WO2011158866A1 - 把持装置 - Google Patents
把持装置 Download PDFInfo
- Publication number
- WO2011158866A1 WO2011158866A1 PCT/JP2011/063708 JP2011063708W WO2011158866A1 WO 2011158866 A1 WO2011158866 A1 WO 2011158866A1 JP 2011063708 W JP2011063708 W JP 2011063708W WO 2011158866 A1 WO2011158866 A1 WO 2011158866A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- opening
- closing lever
- pair
- gripping device
- rod
- Prior art date
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
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- 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
Definitions
- the present invention relates to a gripping device that grips a workpiece, and particularly to a toggle-type gripping device.
- a gripping device that grips a workpiece is used to transport or handle the workpiece when inspecting or assembling various products.
- This gripping device has different specifications depending on the shape, size, etc. of the workpiece, but generally has a pair of opening / closing lever portions, and is configured to grip the workpiece by using this opening / closing lever portion. It is often done.
- this kind of gripping device there has been known one provided with a toggle mechanism that can grip a workpiece with a force (grip force) larger than an input force that operates a pair of opening / closing lever portions.
- This toggle mechanism is a booster mechanism, and it is possible to make the output force larger than the input force.
- a robot hand is known as one of such toggle-type gripping devices (see Patent Documents 1 and 2).
- the robot hand includes a vertically movable rod portion, an operation piece attached to a lower end portion of the rod portion, and a pair of connection lever portions that are rotatably connected to the operation piece via pins and shafts.
- the pair of open / close lever portions which are rotatably connected to the other end side of the pair of connection lever portions via pins and shafts, are mainly configured.
- the pair of opening / closing lever portions is connected to the casing through pins and shafts, and rotates with the connecting portion as a fulcrum. Moreover, the lower end part of a pair of opening-and-closing lever part bears the role which functions as a nail
- the pair of opening / closing lever portions are arranged on both outer sides of the rod portion and the operation piece so as to face each other with the rod portion and the operation piece interposed therebetween. The pair of opening / closing lever portions are rotated and set so that the upper end side approaches and the lower end side separates when the rod portion moves downward.
- the rod portion When gripping a workpiece using the robot hand configured as described above, the rod portion is moved upward. Then, since the operation piece moves upward along with this, the pair of connecting levers move upward while rotating to push the upper ends of the pair of opening / closing levers outward. Thereby, a pair of opening-and-closing lever part rotates using an intermediate part as a fulcrum, and begins to close so that a lower end part may mutually approach. As a result, the workpiece can be gripped so as to be sandwiched from both sides. In particular, since the pair of opening / closing lever portions is opened and closed using a toggle mechanism, the workpiece can be reliably gripped with a large gripping force.
- the pair of opening / closing lever portions are disposed on both outer sides of the rod portion and the operation piece so as to face each other with the rod portion and the operation piece in between. Therefore, the interval between the pair of opening / closing lever portions tends to be large, and it is difficult to design a small lateral width of the entire gripping device along the opening / closing direction. Therefore, it is difficult to further reduce the size of the gripping device.
- the pair of opening / closing lever portions are inclined with respect to the rod portion so that the upper end portions of the pair of opening / closing lever portions approach each other and the lower end portions thereof are separated from each other. Therefore, in the standby state in which the pair of opening / closing lever portions is in the open state, the lateral width along the opening / closing direction tends to increase.
- the present invention has been made in view of such circumstances, and an object of the present invention is to make it possible to reduce the lateral width along the opening / closing direction of the pair of opening / closing lever portions, and to achieve a small size that can be installed in a small space.
- Toggle type gripping device is provided.
- a gripping device is a gripping device that grips and holds a workpiece from both sides, and is capable of moving up and down along a rod axis, the rod portion having a connecting block attached to a lower end portion thereof, The intermediate portion is disposed so as to face each other along the left-right axis direction orthogonal to the rod axis, and the intermediate portion is pivotally supported by a fulcrum shaft portion that is parallel to the front-rear axis perpendicular to the rod axis and the left-right axis.
- a pair of opening / closing lever portions whose upper and lower ends swing around the fulcrum shaft portion are connected to the connecting block and the upper end portion of the opening / closing lever portion, respectively, and the rod portion is moved up and down.
- a link mechanism that swings the opening / closing lever portion in the left-right axial direction so that the lower end portions of the opening / closing lever portion approach or separate from each other, and the opening / closing lever portion includes the upper end portion from the intermediate portion.
- Lead to A cutout is formed in at least a part of the minute, and the pair of opening and closing lever portions are arranged to face the left and right axial directions in a state where the rod portion and the connection block are inserted into the cutout portion, respectively.
- the upper end portions of the rod portion are located on both sides of the rod portion and the connecting block along the longitudinal axis direction.
- the connecting block when the rod portion is moved up and down along the rod axis, the connecting block is moved up and down accordingly. Then, as the connecting block moves up and down, the link mechanism moves the upper ends of the pair of opening / closing lever portions so as to expand or pull in the left / right axis direction, and swings these opening / closing lever portions in the left / right axis direction. . At this time, since the pair of opening / closing lever portions is pivotally supported (rotatably supported) by the fulcrum shaft portion, the upper end portion and the lower end portion rotate in opposite directions around the fulcrum shaft portion, respectively. It is like that.
- the lower end portions can be moved closer to or away from each other by moving the upper end portions of the pair of opening / closing lever portions so as to expand or draw them. Accordingly, the work can be gripped so as to be sandwiched from both sides by using the lower ends of the pair of opening / closing lever portions, and the gripped work can be released.
- the pair of opening / closing lever portions are arranged so as to face each other along the left-right axis direction, but are not arranged at intervals on both outer sides of the connecting block, but are arranged in the notch portion with the rod portion. And it is arrange
- the upper end part of a pair of opening-and-closing lever part is located in the rod part and the both sides of a connection block along the front-back axial direction. Therefore, the upper end portion of the opening / closing lever portion is not interfered with, so that the swinging operation of the opening / closing lever portion can be performed reliably.
- the pair of opening / closing lever portions can face each other along the left-right axis direction as close as possible, the overall width of the device along the opening / closing direction (left-right axis direction) can be reduced, and the size can be reduced. be able to. Therefore, it can be installed in a small space, and a gripping device that is easy to use and excellent in convenience can be obtained.
