KR830007229A - 공업용 로보트의 핸드 - Google Patents

공업용 로보트의 핸드 Download PDF

Info

Publication number
KR830007229A
KR830007229A KR1019810003610A KR810003610A KR830007229A KR 830007229 A KR830007229 A KR 830007229A KR 1019810003610 A KR1019810003610 A KR 1019810003610A KR 810003610 A KR810003610 A KR 810003610A KR 830007229 A KR830007229 A KR 830007229A
Authority
KR
South Korea
Prior art keywords
hand
industrial robot
gripping
opening
closing
Prior art date
Application number
KR1019810003610A
Other languages
English (en)
Other versions
KR850000041B1 (ko
Inventor
하지무 이나바
세이이찌로오 나까시마
신스께 사까끼바라
죠 니헤이
Original Assignee
이나바 세이우에몬
후지쓰 파나크 가부시기 가이샤
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 이나바 세이우에몬, 후지쓰 파나크 가부시기 가이샤 filed Critical 이나바 세이우에몬
Publication of KR830007229A publication Critical patent/KR830007229A/ko
Application granted granted Critical
Publication of KR850000041B1 publication Critical patent/KR850000041B1/ko

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • 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
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

내용 없음

Description

공업용 로보트의 핸드
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제2도는 본 발명에 의한 실시예의 로보트핸드를 구비한 공업용 로보트의 외관사시도.
제3도는 제2도에 표시한 핸드의 외관사시도.
제4도는 제3도에 표시한 핸드의 작동장치의 구성예를 표시한 설명도.

Claims (5)

  1. 워어크등의 피파지물을 파지하는 공업용 로보트의 핸드에 있어서, 상기 핸드는 손목부에 결합되는 핸드기판부재와, 이 핸드기판부재의 장면에 각조 1쌍의 개폐파지지를 복수조 설치하는 동시에 상기 각조의 개폐파지지를 작동하는 작동장치(actuator)를 각조마다 설치한 것을 특징으로 하는 공업용 로보트의 핸드.
  2. 제1항에 있어서, 한쌍의 개폐파지지를 2조 설치하고, 이 2조의 파지지는 상기 핸드기판부재의 장면중심에 대하여 대칭 배치되는 동시에 개폐동작방향이 서로 직교하도록 배치된 공업용 로보트의 핸드.
  3. 제1항 또는 제2항에 있어서, 상기 파지지는 그의 최선단에 내측에 향하여 돌출한 훅클릭을 설치하여 형성되고, 또한 워어크 압부장치를 상기 핸드기판부재장면의 중심부에 배치한 공업용 로보트의 핸드.
  4. 제1항 내지 제3항중 어느하나에 있어서 상기 작동장치가 유체실린더이며 또한 링크기구(機構)를 통하여 상기 개폐파지지와 연결한 공업용로보트의 핸드.
  5. 제1항 내지 제4항중 어느 하나에 있어서 부착브래킷을 상기 핸드기판부재의 갑면측에 형성한 공업용 로보트의 핸드.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019810003610A 1980-09-30 1981-09-26 공업용 로보트의 핸드 KR850000041B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP55135258A JPS5761487A (en) 1980-09-30 1980-09-30 Hand for industrial robot
JP?55-135258 1980-09-30
JP???55-135258 1980-09-30

Publications (2)

Publication Number Publication Date
KR830007229A true KR830007229A (ko) 1983-10-19
KR850000041B1 KR850000041B1 (ko) 1985-02-14

Family

ID=15147495

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019810003610A KR850000041B1 (ko) 1980-09-30 1981-09-26 공업용 로보트의 핸드

Country Status (6)

Country Link
US (1) US4479673A (ko)
EP (1) EP0060896B1 (ko)
JP (1) JPS5761487A (ko)
KR (1) KR850000041B1 (ko)
SU (1) SU1168090A3 (ko)
WO (1) WO1982001152A1 (ko)

