KR102927377B1 - 에어 척 - Google Patents

에어 척

Info

Publication number
KR102927377B1
KR102927377B1 KR1020227005500A KR20227005500A KR102927377B1 KR 102927377 B1 KR102927377 B1 KR 102927377B1 KR 1020227005500 A KR1020227005500 A KR 1020227005500A KR 20227005500 A KR20227005500 A KR 20227005500A KR 102927377 B1 KR102927377 B1 KR 102927377B1
Authority
KR
South Korea
Prior art keywords
locking
chuck
fingers
pair
lock
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.)
Active
Application number
KR1020227005500A
Other languages
English (en)
Korean (ko)
Other versions
KR20220047579A (ko
Inventor
코우이치로우 칸다
코지 하라
츠요시 사사키
Original Assignee
에스엠시 가부시키가이샤
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 에스엠시 가부시키가이샤 filed Critical 에스엠시 가부시키가이샤
Publication of KR20220047579A publication Critical patent/KR20220047579A/ko
Application granted granted Critical
Publication of KR102927377B1 publication Critical patent/KR102927377B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
    • B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
    • B23B31/16—Chucks with simultaneously-acting jaws, whether or not also individually adjustable moving radially
    • B23B31/16045—Jaws movement actuated by screws and nuts or oblique racks
    • B23B31/16066—Jaws movement actuated by screws and nuts or oblique racks using fluid-pressure means to actuate the gripping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
    • B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
    • B23B31/16—Chucks with simultaneously-acting jaws, whether or not also individually adjustable moving radially
    • B23B31/16083—Jaws movement actuated by gears and racks
    • B23B31/16104—Jaws movement actuated by gears and racks using fluid-pressure means to actuate the gripping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B2270/00—Details of turning, boring or drilling machines, processes or tools not otherwise provided for
    • B23B2270/02—Use of a particular power source
    • B23B2270/027—Pneumatics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T279/00—Chucks or sockets
    • Y10T279/12—Chucks or sockets with fluid-pressure actuator
    • Y10T279/1224—Pneumatic type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T279/00—Chucks or sockets
    • Y10T279/19—Radially reciprocating jaws
    • Y10T279/1946—Rack-and-pinion actuated

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
KR1020227005500A 2019-08-21 2020-08-07 에어 척 Active KR102927377B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JPJP-P-2019-151556 2019-08-21
JP2019151556A JP7317294B2 (ja) 2019-08-21 2019-08-21 エアチャック
PCT/JP2020/030328 WO2021033577A1 (ja) 2019-08-21 2020-08-07 エアチャック

Publications (2)

Publication Number Publication Date
KR20220047579A KR20220047579A (ko) 2022-04-18
KR102927377B1 true KR102927377B1 (ko) 2026-02-13

Family

ID=74661010

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020227005500A Active KR102927377B1 (ko) 2019-08-21 2020-08-07 에어 척

Country Status (7)

Country Link
US (1) US12151368B2 (https=)
EP (1) EP4019211B1 (https=)
JP (1) JP7317294B2 (https=)
KR (1) KR102927377B1 (https=)
CN (1) CN114258340B (https=)
TW (1) TWI858107B (https=)
WO (1) WO2021033577A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024042432A (ja) * 2022-09-15 2024-03-28 Smc株式会社 エアチャック

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3428152A1 (de) * 1984-07-31 1986-02-13 Dieter 7321 Zell Sczeponik Greifer, insbesondere fuer handhabungsgeraete, manipulatoren etc.
DE3521821A1 (de) * 1985-06-19 1987-01-02 Gildemeister Ag Werkstueckhandhabungseinrichtung mit automatischem greiferwechsel
JPH0643038B2 (ja) 1990-06-01 1994-06-08 株式会社光鉄工所 ワークチャックの着脱装置
JPH04289090A (ja) 1991-01-14 1992-10-14 Toyo Kogyo Kk オートツールチェンジャー機構
JP3135147B2 (ja) * 1991-09-17 2001-02-13 豊田工機株式会社 親子ハンド
JPH06156440A (ja) * 1992-02-29 1994-06-03 Toyo Jidoki Co Ltd 自動包装機の袋把持装置
JP3419543B2 (ja) * 1994-04-22 2003-06-23 エヌオーケー株式会社 平行開閉チャック装置
JPH0825266A (ja) * 1994-07-13 1996-01-30 Smc Corp 流体圧チャック
US5871250A (en) * 1997-03-31 1999-02-16 Btm Corporation Sealed straight line gripper
JP2000301481A (ja) * 1999-04-20 2000-10-31 Smc Corp 電動チャック装置
JP4264918B2 (ja) * 2000-12-05 2009-05-20 Ｓｍｃ株式会社 開閉チャック
DE102008020489B4 (de) 2008-04-23 2016-11-17 Nc-Automation Gmbh Verfahren zum Ergreifen von Gegenständen mittels Greifwerkzeuge ohne Energie- und Signalzufuhr
JP5892765B2 (ja) 2011-10-24 2016-03-23 川崎重工業株式会社 ロボットハンド用交換爪モジュール
JP6278310B2 (ja) * 2014-02-05 2018-02-14 Smc株式会社 開閉チャック
JP6708340B2 (ja) * 2016-04-05 2020-06-10 国立研究開発法人産業技術総合研究所 ロボットハンドの爪部交換機構およびこの爪部交換機構を用いた爪部交換方法
JP6918535B2 (ja) 2017-03-22 2021-08-11 キヤノン株式会社 ロボット装置、交換ツール、ロボットアーム、ロボット装置を用いた物品の製造方法、ロボット装置の制御方法、制御プログラムおよび記録媒体
US20190111575A1 (en) * 2017-10-18 2019-04-18 Canon Kabushiki Kaisha Tool stocker, interchangeable tool, robot apparatus, robot system, control method of robot system, and storage medium
JP6858962B2 (ja) * 2017-11-06 2021-04-14 株式会社ダイシン ロボットシステム
CN208289919U (zh) * 2018-05-30 2018-12-28 广东理工职业学院 一种机器人自动夹具
CN208930276U (zh) * 2018-08-08 2019-06-04 山东栋梁科技设备有限公司 一种快换器应用装置