- the pair of opening / closing lever portions are opened / closed using a toggle mechanism, the workpiece can be reliably and strongly secured even if the pair of opening / closing lever portions is arranged as close as possible in the left-right axis direction. It is possible to fully grasp the function as a grasping device.
- the gripping device according to the present invention is the gripping device according to the present invention described above, wherein the link mechanism extends along the front-rear axis direction from the facing surface of the connecting block facing the upper end portions of the pair of opening / closing levers.
- a first connection pin protruding from the upper end of the pair of opening / closing lever portions, a first connection pin protruding along the front-rear axial direction, and one end side of the first connection pin rotatably connected to the first connection pin; The other end side is rotatably connected to the 2nd connection pin,
- the link piece which links the said connection block and said pair of opening-and-closing lever part is provided, It is characterized by the above-mentioned.
- the first connecting pin moves up and down linked thereto.
- one end side of the link piece moves up and down along the rod axis along with the first connection pin, and the other end side rotates in the vertical direction around the first connection pin. Therefore, the upper end portions of the pair of opening / closing lever portions connected to the link piece via the second connection pin move so as to be spread or pulled toward the left-right axis as the link piece rotates.
- a pair of opening-and-closing lever part can be rock
- the work can be gripped and the gripped work can be released using the lower end.
- the link mechanism can be configured with a simple configuration using the first connection pin, the second connection pin, and the link piece, the number of parts can be reduced, and the configuration can be simplified to reduce the cost. be able to.
- the gripping device according to the present invention is the gripping device according to the present invention described above, wherein the first connecting pin is spaced the same distance in the opposite direction from the rod axis along the left-right axis direction on the facing surface. It is characterized in that it is formed so that the axial axes are spaced apart from each other and their central axes are non-coaxial.
- the first connecting pins respectively formed on the opposing surfaces of the connecting block are shifted so as to be spaced apart in the left-right axis direction.
- the upper end portions of the two are linked to the connecting block, the upper end portions can be crossed, and the pair of opening / closing lever portions can be opposed to each other in a closer state. Therefore, the lateral width of the entire apparatus along the opening / closing direction (left-right axis direction) can be reduced, and further miniaturization can be achieved.
- the gripping device according to the present invention is the gripping device according to the present invention, wherein the rod portion is moved to the rod shaft so that the rod portion moves in a direction in which lower ends of the pair of opening / closing lever portions approach each other. And a biasing member that biases along.
- the biasing member is a pair of opening and closing levers.
- the rod part is urged toward the direction in which the lower ends of the parts approach each other. Therefore, it is possible to prevent the workpiece from being unintentionally released and dropping the workpiece. Therefore, reliability as a gripping device can be improved.
- the gripping device according to the present invention is the gripping device of the present invention described above, further comprising a housing that surrounds at least the connection block and the link mechanism from the periphery, and the opening / closing lever portion is interposed through the fulcrum shaft portion. It is attached to a housing
- the upper end portions of the pair of opening / closing lever portions and the connecting blocks and link mechanisms that are components for opening and closing the opening / closing lever portions are surrounded by the casing, It is difficult to receive direct contact, and it is difficult for dust to adhere to it. Therefore, it is easy to maintain operational reliability over a long period of time, and it is easy to reliably grip the workpiece.
- the lateral width along the opening / closing direction of the pair of opening / closing lever portions can be reduced, and can be installed in a small space. Moreover, since it is a structure (toggle type) that uses a toggle mechanism to open and close a pair of opening and closing levers, it can hold the workpiece reliably with a strong force even if it is small in size, and the function as a holding device is sufficient. Can be demonstrated.
- FIG. 3 is a side view of the gripping device viewed from the direction of arrow A shown in FIG. 2 (with the case lid removed). It is the perspective view which expanded the opening-and-closing lever part periphery of the holding
- the gripping device 1 of the present embodiment is a toggle-type gripping device that grips and holds a workpiece W from both sides as shown in FIG. 1, and is a movable frame F that can be moved up and down by driving means (not shown). It is fixed so that it can be suspended. The gripping device 1 can be moved toward and away from the workpiece W by the movement of the movable frame F.
- FIG. 1 is an external perspective view of the entire gripping device 1.
- the movable frame F may be configured not only to be raised and lowered but also to be horizontally movable along a horizontal plane. By doing so, it is possible to carry the workpiece W while holding the workpiece W with the gripping device 1.
- a flat workpiece W is described as an example of a workpiece, but the shape of the workpiece is not limited to this.
- examples of the flat workpiece W include a printed board, a semiconductor substrate, a liquid crystal panel, a glass substrate, and various battery components.
- the gripping device 1 includes a rod portion 2 that can move up and down along the rod axis O, a pair of opening / closing lever portions 3 that grip the work W so as to sandwich the workpiece W from both sides, and a rod portion. 2 and a pair of opening / closing lever portions 3, a case body (housing) 5 that houses the link mechanism 4 therein, a cylinder case 6 coupled to the upper portion of the case body 5, It is mainly composed of a connecting cylinder 7 connected to the upper part of the cylinder case 6 and fixed to the movable frame F.
- FIG. 2 is a longitudinal sectional view of the gripping device 1 shown in FIG.
- FIG. 3 is a side view of the gripping device 1 viewed from the direction of arrow A shown in FIG. 2 (however, the case lid 11 is removed).
- FIG. 4 is an enlarged perspective view of the periphery of the opening / closing lever portion 3 shown in FIG.
- the direction orthogonal to the rod axis O and the pair of opening / closing lever portions 3 faces is the left-right axis L1
- the directions orthogonal to the rod axis O and the left-right axis L1 are the front-rear axis L2. The direction.
- the case body 5 is formed in a rectangular parallelepiped box shape, and includes a case main body 10 in which an accommodation space is secured, and an L-shaped case lid 11 that is detachably attached to the case main body 10. ing.
- the case body 10 is formed in a box shape by, for example, cutting a metal or resin block, and a connecting block 41, a link mechanism 4, an upper end portion 3a of the opening / closing lever portion 3 to be described later, and the like from the periphery. It is housed inside so as to surround it and plays a role of protection.
- An insertion hole (not shown) through which the rod portion 2 is inserted is formed in the central portion of the top wall portion 10a of the case body 10.
- an access opening 12 for assembling inside the case body 10 is formed in the front and rear wall portions 10b of the case body 10 orthogonal to the direction of the longitudinal axis L2.
- access openings 12 for assembling are also formed in the left and right wall portions 10c of the case body 10 orthogonal to the direction of the left and right axis L1.