Families Citing this family (72)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5919644A (ja) * 1982-07-19 1984-02-01 Matsushita Electric Ind Co Ltd 部品チヤツク装置
EP0114096A1 (en) * 1983-01-13 1984-07-25 Western Electric Company, Incorporated Robotic arm
JPS59201782A (ja) * 1983-04-23 1984-11-15 大日本スクリ−ン製造株式会社 ウエハ等の薄板物搬送装置
JPS59224279A (ja) * 1983-06-01 1984-12-17 富士機械製造株式会社 電子部品の位置決め保持方法および装置
GB8326364D0 (en) * 1983-10-01 1983-11-02 Bull R J Robot part
US4616971A (en) * 1983-10-11 1986-10-14 Fairchild Camera And Instrument Corp. Robotic hand and method for manipulating printed circuit boards
US4579380A (en) * 1983-12-06 1986-04-01 Carnegie-Mellon University Servo robot gripper
JPS60155325A (ja) * 1984-01-20 1985-08-15 Sanyo Electric Co Ltd 電子部品の位置決め装置
US4852928A (en) * 1984-02-16 1989-08-01 Multivisions Corporation Robotic end effectors
US4591198A (en) * 1984-02-16 1986-05-27 Monforte Robotics, Inc. Robotic end effectors
US4588344A (en) * 1984-06-04 1986-05-13 Essex Group, Inc. Roll transfer robot
FR2582563B1 (fr) * 1985-05-30 1987-07-24 Centre Nat Rech Scient Prehenseur tactile pneumatique developpant une force de serrage asservie au poids de l'objet manipule
EP0320499A3 (de) * 1985-07-25 1991-04-03 Alfred Winter Greiferkonstruktion für einen Industrieroboter
US4802816A (en) * 1985-10-08 1989-02-07 Excellon Industries Pick and place machine having improved centering jaws
US4653794A (en) * 1986-02-12 1987-03-31 Northrop Corporation Universal adjustable gripper with center push
DE3610130C2 (de) * 1986-03-26 1995-01-05 Karl Rekers Maschinenbau Fa Di Greifvorrichtung
US4699414A (en) * 1986-04-21 1987-10-13 The United States Of America As Represented By The Secretary Of The Air Force Multi use gripper for industrial robot
DE3624307C1 (de) * 1986-07-18 1987-11-12 Agfa Gevaert Ag Vorrichtung zum Aufnehmen und Absetzen von Spulen
DK489886A (da) * 1986-10-14 1988-04-15 Dansk Ind Syndikat Anlaeg med en kraftdreven griber og et antal gribeobjekter, navnlig til brug i et automatiseret stoeberianlaeg, med fluidumforbindelse mellem griberen og et deraf grebet gribeobjekt
US4696503A (en) * 1986-10-27 1987-09-29 The Singer Company Pneumatic actuated cam driven parallel gripper
US4866824A (en) * 1986-12-04 1989-09-19 Micro Component Technology, Inc. Centering mechanism
US4741567A (en) * 1987-01-12 1988-05-03 Rca Corporation Robotic system and end effector
US4816732A (en) * 1987-08-17 1989-03-28 Sgs Thomson Microelectronics, Inc. Robotic hand for transporting semiconductor wafer carriers
DE3876340D1 (de) * 1987-08-31 1993-01-14 Siemens Ag Loetkopf zum aufnehmen und ausrichten von bauelementen waehrend des ein- oder ausloetens, insbesondere fuer oberflaechenmontierbare bauelemente (smd).
JPH0613787Y2 (ja) * 1987-12-10 1994-04-13 日産自動車株式会社 ワーク位置決め装置
JP2680128B2 (ja) * 1989-05-30 1997-11-19 愛三工業株式会社 回転体を利用したワーク把持装置
EP0402001A1 (en) * 1989-06-05 1990-12-12 Hewlett-Packard Company Linear tweezers
US5106138A (en) * 1989-06-05 1992-04-21 Hewlett-Packard Company Linear tweezers
US4987676A (en) * 1989-08-23 1991-01-29 Quad Systems Corporation End effector for a robotic system
JPH0743056Y2 (ja) * 1990-04-19 1995-10-04 日東工器株式会社 荷役機械
JPH081922B2 (ja) * 1991-01-25 1996-01-10 株式会社東芝 ウェハ−保持装置
AU682489B2 (en) * 1993-01-27 1997-10-09 Warner-Lambert Company Reduced alcohol mouthwash antiseptic and antiseptic preparations
DE9400777U1 (de) * 1994-01-18 1994-09-29 Protech Automation Gmbh Umsetzvorrichtung für Stapel aus parallelen Gegenständen