Also Published As

Publication number Publication date
US12151368B2 (en) 2024-11-26
EP4019211A1 (en) 2022-06-29
TWI858107B (zh) 2024-10-11
CN114258340A (zh) 2022-03-29
JP2021030345A (ja) 2021-03-01
EP4019211B1 (en) 2025-11-26
TW202116510A (zh) 2021-05-01
KR20220047579A (ko) 2022-04-18
US20220314463A1 (en) 2022-10-06
WO2021033577A1 (ja) 2021-02-25
JP7317294B2 (ja) 2023-07-31
EP4019211A4 (en) 2023-09-06
CN114258340B (zh) 2024-03-22

Similar Documents

Publication Publication Date Title
US10953477B2 (en) Air chuck provided with locking mechanism
CN100520088C (zh) 流量控制阀和带有该流量控制阀的缸设备
US6484612B1 (en) Robot hand tool mounting device
KR102927377B1 (ko) 에어 척
JP2015196220A (ja) クランプ装置
US6547258B2 (en) Opening and closing chuck
US10253889B2 (en) Gate valve
EP4291354B1 (de) Spanneinrichtung
US6089577A (en) Two drive-system fluid pressure chuck
EP4209316B1 (en) End-effector exchange device
JP2020062694A (ja) 調心装置
US11858123B2 (en) Machine tool hand
KR20170004525A (ko) 버켓 및 이를 포함하는 소재 이송 장치
US20220288675A1 (en) Sliding nozzle apparatus
JP2017144528A (ja) チャックユニット及び部品実装装置
JP2015020262A (ja) クランプ装置
WO2023032465A1 (ja) ツール交換装置
CN218144188U (zh) 翻转装置和待翻转件处理设备
EP4464474A1 (en) Compliance unit
JP2636384B2 (ja) ロボットハンド
CN211449275U (zh) 液压系统手动应急收复装置
CN121697017A (zh) 一种晶圆载具的真空吸附型手指及其制造方法
JP2007069335A (ja) 把持装置
JPS5988208A (ja) パワ−チヤツク
JP2007326177A (ja) 把持装置

Legal Events

Date Code Title Description
PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

A201 Request for examination
PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

D13-X000 Search requested

St.27 status event code: A-1-2-D10-D13-srh-X000

R18-X000 Changes to party contact information recorded

St.27 status event code: A-3-3-R10-R18-oth-X000

D21 Rejection of application intended

Free format text: ST27 STATUS EVENT CODE: A-1-2-D10-D21-EXM-PE0902 (AS PROVIDED BY THE NATIONAL OFFICE)

PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

P11 Amendment of application requested

Free format text: ST27 STATUS EVENT CODE: A-2-2-P10-P11-NAP-X000 (AS PROVIDED BY THE NATIONAL OFFICE)

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

D22 Grant of ip right intended

Free format text: ST27 STATUS EVENT CODE: A-1-2-D10-D22-EXM-PE0701 (AS PROVIDED BY THE NATIONAL OFFICE)

PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701

F11 Ip right granted following substantive examination

Free format text: ST27 STATUS EVENT CODE: A-2-4-F10-F11-EXM-PR0701 (AS PROVIDED BY THE NATIONAL OFFICE)

PR0701 Registration of establishment

St.27 status event code: A-2-4-F10-F11-exm-PR0701

PR1002 Payment of registration fee

St.27 status event code: A-2-2-U10-U12-oth-PR1002

Fee payment year number: 1

U12 Designation fee paid

Free format text: ST27 STATUS EVENT CODE: A-2-2-U10-U12-OTH-PR1002 (AS PROVIDED BY THE NATIONAL OFFICE)

Year of fee payment: 1

PG1601 Publication of registration

St.27 status event code: A-4-4-Q10-Q13-nap-PG1601

Q13 Ip right document published

Free format text: ST27 STATUS EVENT CODE: A-4-4-Q10-Q13-NAP-PG1601 (AS PROVIDED BY THE NATIONAL OFFICE)