- the left and right wall portions 10c are formed with lever portion openings 13 for accommodating the upper end portions 3a inside while the lower end portions 3b of the pair of opening / closing lever portions 3 are exposed to the outside.
- the case lid 11 is formed in an L shape, and is attached using the fixing screw 15 so as to overlap the front and rear wall portions 10b and the bottom wall portion 10d of the case body 10.
- the access opening 12 formed in the front and rear wall portion 10 b is closed.
- two guide ribs 16 projecting outward are formed on the front and rear wall portions 10b of the case body 10 so as to extend along the vertical direction.
- the case lid 11 is overlapped with the front and rear wall portions 10b so as to be sandwiched between the two guide ribs 16. Therefore, even if only one fixing screw 15 is used, it is surely assembled to the case main body 10 without being rotated or displaced.
- the cylinder case 6 is a cylindrical body that is formed in a rectangular shape that is slightly smaller than the case body 5, and as shown in FIG. 2, the rod portion 2 is inserted through the cylinder case 6.
- the cylinder case 6 is connected to the top wall 10 a by two fixing screws 17 in a state where the cylinder case 6 overlaps the top wall 10 a of the case body 10. Thereby, the cylinder case 6 and the case body 5 are integrally fixed.
- a lower cover 20 and a cover 21 are attached to the inside of the cylinder case 6 to seal the inside while supporting the rod portion 2 so as to be movable up and down.
- the internal space of the cylinder case 6 surrounded by the covers 20 and 21 functions as a sealed cylinder chamber.
- the cylinder case 6 is formed with two communication passages 22 and 23 for communicating an internal space functioning as a cylinder chamber and the outside.
- An air driving source 24 that supplies air adjusted to a predetermined pressure to the internal space and discharges air from the internal space is connected to the two communication paths 22 and 23.
- a pedestal block 25 that covers the entire upper portion of the cylinder case 6 is overlaid on the upper portion of the cylinder case 6 while supporting the rod portion 2 so as to be movable up and down.
- a connecting cylinder 7 composed of a cylindrical portion 7 a having a top shape and a flange portion 7 b that is connected to the lower end portion of the cylindrical portion 7 a and covers the entire pedestal block 25 is overlaid. It has been.
- the flange portion 7 b and the pedestal block 25 are connected to the cylinder case 6 by two common fixing screws 26. Thereby, the cylinder case 6, the base block 25, and the connection cylinder 7 are being fixed integrally.
- a coil spring 30 is fitted on the cylindrical portion 7a.
- the cylindrical portion 7a is inserted into the mounting hole formed in the movable frame F from below.
- the cylindrical portion 7a is inserted so that the upper end portion where the annular groove portion 7c is formed protrudes upward from the movable frame F while compressing the coil spring 30 between the movable frame F and the flange portion 7b.
- the retaining ring 32 is attached to the annular groove portion 7c. Accordingly, the gripping device 1 is fixed so as to be suspended from the movable frame F via the connecting cylinder 7.
- the rod part 2 As described above, the rod portion 2 is disposed so as to penetrate the cylinder case 6 in the vertical direction along the rod axis O, the lower end portion is accommodated in the case body 5, and the upper end portion is connected to the connecting cylinder 7. Is accommodated in the cylindrical portion 7a.
- An annular piston wall 40 extending outward in the radial direction of the rod portion 2 is connected to an intermediate portion of the rod portion 2 in the internal space of the cylinder case 6.
- the internal space of the cylinder case 6 is divided into a room R1 connected to one communication path 22 and a room R2 connected to the other communication path 23 by the piston wall 40.
- connection block 41 is being fixed to the lower end part of the rod part 2 accommodated in the inside of the case body 5, as shown in FIG.2 and FIG.3.
- the connection block 41 is a rectangular parallelepiped block, and four side surfaces are orthogonal to the front-rear axis L2 direction and the left-right axis L1 direction, respectively.
- a disc-shaped end member 42 extending outward in the radial direction of the rod portion 2 is fixed to the upper end portion of the rod portion 2 accommodated in the cylindrical portion 7 a of the connecting cylinder 7.
- a coil spring 43 is externally fitted to the rod portion 2 so as to fit between the end member 42 and the pedestal block 25.
- the coil spring 43 urges the rod portion 2 upward by its own elastic force.
- the rod part 2 is designed to always move upward.
- the integral opening / closing lever portion 3 is designed to operate by being biased by the coil spring 43 so as to be normally closed.
- the coil spring 43 urges the rod portion 2 along the rod axis O so that the rod portion 2 moves in a direction (upward) in which the lower end portions 3b of the pair of opening / closing lever portions 3 approach each other. It functions as an urging member.
- FIG. 5 is a perspective view of a state in which the case body 5 and the cylinder case 6 are removed from the state shown in FIG.
- the opening / closing lever portion 3 has the upper end portion 3 a inserted into the case body 5 from the lever portion opening 13 of the case body 5 and accommodated therein, and the lower end portion 3 b is exposed to the outside of the case body 5. It is arrange
- the intermediate portion 3c of the opening / closing lever portion 3 is pivotally supported by a fulcrum shaft portion 50 parallel to the front / rear axis L2, and the upper end portion 3a and the lower end portion 3b swing around the fulcrum shaft portion 50 in the left / right axis L1 direction. It is possible to move.
- the fulcrum shaft part 50 is inserted into a through hole (not shown) formed in the intermediate part 3c of the opening / closing lever part 3, and penetrates the intermediate part 3c in the front-rear axis L2 direction. Then, both end portions of the fulcrum shaft portion 50 are inserted into support holes 51 formed in the bottom wall portion 10 d of the case body 10. That is, the opening / closing lever portion 3 is attached to the case body 5 via the fulcrum shaft portion 50.
- the support hole 51 penetrates the case main body 10 along the front-rear axis L2, and opens to the lever portion opening 13 side and the front-rear wall portion 10b side. Therefore, after the case lid 11 is removed, the fulcrum shaft portion 50 can be inserted from the outside of the case main body 10 so that the case main body 10 and the opening / closing lever portion 3 can be easily connected. Moreover, since the front-and-back wall part 10b of the case main body 10 can be closed by attaching the case lid 11, there is no possibility that the fulcrum shaft part 50 will come off.