US5701662A (en) * 1995-11-06 1997-12-30 Matsushita Electric Industrial Co., Ltd. Axial type electronic component inserting apparatus
US6588995B2 (en) * 1997-05-13 2003-07-08 The Hillman Group, Inc. Method and apparatus for aligning keys for cutting
AT405701B (de) * 1997-06-18 1999-11-25 Sez Semiconduct Equip Zubehoer Greifer für halbleiterwafer und andere scheibenförmige gegenstände
US6393694B2 (en) * 1999-04-23 2002-05-28 Koninklijke Philips Electronics N.V. Gripping device
EP1701825A4 (en) * 2003-12-30 2007-04-18 Strider Labs Inc ROBOTIC HAND WITH EXTENSIBLE HANDLE
US9101990B2 (en) 2006-01-23 2015-08-11 Hy-Ko Products Key duplication machine
MX2008009440A (es) 2006-01-23 2008-11-19 Hy Ko Products Co Máquina duplicadora de llaves.
NZ583718A (en) * 2007-12-10 2011-06-30 Visy R & D Pty Ltd Grippers for use in palletising packaged goods
US20090297323A1 (en) * 2008-05-30 2009-12-03 Genesis Worldwide Ii, Inc. Method and apparatus for stacking sheet materials
JP5111285B2 (ja) * 2008-08-06 2013-01-09 株式会社日立ハイテクノロジーズ 試料搬送機構
DE102009012332A1 (de) * 2009-03-09 2010-09-16 Weber Maschinenbau Gmbh Breidenbach Produktgreifer
EP2424698A4 (en) 2009-05-01 2013-11-27 Hy Ko Products GROSS KEY IDENTIFICATION SYSTEM WITH GROOVE SCANNING
CN102448636B (zh) 2009-05-01 2014-09-10 海高制品有限公司 具有齿分析的钥匙原坯识别系统
CN101628664B (zh) * 2009-05-07 2011-08-31 济南大学 汽车车轮视觉夹持器
JP5738549B2 (ja) * 2009-07-22 2015-06-24 株式会社Sumco 包装済石英ガラスルツボ用クレーン装置およびこの装置を用いる包装済石英ガラスルツボの梱包方法
CN102485442B (zh) * 2010-12-04 2014-08-20 鸿富锦精密工业（深圳）有限公司 柔性抓取装置
JP5993539B2 (ja) 2011-01-06 2016-09-14 セイコーエプソン株式会社 ロボットハンド及びロボット
JP5834480B2 (ja) * 2011-05-11 2015-12-24 セイコーエプソン株式会社 ロボットハンド及びロボット
CN103029127B (zh) * 2011-09-30 2015-04-15 鸿富锦精密工业（深圳）有限公司 机器人手爪
CN102530547B (zh) * 2012-01-20 2014-04-16 刘亢 取杯机
ITBS20120095A1 (it) * 2012-06-19 2013-12-20 Gimatic Spa Pinza a tre griffe
JP5983080B2 (ja) * 2012-06-20 2016-08-31 セイコーエプソン株式会社 ロボットハンド、ロボット、および把持機構
JP5970708B2 (ja) * 2012-07-18 2016-08-17 セイコーエプソン株式会社 ロボットハンド、ロボット、および把持機構
JP6045333B2 (ja) * 2012-12-26 2016-12-14 川崎重工業株式会社 ロボットハンドおよびそれを備えたロボット
JP5835276B2 (ja) * 2013-06-24 2015-12-24 株式会社安川電機 ロボット、ロボットの製造方法および袋体
DE202014001939U1 (de) * 2014-02-28 2015-05-29 Liebherr-Verzahntechnik Gmbh Handhabungsvorrichtung
CN104175310A (zh) * 2014-08-22 2014-12-03 苏州昌飞自动化设备厂 色选组合机械手的升降式机械手
CN104175323A (zh) * 2014-08-22 2014-12-03 苏州昌飞自动化设备厂 色选组合机械手的四爪机械气夹爪
WO2016052632A1 (ja) * 2014-09-30 2016-04-07 株式会社カネカ 試料移載システム及び太陽電池の製造方法
USD756431S1 (en) * 2015-05-19 2016-05-17 F. Richard Langner Robot accessory mount
US9486927B1 (en) 2015-05-20 2016-11-08 Google Inc. Robotic gripper with multiple pairs of gripping fingers
WO2017024043A1 (en) 2015-08-03 2017-02-09 Hy-Ko Products Company High security key scanning system
JP2016032865A (ja) * 2015-10-30 2016-03-10 セイコーエプソン株式会社 ロボットハンド
CA2923047C (en) * 2016-03-08 2023-06-27 Darcy Goossen Device for handling tires
CN108527149A (zh) * 2018-04-27 2018-09-14 上海发那科机器人有限公司 一种钣金电控柜打磨搬运机器人手爪
ES2747874A1 (es) * 2018-09-11 2020-03-11 Akyurek Kardesler Tarim Urunleri Makinalari Tasimacilik Ve Madencilik Sanayi Ticaret Ltd Sirketi Suc Maquina de empaquetado de tubos cilindricos y proceso deempaquetado
US11628561B2 (en) 2019-08-19 2023-04-18 The Hong Kong University Of Science And Technology System and methods for robotic precision placement and insertion
US11154993B2 (en) 2019-12-11 2021-10-26 Delaware Capital Formation, Inc. Tool changer
USD934321S1 (en) * 2019-12-27 2021-10-26 Evodyne Robotics Corporation Gripper

