JPS6450081U

JPS6450081U -

Info

Publication number: JPS6450081U
Application number: JP14385087U
Authority: JP
Priority date: 1987-09-22
Filing date: 1987-09-22
Publication date: 1989-03-28

Description

[Brief explanation of the drawing]

第１図は本考案のロボツトハンドのセンタリン
グ装置の断面図、第２図は修正板の平面図、第３
図は同じく正面図、第４図はロボツトハンドの変
形例を示す図である。１……支持部材、２……フレーム、３……ロボ
ツハンド、４……取付フランジ、５……フローテ
イングブロツク、６……受板、７……ボールベア
リング、８，９……センタリング部材、１０……
アクチユエータ、１１……ハンド用のアクチユエ
ータ、１２……駆動ロツド、１３……ベルクラン
ク、１４……クランクホルダー、１５……ガイド
溝、１６……案内ブロツク、１７……スライダ、
１９……フインガ、２０……スタツトバー、２１
……修正板、２２……下面、２３……貫通孔、２
４……ワーク、３１……スライド板、３２……フ
ランジ、３３……コイルスプリング。 Fig. 1 is a sectional view of the centering device of the robot hand of the present invention, Fig. 2 is a plan view of the correction plate, and Fig. 3 is a sectional view of the centering device of the robot hand of the present invention.
The figure is also a front view, and FIG. 4 is a diagram showing a modification of the robot hand. DESCRIPTION OF SYMBOLS 1... Supporting member, 2... Frame, 3... Robot hand, 4... Mounting flange, 5... Floating block, 6... Receiving plate, 7... Ball bearing, 8, 9... Centering member, 10 ……
Actuator, 11... Actuator for hand, 12... Drive rod, 13... Bell crank, 14... Crank holder, 15... Guide groove, 16... Guide block, 17... Slider,
19...Finger, 20...Stat bar, 21
... Correction plate, 22 ... Bottom surface, 23 ... Through hole, 2
4...Work, 31...Slide plate, 32...Flange, 33...Coil spring.

Claims

[Claims for Utility Model Registration] 1. A support member connected to the tip of an arm of an industrial robot, a robot hand suspended from the bottom of the support member so as to be able to move up and down, and a robot hand extending downward from the center of the support member. One centering member is freely attached, an actuator for driving the centering member is provided inside the support member, and the other centering member is formed at the upper center of the robot hand and engages the one centering member when the actuator is activated. A centering device for a robot hand consisting of parts. 2. The robot hand consists of a robot body having several fingers movable in radial directions from the center of the hand, and a floating block fixed to the upper part of the robot body and having the other centering member in the center thereof, The centering device for a robot hand according to claim 1, which is mounted and suspended so as to be vertically movable and tiltable on a receiving plate provided at the lower part of the support member. 3. The support member has a through hole on the lower surface through which the finger can freely slide in the radial direction, and includes a correction plate that corrects the posture of the work by bringing the lower surface into contact with the upper end of the gripped work during centering. A centering device for a robot hand as claimed in claim 1 of the utility model registration. 4. The centering device for a robot hand according to claim 1, wherein one centering member is a conical pin or a tapered base, and the other centering member is a tapered base or a conical pin. 5. The robot hand consists of a robot body having several fingers that are movable in radial directions from the center of the hand, and a floating block that is fixed to the upper part of the robot body and has the other centering member at the center of its upper surface. A centering device for a robot hand according to claim 1, wherein the robot hand is suspended and supported by hooking coil springs provided at several locations on the support member to flanges of the robot body.