- a cylindrical spacer 53 is fitted on the fulcrum shaft portion 50 so as to be interposed between the intermediate portion 3c of the opening / closing lever portion 3 and the case body 10. Thereby, the opening / closing lever part 3 is restricted from moving along the fulcrum shaft part 50 in the front-rear axis L2 direction.
- the lower end 3b of the opening / closing lever 3 is a portion that functions as a claw for holding the workpiece W, and the surface facing the counterpart opening / closing lever 3 is a holding surface.
- an elastic sheet 54 made of an elastic material such as rubber is attached to the gripping surface by adhesion or the like. As a result, the workpiece W can be gripped while preventing the workpiece W from being damaged.
- the opening / closing lever portion 3 of the present embodiment has a large notch 55 extending from the intermediate portion 3c to the upper end portion 3a.
- the lateral width along the front-rear axis L2 direction is formed such that the lateral width H2 on the upper end portion 3a side is approximately 1 ⁇ 4 of the lateral width H1 on the lower end portion 3b side.
- the pair of opening / closing lever portions 3 are arranged so as to face the left and right axis L1 in a state where the rod portion 2 and the connecting block 41 are inserted into the notch portion 55, and the respective upper end portions 3a thereof are It is located on both sides of the rod portion 2 and the connecting block 41 along the direction of the axis L2.
- the link mechanism 4 connects the connecting block 41 and the upper end 3 a of the opening / closing lever 3, and the lower end 3 b of the opening / closing lever 3 is moved along with the vertical movement of the rod 2. It plays a role of swinging the opening / closing lever portion 3 in the direction of the left-right axis L1 so as to approach or separate from each other.
- the link mechanism 4 of the present embodiment swings the opening / closing lever portion 3 so that the lower end portion 3b is separated and opened when the rod portion 2 moves downward.
- the opening / closing lever portion 3 is swung so that the lower end portion 3b approaches and closes when the rod portion 2 moves upward.
- FIG. 6 is a view showing a state in which the rod portion 2 is moved upward from the state shown in FIG.
- FIG. 7 is a view showing a state in which the rod portion 2 is moved upward from the state shown in FIG.
- FIG. 8 is a view showing a state in which the rod portion 2 is moved upward from the state shown in FIG.
- the link mechanism 4 includes a first connection pin 60 provided on the connection block 41, and a second connection pin 61 provided on the upper end 3 a of the opening / closing lever portion 3.
- the link piece 62 is configured to link the upper end portion 3 a of the opening / closing lever portion 3 and the connection block 41 via the first connection pin 60 and the second connection pin 61.
- the first connection pin 60 protrudes along the front-rear axis L2 direction from the opposing surface (surface orthogonal to the front-rear axis L2 direction) 41a of the connection block 41 that opposes the upper end portions 3a of the pair of opening / closing lever portions 3 respectively. Is formed.
- the two first connecting pins 60 are separated by the same distance in the opposite direction from the rod axis O along the left and right axis L1 direction on the opposing surface 41a of the connecting block 41, and in the left and right axis L1 direction.
- the gaps are formed so that the center lines C are shifted so as to be non-coaxial with respect to each other.
- the first connecting pin 60 is formed to be a stepped pin having a different diameter size in the middle so that the base side is the large diameter portion 60a and the tip side is the small diameter portion 60b, and the link piece 62 is formed on the small diameter portion 60b. The one end side of these is connected so that rotation is possible.
- An annular groove (not shown) is formed at the tip of the small diameter portion 60b that protrudes outward from the link piece 62, and a retaining ring 63 is attached using this annular groove. The link piece 62 is prevented from being detached from the first connecting pin 60 by the retaining ring 63.
- a rolling bearing portion 64 such as a ball bearing is fitted on the large diameter portion 60 a of the first connecting pin 60.
- the rolling bearing portion 64 is configured such that the outer ring comes into contact with the inner wall surface of the case body 10, and the connecting block 41 and the first connecting pin 60 are moved up and down as the rod portion 2 moves up and down. When moved, the outer ring slides while contacting the inner wall surface. Therefore, it is possible to guide the first connecting pin 60 so as to move up and down stably without rattling. Even if the rolling bearing portion 64 rotates during sliding, the first connecting pin 60 supported on the inner ring side is not affected at all.
- the second connecting pin 61 is formed so as to protrude outward from the upper end portion 3 a of the opening / closing lever portion 3 along the front-rear axis L ⁇ b> 2 direction.
- the distal end portion of the second connecting pin 61 moves with the swinging of the opening / closing lever portion 3 in a state of being close to or in contact with the inner surface of the case lid 11.
- the link piece 62 is formed in an elliptical shape in plan view with both ends being semicircular, and one end side is rotatably connected to the first connection pin 60 as described above, and the other end side is second.
- the connecting pin 61 is rotatably connected.
- the link piece 62 links the connecting block 41 and the pair of opening / closing lever portions 3 respectively.
- one end side of the link piece 62 is prevented from being detached by the above-described retaining ring 63, so that there is no possibility of detachment from the first connecting pin 60.
- the other end side of the link piece 62 is connected to the second connecting pin 61, and the tip end portion of the second connecting pin 61 is close to or in contact with the inner surface of the case lid 11. Therefore, there is no possibility that the other end side of the link piece 62 is detached from the second connecting pin 61.
- the movable frame F is lowered to position the workpiece W between the lower end portions 3 b of the pair of opening / closing lever portions 3.
- the air driving unit 24 is operated to discharge air from one room R1 of the internal space of the cylinder case 6 and supply air to the other room R2, thereby reducing the internal pressure of the one room R1 to the other room R2. Lower than the internal pressure.
- the cylinder wall 40 moves upward while receiving the urging force of the coil spring 43 due to the internal pressure difference between the two chambers R1 and R2. Accordingly, the rod portion 2 and the connecting block 41 move upward as the cylinder wall portion 40 moves.
- the air driving unit 24 is operated to supply air to one room R1 in the internal space of the cylinder and to discharge air from the other room R2 so that the internal pressure of one room R1 is reduced to the other room.
- the cylinder wall 40 moves downward by a force against the coil spring 43 due to the internal pressure difference between the two chambers R1 and R2. Therefore, the rod part 2 and the connection block 41 move downward.
- both the first connecting pins 60 move downward, the link piece 62 rotates upward about the first connecting pin 60 while the other end moves downward. Therefore, the upper end portions 3a of the pair of opening / closing lever portions 3 move so as to be drawn in the direction of the left and right axis L1 as the link piece 62 rotates.