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5023191B2 (ko) * 1971-10-16 1975-08-06
US3873941A (en) * 1973-05-30 1975-03-25 Coherent Radiation Dye laser having non-colinear optical pumping means
JPS50101282A (ko) * 1974-01-14 1975-08-11
JPS566315Y2 (ko) * 1974-01-24 1981-02-10
JPS52147379U (ko) * 1976-05-01 1977-11-08
SE396192B (sv) * 1976-06-01 1977-09-12 Advanced Mineral Res Forfarande for rening av stoftbemengd gas
US4252496A (en) * 1976-10-29 1981-02-24 Williams John A Hydraulic clamp for trays of canned beverages
JPS5445071A (en) * 1977-09-12 1979-04-10 Yamatake Honeywell Co Ltd Robot hand
DE2861285D1 (en) * 1977-10-20 1982-01-14 Ici Plc An industrial manipulator for placing articles in close proximity to adjacent articles and a method of close packing articles therewith
JPS54131255A (en) * 1978-04-03 1979-10-12 Yamatake Honeywell Co Ltd Industrial robot hand with safety device
JPS61280954A (ja) * 1985-05-31 1986-12-11 Sanyo Electric Co Ltd サ−マルプリンタの印字制御回路

Also Published As

Publication number Publication date
EP0060896A1 (en) 1982-09-29
EP0060896B1 (en) 1986-02-19
SU1168090A3 (ru) 1985-07-15
JPS5761487A (en) 1982-04-13
US4479673A (en) 1984-10-30
KR850000041B1 (ko) 1985-02-14
EP0060896A4 (en) 1984-03-27
WO1982001152A1 (en) 1982-04-15

Similar Documents

Publication Publication Date Title
KR830007229A (ko) 공업용 로보트의 핸드
KR920009355A (ko) 전자기기의 휴대케이스
KR880013056A (ko) 입력 조작장치
KR940004678A (ko) 액정표시장치를 구비한 전자기기
KR840004393A (ko) 전기 및 전자성분 이동용 장치
SE7706980L (sv) Industrirobot
KR880003712A (ko) 산업용 로봇손
FI882834A0 (fi) Laite ripustimilla olevien vaatteiden käsittelemiseksi
DE69104917T2 (de) Greiferwechselvorrichtung für Roboter.
KR900019294A (ko) 전기부품용 코넥터
KR910017604A (ko) 반도체장치
KR930003946A (ko) 스틱레버장치
KR930003306A (ko) 테이프 클램프기구
KR910016448A (ko) 산업용 로보트의 케이블 처리구조
KR920010801A (ko) 본딩장치
DE3860517D1 (de) Hermetisch dichte rotationsuebertragungsvorrichtung mit metallischen baelgen, insbesondere fuer ventile mit einfacher 90-grad-drehung.
KR910009307A (ko) 콤퓨터용 입력장치
KR930005007A (ko) 휴대용 전자기기
SE7901056L (sv) Dragfjederanordning
KR920011698A (ko) 타이어가황기용 블래더(bladder)조작기구
KR920020659A (ko) 본딩장치
KR920702265A (ko) 내화물 구조체의 단기(斷氣) 구조
KR900002440A (ko) 피가공물 가열이송장치
RU1828803C (ru) Манипул тор
KR890001400A (ko) 원격제어 신호발생장치