T DE3788286T2 (en) | 1986-09-09 | 1987-09-09 | Hand mechanism. |
| EP90201735A EP0396210B1 (en) | 1986-09-09 | 1987-09-09 | Hand mechanism |
| AU78190/87A AU592667B2 (en) | 1986-09-09 | 1987-09-09 | Vacuum absorption hand |
| DE8787307981T DE3785712T2 (en) | 1986-09-09 | 1987-09-09 | VACUUM SUCTION DEVICE. |
| EP87307981A EP0260128B1 (en) | 1986-09-09 | 1987-09-09 | Vacuum suction device |
| AU44473/89A AU612527B2 (en) | 1986-09-09 | 1989-11-08 | Suction device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1986140590U JPH047909Y2 (en) | 1986-09-16 | 1986-09-16 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6347884U true JPS6347884U (en) | 1988-03-31 |
| JPH047909Y2 JPH047909Y2 (en) | 1992-02-28 |
Family
ID=31047578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1986140590U Expired JPH047909Y2 (en) | 1986-09-09 | 1986-09-16 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH047909Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004291132A (en) * | 2003-03-26 | 2004-10-21 | Kawasaki Heavy Ind Ltd | Holding device and articulated robot having the same |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4817423U (en) * | 1971-07-10 | 1973-02-27 | ||
| JPS6017983U (en) * | 1983-07-15 | 1985-02-06 | 株式会社日立製作所 | Suction hand with gripping mechanism |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4817423B1 (en) * | 1968-11-30 | 1973-05-29 | ||
| JPS6017983B2 (en) * | 1979-12-17 | 1985-05-08 | 兵五 泉 | wood drying method |
-
1986
- 1986-09-16 JP JP1986140590U patent/JPH047909Y2/ja not_active Expired
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4817423U (en) * | 1971-07-10 | 1973-02-27 | ||
| JPS6017983U (en) * | 1983-07-15 | 1985-02-06 | 株式会社日立製作所 | Suction hand with gripping mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004291132A (en) * | 2003-03-26 | 2004-10-21 | Kawasaki Heavy Ind Ltd | Holding device and articulated robot having the same |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH047909Y2 (en) | 1992-02-28 |