- the workpiece W can be gripped by moving the rod portion 2 upward to close the pair of opening / closing lever portions 3 and opened by moving downward.
- the gripped workpiece W can be released.
- the lower end portions 3b of the pair of opening / closing lever units 3 are The coil spring 43 urges the rod portion 2 upward so as to approach each other. Therefore, it is possible to prevent the workpiece W from being unintentionally released and dropping the workpiece W. Therefore, the reliability as the gripping device 1 can be improved.
- the gripping device 1 of the present embodiment is arranged such that the pair of opening / closing lever portions 3 face each other along the direction of the left and right axis L1, but are arranged at intervals on both outer sides of the connecting block 41.
- the rod portion 2 and the connecting block 41 are disposed in the notch portion 55 so as to face each other. Therefore, the pair of opening / closing lever portions 3 can face each other as close as possible without being affected by the rod portion 2 and the connecting block 41.
- the upper end portions 3a of the pair of opening / closing lever portions 3 are located on both sides of the rod portion 2 and the connecting block 41 along the direction of the front-rear axis L2. Therefore, the upper end portion 3a of the opening / closing lever portion 3 is not interfered with, so that the swinging operation of the opening / closing lever portion 3 can be performed reliably.
- the pair of opening / closing lever portions 3 can be opposed to each other along the left / right axis L1 direction as close as possible, so that the overall width of the apparatus along the opening / closing direction (left / right axis L1 direction) can be reduced. Therefore, the size can be reduced. Therefore, the gripping device 1 can be installed in a small space and is easy to use and excellent in convenience.
- the first connecting pins 60 constituting the link mechanism 4 are separated by the same distance in the opposite direction from the rod axis O along the left and right axis L1, and are spaced apart from each other in the left and right axis L1 direction. Shifting is arranged so that C is non-coaxial. Therefore, when the upper end portion 3a of the opening / closing lever portion 3 is linked to the connecting block 41 via the link piece 62, it is possible to cross each upper end portion 3a. You can face each other in close proximity. Therefore, the downsizing described above can be made more remarkable.
- the gripping device 1 of the present embodiment has a structure (toggle type) that opens and closes the pair of opening / closing lever portions 3 using a toggle mechanism, the pair of opening / closing lever portions is as close as possible in the left-right axis L1 direction. Even if 3 is disposed, the workpiece W can be reliably gripped with a strong force, and the function as the gripping device 1 can be sufficiently exhibited.
- the lateral width along the opening / closing direction of the pair of opening / closing lever portions 3 can be reduced and can be installed in a small space.
- the pair of opening / closing lever portions 3 is opened and closed using a toggle mechanism, the workpiece W can be reliably held with a strong force even if it is small, and the function as the holding device 1 can be sufficiently achieved. It can be demonstrated.
- the link mechanism 4 is configured with a simple configuration using the first connection pin 60, the second connection pin 61, and the link piece 62, the number of parts can be suppressed and the configuration can be reduced. Simplification can be achieved and cost increase can be suppressed.
- the upper end part 3a of a pair of opening / closing lever part 3, the connection block 41, the link mechanism 4, etc. which are the components for opening and closing the opening / closing lever part 3 are enclosed by the case body 5, it is directly from the outside. It is hard to be touched and dust is hard to adhere. Therefore, it is easy to maintain operational reliability over a long period of time, and it is easy to reliably grip the workpiece W.
- the link mechanism 4 is configured so that the pair of opening / closing lever portions 3 is opened when the rod portion 2 is moved downward, and is closed when the rod portion 2 is moved upward. May be configured to be reversed. That is, the pair of opening / closing lever portions 3 may be closed when the rod portion 2 is moved downward, and may be open when the rod portion 2 is moved upward.
- the link mechanism 4 may be configured in any way as long as the pair of opening / closing lever portions 3 can be swung in the direction of the left / right axis L1 in accordance with the vertical movement of the rod portion 2 to open / close the lower end portion 3b. .
- the case where the flat workpiece W is gripped is taken as an example, but the shape of the workpiece is not limited to this, and other shapes can be applied.
- the shape of the lower end portion 3b of the opening / closing lever portion 3, specifically, the shape of the gripping surface may be appropriately changed in accordance with the workpiece W. For example, you may form a groove part with a V-shaped cross section, a level
- the 1st connection pin 60 was shifted and arrange
- an internal pressure difference is generated by supplying or discharging air to the two chambers R1 and R2 partitioned in the cylinder case 6, and the rod portion 2 is moved up and down using this internal pressure difference.
- the present invention is not limited to this case, and any configuration may be used as long as the rod portion 2 can be moved up and down.
- the case where only one gripping device 1 is suspended from the movable frame F has been described as an example.
- a plurality of gripping devices 1 may be arranged in the left-right axis L1 direction. This makes it possible to grip a plurality of workpieces W at a time.
- the gripping device 1 of the present embodiment has a small lateral width of the entire device along the opening / closing direction (left-right axis L1 direction), even when a plurality of gripping devices 1 are arranged in parallel, Does not require a large installation space. Therefore, the space can be used effectively.
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Abstract
Description
ところで、この種の把持装置において、一対の開閉レバー部を作動させるインプットの力よりも、大きな力(把持力)でワークを把持することができるトグル機構を備えたものが知られている。このトグル機構は倍力機構であって、インプットの力よりもアウトプットの力を大きくすることが可能となるものである。
このロボットハンドは、上下動可能なロッド部と、ロッド部の下端部に取り付けられた操作片と、この操作片にピンや軸を介して一端側が回転自在に連結された一対の連結レバー部と、この一対の連結レバー部の他端側にピンや軸を介して上端部が回転自在に連結された一対の開閉レバー部と、で主に構成されている。
なお、これら一対の開閉レバー部は、ロッド部及び操作片を間に挟んで互いに向き合うように、ロッド部及び操作片の両外側に配設されている。そして、一対の開閉レバー部は、ロッド部が下方移動したときに、上端部側が接近且つ下端部側が離間するように回転して開状態にセットされるようになっている。
特に、トグル機構を利用して一対の開閉レバー部を開閉させる構成であるので、大きな把持力でワークを確実に把持できるようになっている。
即ち、一対の開閉レバー部は、ロッド部及び操作片を間にして互いに向き合うように、これらロッド部及び操作片の両外側に配設されている。そのため、一対の開閉レバー部間の間隔が大きくなり易く、開閉方向に沿った把持装置全体の横幅を小さく設計することが難しかった。そのため、把持装置のさらなる小型化を図ることが困難であった。
特に、一対の開閉レバー部は、開状態において、互いの上端部が接近し且つ下端部が離間するようにロッド部に対して傾いている。従って、一対の開閉レバー部が開状態となっている待機状態においては、特に開閉方向に沿った横幅が大きくなり易いものであった。
(1)本発明に係る把持装置は、ワークを両側から挟んで把持する把持装置であって、ロッド軸に沿って上下動可能とされ、下端部に連結ブロックが取り付けられたロッド部と、前記ロッド軸に直交する左右軸方向に沿って互いに向かい合うように配設されると共に、中間部がロッド軸及び左右軸に対してそれぞれ直交する前後軸に平行な支点軸部に軸支されて、該支点軸部回りに上端部及び下端部が左右軸方向に揺動する一対の開閉レバー部と、前記連結ブロックと前記開閉レバー部の上端部とをそれぞれ連結すると共に、前記ロッド部の上下動に伴って開閉レバー部の下端部が互いに接近又は離間するように、開閉レバー部を前記左右軸方向に揺動させるリンク機構と、を備え、前記開閉レバー部には、前記中間部から前記上端部に至る部分の少なくとも一部に切欠部が形成され、前記一対の開閉レバー部が、前記切欠部内に前記ロッド部及び前記連結ブロックを入り込ませた状態で前記左右軸方向に向かい合うように配設され、それぞれの前記上端部が前記前後軸方向に沿ってロッド部及び連結ブロックの両側に位置していることを特徴とする。
これにより、一対の開閉レバー部の下端部を利用して、ワークを両側から挟むように把持することができると共に、把持したワークを解放させることができる。
この際、一対の開閉レバー部の上端部は、前後軸方向に沿ってロッド部及び連結ブロックの両側に位置している。そのため、開閉レバー部の上端部が何ら干渉されることがないので、開閉レバー部の揺動動作を確実に行わせることができる。
しかも、トグル機構を利用して一対の開閉レバー部を開閉する構造であるので、左右軸方向にできるだけ接近した状態で一対の開閉レバー部が配設されていたとしても、ワークを強い力で確実に把持することができ、把持装置としての機能を十分に発揮させることができる。
その結果、下端部を利用して、ワークを把持することができると共に把持したワークを解放させることができる。
従って、開閉方向(左右軸方向)に沿った装置全体の横幅を小さくすることができ、さらなる小型化を図ることができる。
本実施形態の把持装置1は、図1に示すようにワークWを両側から挟んで把持するトグル式の把持装置であって、図示しない駆動手段によって上昇移動及び下降移動可能とされた可動フレームFに吊下げられるように固定されている。そして、この可動フレームFの移動により、把持装置1はワークWに対して接近離間することが可能とされている。
なお、図1は、把持装置1全体の外観斜視図である。
また、本実施形態では、ワークの一例として平板状のワークWを例に挙げて説明するが、ワークの形状はこれに限定されるものではない。なお、平板状のワークWの一例としては、プリント基板、半導体基板、液晶パネル、ガラス基板や各種電池部品等が挙げられる。
また、本実施形態では、ロッド軸Oに直交し、一対の開閉レバー部3が向かい合う方向を左右軸L1方向とすると共に、ロッド軸O及び左右軸L1に対してそれぞれ直交する方向を前後軸L2方向とする。
このケース体5は、直方体状の箱型に形成され、内部に収容空間が確保されたケース本体10と、このケース本体10に着脱自在に取り付けられるL字型のケース蓋11と、で構成されている。
ケース本体10は、例えば金属や樹脂のブロックを削り出し加工等により箱型に形成されたものであって、後述する連結ブロック41やリンク機構4、開閉レバー部3の上端部3a等を周囲から囲むように内部に収容して、保護する役割を担っている。
同様に、左右軸L1方向に直交するケース本体10の左右壁部10cにも、組み立てを行うためのアクセス開口12が形成されている。また、この左右壁部10cには、一対の開閉レバー部3の下端部3bを外部に露出させたまま、上端部3aを内部に収容させるためのレバー部用開口13が形成されている。
なお、ケース本体10の前後壁部10bには、外方に突出する2本のガイドリブ16が上下方向に沿って延在するように形成されている。そして、ケース蓋11は、この2本のガイドリブ16の間に挟まれるように前後壁部10bに重ね合わされるようになっている。従って、1つの固定ネジ15だけであっても、回転したり位置ずれしたりすることなく、確実にケース本体10に組み合わされるようになっている。
このシリンダケース6は、ケース体5よりも一回り小さい断面長方形状に形成された筒体であって、図2に示すように、内部にロッド部2が貫くように挿通されている。そして、このシリンダケース6は、ケース本体10の天壁部10a上に重なった状態で、2本の固定ネジ17によって天壁部10aと連結されている。これにより、シリンダケース6とケース体5とは、一体的に固定されている。
この台座ブロック25上には、有頂筒状の円筒部7aと、円筒部7aの下端部に連設され、台座ブロック25の全体を覆うフランジ部7bと、で構成された連結筒7が重ねられている。フランジ部7b及び台座ブロック25は、共通の2本の固定ネジ26によってシリンダケース6に連結されている。これにより、シリンダケース6と、台座ブロック25と、連結筒7とは、一体的に固定されている。
これにより、把持装置1は、連結筒7を介して可動フレームFに吊下げられるように固定されている。
このロッド部2は、上述したようにロッド軸Oに沿ってシリンダケース6を上下方向に貫くように配設されており、下端部がケース体5の内部に収容され、上端部が連結筒7の円筒部7a内に収容されている。シリンダケース6の内部空間内におけるロッド部2の中間部には、ロッド部2の径方向外方に延在する環状のピストン壁部40が連結されている。そして、シリンダケース6の内部空間は、このピストン壁部40によって一方の連通路22に繋がる部屋R1と、他方の連通路23に繋がる部屋R2とに区分けされるようになっている。
また、連結筒7の円筒部7a内に収容されているロッド部2の上端部には、ロッド部2の径方向外方に延在した円板状のエンド部材42が固定されている。そして、このエンド部材42と台座ブロック25との間に収まるように、コイルバネ43がロッド部2に外嵌されている。
なお、本実施形態では、ロッド部2が下方移動した際に一対の開閉レバー部3の下端部3bが互いに離間して開状態となり、ロッド部2が上方移動した際に一対の開閉レバー部3の下端部3bが互いに接近して閉状態となるように構成されている。この点は、後に詳細に説明する。従って、本実施形態では、コイルバネ43による付勢によって、常時閉状態となるように一体の開閉レバー部3が作動するように設計されている。
一対の開閉レバー部3は、図2から図5に示すように、略平板状に形成されており、左右軸L1方向に沿って互いに向かい合うように配設されている。なお、図5は、図4に示す状態から、ケース体5及びシリンダケース6を取り外した状態の斜視図である。
この際、開閉レバー部3は、ケース体5のレバー部用開口13から上端部3aがケース体5の内部に挿入されて内部に収容されると共に、下端部3bがケース体5の外部に露出した状態となるように配設されている。そして、開閉レバー部3の中間部3cは、前後軸L2に平行な支点軸部50によって軸支されており、この支点軸部50回りに上端部3a及び下端部3bが左右軸L1方向に揺動可能とされている。
そして、一対の開閉レバー部3は、この切欠部55内にロッド部2及び連結ブロック41を入り込ませた状態で左右軸L1方向に向かい合うように配設されており、それぞれの上端部3aが前後軸L2方向に沿ってロッド部2及び連結ブロック41の両側に位置するようになっている。
このリンク機構4は、図5に示すように、連結ブロック41と開閉レバー部3の上端部3aとをそれぞれ連結すると共に、ロッド部2の上下動に伴って開閉レバー部3の下端部3bが互いに接近又は離間するように、開閉レバー部3を左右軸L1方向に揺動させる役割を果している。
なお、本実施形態のリンク機構4は、図2から図5に示すように、ロッド部2が下方移動したときに下端部3bが離間して開状態となるように開閉レバー部3を揺動させ、図6から図8に示すように、ロッド部2が上方移動したときに下端部3bが接近して閉状態となるように開閉レバー部3を揺動させるようになっている。
リンク機構4は、図2、図3及び図5に示すように、連結ブロック41に設けられた第1連結ピン60と、開閉レバー部3の上端部3aに設けられた第2連結ピン61と、これら第1連結ピン60及び第2連結ピン61を介して開閉レバー部3の上端部3aと連結ブロック41とをリンクさせるリンク片62と、で構成されている。
この際、2つの第1連結ピン60は、図5に示すように連結ブロック41の対向面41aにおいて、左右軸L1方向に沿ってロッド軸Oから反対方向に同距離離れ、左右軸L1方向に間隔が開いて互いの中心線Cが非同軸となるようにシフトした状態でそれぞれ形成されている。
なお、摺動時に、仮に転がり軸受部64が回転してしまったとしても、内輪側で支持している第1連結ピン60に何ら影響を与えることがない。
リンク片62は、両端部が半円状となった平面視楕円状に形成されており、上述したように一端側が第1連結ピン60に回動自在に連結されると共に、他端側が第2連結ピン61に回動自在に連結されている。これにより、リンク片62は、連結ブロック41と、一対の開閉レバー部3とをそれぞれリンクさせている。
なお、リンク片62の一端側は、上述したリテーニングリング63によって抜け止めされているので、第1連結ピン60から離脱する恐れがない。また、リンク片62の他端側は、第2連結ピン61に連結されているが、この第2連結ピン61の先端部はケース蓋11の内面に近接或いは接触するようになっている。よって、リンク片62の他端側も第2連結ピン61から離脱する恐れがない。
なお、初期状態として、一対の開閉レバー部3は、図2から図5に示すように互いの下端部3bが離間して、開状態になっているものとして説明する。
この点、詳細に説明する。
図6から図8に示すように、連結ブロック41が上方移動すると、これに伴って第1連結ピン60が上方移動する。すると、リンク片62は、一端側がロッド軸Oに沿って上方移動しながら、他端側が第1連結ピン60を中心に下方に回動する。そのため、第2連結ピン61を介してリンク片62の他端側に連結されている一対の開閉レバー部3の上端部3aが、リンク片62の回動に伴って左右軸L1方向に押し広がるように移動する。
これにより、一対の開閉レバー部3を閉状態にすることができ、図1に示すように、下端部3bを利用してワークWを両側から挟むように把持することができる。なお、一対の開閉レバー部3の把持面には、弾性シート54が取り付けられているので、傷等を付けることなくワークWを把持することができる。
この場合には、エアー駆動部24を作動させてシリンダの内部空間の一方の部屋R1にエアーを供給すると共に、他方の部屋R2からエアーを排出して、一方の部屋R1の内圧を他方の部屋R2の内圧より高くする。すると、この2つの部屋R1、R2の内圧差によって、シリンダ壁部40がコイルバネ43に抗する力で下方移動する。従って、ロッド部2及び連結ブロック41が下方移動する。
すると、第1連結ピン60が共に下方移動するので、リンク片62は、一端側が下方移動しながら他端側が第1連結ピン60を中心として上方に回動する。そのため、一対の開閉レバー部3の上端部3aが、リンク片62の回動に伴って左右軸L1方向に引き寄せられるように移動する。
特に、ワークWを把持している最中に、仮にロッド部2を上下動させるエアー駆動部24が作動不良になってしまった場合であっても、一対の開閉レバー部3の下端部3bが互いに接近するようにコイルバネ43がロッド部2を上方に付勢している。そのため、ワークWの把持が誤って解かれ、ワークWが落下等してしまうことを未然に防止することができる。従って、把持装置1としての信頼性を高めることができる。
この際、一対の開閉レバー部3の上端部3aは、前後軸L2方向に沿ってロッド部2及び連結ブロック41の両側に位置している。そのため、開閉レバー部3の上端部3aが何ら干渉されるがことないので、開閉レバー部3の揺動動作を確実に行わせることができる。
また、一対の開閉レバー部3の上端部3aや、開閉レバー部3を開閉させるための構成要素である連結ブロック41やリンク機構4等が、ケース体5によって囲まれているので、外部から直接接触を受け難いうえ塵埃等が付着し難い。よって、長期に亘って作動の信頼性を維持し易く、ワークWの把持を確実に行い易い。
いずれにしても、ロッド部2の上下動に応じて一対の開閉レバー部3を左右軸L1方向に揺動させて、下端部3bを開閉できればリンク機構4をどのように構成しても構わない。
但し、第1連結ピン60を左右軸L1方向にシフト配置させることで、上端部3aが交差する程度、一対の開閉レバー部3を接近させた状態で左右軸L1方向に向かい合わせることができるので、把持装置1の小型化を図り易い。この点で好ましい。
特に、本実施形態の把持装置1は、開閉方向(左右軸L1方向)に沿った装置全体の横幅が小さく小型化されているので、複数の把持装置1を並列配置させる場合であっても、大きな設置スペースを必要としない。従って、スペースの有効利用を図ることができる。
W…ワーク
L1…左右軸
L2…前後軸
1…把持装置
2…ロッド部
3…開閉レバー部
4…リンク機構
5…ケース体(筐体)
41…連結ブロック
41a…連結ブロックの対向面
43…コイルバネ(付勢部材)
50…支点軸部
55…切欠部
60…第1連結ピン
61…第2連結ピン
62…リンク片
Claims (5)
- ワークを両側から挟んで把持する把持装置であって、
ロッド軸に沿って上下動可能とされ、下端部に連結ブロックが取り付けられたロッド部と、
前記ロッド軸に直交する左右軸方向に沿って互いに向かい合うように配設されると共に、中間部がロッド軸及び左右軸に対してそれぞれ直交する前後軸に平行な支点軸部に軸支されて、該支点軸部回りに上端部及び下端部が左右軸方向に揺動する一対の開閉レバー部と、
前記連結ブロックと前記開閉レバー部の上端部とをそれぞれ連結すると共に、前記ロッド部の上下動に伴って開閉レバー部の下端部が互いに接近又は離間するように、開閉レバー部を前記左右軸方向に揺動させるリンク機構と、を備え、
前記開閉レバー部には、前記中間部から前記上端部に至る部分の少なくとも一部に切欠部が形成され、
前記一対の開閉レバー部は、前記切欠部内に前記ロッド部及び前記連結ブロックを入り込ませた状態で前記左右軸方向に向かい合うように配設され、それぞれの前記上端部が前記前後軸方向に沿ってロッド部及び連結ブロックの両側に位置していることを特徴とする把持装置。 - 請求項1に記載の把持装置において、
前記リンク機構は、
前記一対の開閉レバーの上端部にそれぞれ対向する前記連結ブロックの対向面から、前記前後軸方向に沿って突出した第1連結ピンと、
前記一対の開閉レバー部の上端部から前記前後軸方向に沿って突出した第2連結ピンと、
前記第1連結ピンに一端側が回動自在に連結されると共に、前記第2連結ピンに他端側が回動自在に連結され、前記連結ブロックと前記一対の開閉レバー部とをリンクさせるリンク片と、を備えていることを特徴とする把持装置。 - 請求項2に記載の把持装置において、
前記第1連結ピンは、前記対向面において、前記左右軸方向に沿って前記ロッド軸から反対方向に同距離離れ、左右軸方向に間隔が開いて互いの中心軸が非同軸となるようにそれぞれ形成されていることを特徴とする把持装置。 - 請求項1に記載の把持装置において、
前記一対の開閉レバー部の下端部が互いに接近する方向に前記ロッド部が移動するように、該ロッド部を前記ロッド軸に沿って付勢する付勢部材を備えていることを特徴とする把持装置。 - 請求項1に記載の把持装置において、
前記連結ブロック及び前記リンク機構を少なくとも周囲から囲む筐体を備え、
前記開閉レバー部は、前記支点軸部を介して前記筐体に取り付けられていると共に、前記上端部が筐体の内部に収容され、前記下端部が筐体の外部に露出していることを特徴とする把持装置。
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EP11795770.4A EP2583797B1 (en) | 2010-06-17 | 2011-06-15 | Gripping device |
CN201180029895.6A CN102947060B (zh) | 2010-06-17 | 2011-06-15 | 把持装置 |
US13/704,274 US8672379B2 (en) | 2010-06-17 | 2011-06-15 | Gripping device |
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JP2010138340A JP5489874B2 (ja) | 2010-06-17 | 2010-06-17 | 把持装置 |
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US (1) | US8672379B2 (ja) |
EP (1) | EP2583797B1 (ja) |
JP (1) | JP5489874B2 (ja) |
KR (1) | KR101342752B1 (ja) |
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CN103671386B (zh) * | 2012-08-31 | 2015-12-16 | 富鼎电子科技(嘉善)有限公司 | 贴泡棉装置及其使用的夹取机构 |
JP5850907B2 (ja) * | 2013-12-27 | 2016-02-03 | Thk株式会社 | チャック |
CN104440882A (zh) * | 2014-12-03 | 2015-03-25 | 江南大学 | 安全阀搬运用卡钳 |
USD811188S1 (en) * | 2015-09-15 | 2018-02-27 | Delaware Capital Formation, Inc. | Gripper body |
USD811189S1 (en) * | 2015-09-15 | 2018-02-27 | Delaware Capital Formation, Inc. | Gripper |
JP6509937B2 (ja) * | 2017-04-28 | 2019-05-08 | 昭和電工株式会社 | 円筒体把持方法 |
JP6885592B2 (ja) * | 2017-09-28 | 2021-06-16 | 株式会社ハーモ | ロボットハンド |
CN111532661B (zh) * | 2018-10-29 | 2021-07-27 | 浙江厚达智能科技股份有限公司 | 通过光纤盘转移机构转移光纤盘的方法 |
KR102425216B1 (ko) * | 2020-04-16 | 2022-07-26 | (주)라온테크 | 판형 대상물 이송을 위한 그리퍼 장치 |
CN111646188B (zh) * | 2020-06-05 | 2021-11-02 | 赵芳 | 一种食品检测用传送装置 |
JP2023056941A (ja) * | 2021-10-08 | 2023-04-20 | TechMagic株式会社 | 調理容器保持ユニットおよびこれを組み込んだ調理容器自動搬送装置 |
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CN102947060A (zh) | 2013-02-27 |
US8672379B2 (en) | 2014-03-18 |
EP2583797A1 (en) | 2013-04-24 |
JP5489874B2 (ja) | 2014-05-14 |
JP2012000724A (ja) | 2012-01-05 |
CN102947060B (zh) | 2014-10-22 |
EP2583797B1 (en) | 2022-10-12 |
EP2583797A4 (en) | 2018-05-02 |
KR20130031840A (ko) | 2013-03-29 |
US20130099517A1 (en) | 2013-04-25 |
KR101342752B1 (ko) | 2013-12-19 |
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