JPS6218317B2 - - Google Patents
Info
- Publication number
- JPS6218317B2 JPS6218317B2 JP8089382A JP8089382A JPS6218317B2 JP S6218317 B2 JPS6218317 B2 JP S6218317B2 JP 8089382 A JP8089382 A JP 8089382A JP 8089382 A JP8089382 A JP 8089382A JP S6218317 B2 JPS6218317 B2 JP S6218317B2
- Authority
- JP
- Japan
- Prior art keywords
- claws
- article
- gripping device
- main body
- pneumatic pressure
- 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.)
- Expired
Links
- 210000000078 claw Anatomy 0.000 claims description 14
- 239000012530 fluid Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
Landscapes
- Manipulator (AREA)
Description
【発明の詳細な説明】
本発明は主として、組立工程に使用されるロボ
ツト等における部品の把持装置に関するものであ
る。組立工程では大小、厚薄さまざまな種類の部
品を取扱う必要があるが、従来のハンドではこれ
ら多様な部品への対応性に欠けていた。DETAILED DESCRIPTION OF THE INVENTION The present invention primarily relates to a gripping device for parts in a robot or the like used in an assembly process. In the assembly process, it is necessary to handle various types of parts, large and small, thick and thin, and conventional hands lacked the ability to handle these diverse parts.
本発明は上記従来の欠点に鑑み、これら多様な
部品の取扱いを可能にした把持装置を提供するも
のである。 In view of the above-mentioned conventional drawbacks, the present invention provides a gripping device that allows handling of these various parts.
以下に本発明の一実施例における物品把持装置
について図面を参考に説明する。 An article gripping device according to an embodiment of the present invention will be described below with reference to the drawings.
第１図において、１はハンド本体で、このハン
ド本体１には、圧力流体を連通させる一つの流路
２と、２個の爪５，６を摺動自在に支持するガイ
ド７，８及び２個の径の異なるシリンダー９，１
０が流路２の左右に同軸的に配設されている。前
記両シリンダー９，１０内には、摺動可能に挿入
され、圧力流体によりそれぞれ左右に押圧される
ピストン３，４を有する。前記爪５，６間には前
記ピストン３，４を押圧していた圧力流体が断た
れると前記爪５，６が部品の把持を解く力を与え
るためのスプリング１１が取付けられている。ま
た、第２図において、前記爪５，６内下部には、
部品吸着用の流体路１４，１７が設けられ、該流
体路１４，１７の一方は開口部１５，１８が設け
られ、この開口部１５，１８と真空発生器（図示
せず）とを柔軟性を持つた管２４，２５で接続し
ている。上記流体路１４，１７の他端は爪５，６
の下端部に設けた開口１６，１９に接合してい
る。 In FIG. 1, reference numeral 1 denotes a hand body, and the hand body 1 includes one channel 2 for communicating pressurized fluid, and guides 7, 8 and 2 that slidably support two claws 5, 6. cylinders 9, 1 with different diameters
0 are disposed coaxially on the left and right sides of the flow path 2. Pistons 3 and 4 are slidably inserted into the cylinders 9 and 10 and are pushed left and right by pressure fluid, respectively. A spring 11 is installed between the pawls 5 and 6 to provide a force for the pawls 5 and 6 to release the grip on the component when the pressure fluid pressing the pistons 3 and 4 is cut off. In addition, in FIG. 2, the inner lower part of the claws 5 and 6 includes
Fluid paths 14 and 17 for component suction are provided, and one of the fluid paths 14 and 17 is provided with openings 15 and 18, and the openings 15 and 18 are connected to a vacuum generator (not shown) by a flexible They are connected by pipes 24 and 25 with a handle. The other ends of the fluid passages 14 and 17 are provided with claws 5 and 6.
It is joined to openings 16 and 19 provided at the lower end of the.
以上のように構成された物品把持装置におい
て、以下その動作を説明する。 The operation of the article gripping device configured as described above will be explained below.
第４図に示すように、空圧源からの圧力流体は
弁２６を介して第１図の前記両シリンダー９，１
０にて前記両ピストン３，４を押圧し、この各ピ
ストン３，４が前記爪５，６の上部突起部５ａ，
６ａのハンド本体１側にそれぞれ当接することに
より、平行に並んでいるガイド７，８に案内され
て前記爪５，６が外側に平行移動し、コの字型の
両爪５，６の上部突起部と反対の下部は、相対向
する面に近づくように平行移動し、部品を把持す
る動作を与える。また、真空吸着に関しては、第
４図に示すように、空圧源から弁２０あるいは弁
２１を介してそれぞれ負圧発生器２２，２３によ
り管２４，２５を経て前記各爪５，６にて第６図
に示すように部品吸着を行なうか、あるいは、同
時に弁２０，２１を介して負圧発生器２２，２３
より管２４，２５を経て前記各爪５，６にて第７
図に示すように部品吸着を行なう。 As shown in FIG. 4, pressurized fluid from a pneumatic source passes through a valve 26 to both cylinders 9 and 1 of FIG.
0, the pistons 3 and 4 are pressed against the upper protrusions 5a and 4 of the claws 5 and 6, respectively.
By abutting the hand body 1 side of 6a, the claws 5 and 6 are guided by the parallel guides 7 and 8 to move outward in parallel, and the upper parts of the U-shaped claws 5 and 6 are moved outward. The lower portion opposite the protrusion translates in parallel toward the opposing surface to provide a gripping action on the part. Regarding vacuum suction, as shown in FIG. Either the components are suctioned as shown in FIG. 6, or negative pressure generators 22 and 23 are simultaneously
through the tubes 24 and 25 and the seventh
Component suction is performed as shown in the figure.
なお、本実施例において、爪５，６はガイド
７，８により摺動自在に支持されるよう構成した
が、第３図に示すように２個の爪１０５，１０６
を支点１０７，１０８を介して回動自在に支持し
てもよく、また、第１図にて部品の把持を解く力
を与えるスプリング１１は、これと反対側にもう
一つ加えてもよい。さらに、第１図の爪５，６は
第２図に示すように爪本体と真空吸着部に分
離した構造でもよい。 In this embodiment, the claws 5 and 6 are configured to be slidably supported by the guides 7 and 8, but as shown in FIG.
may be rotatably supported via fulcrums 107 and 108, and another spring 11, which applies the force to release the grip of the component in FIG. 1, may be added on the opposite side. Furthermore, the claws 5 and 6 shown in FIG. 1 may have a structure in which they are separated into a claw body and a vacuum suction part, as shown in FIG. 2.
以上の実施例の説明から明らかなように、本発
明の物品把持装置は、大物あるいは厚物部品は爪
にて把持し、小物あるいは薄物部品は真空吸着す
ることが可能で、多様な部品への対応が可能とな
り、その工業的価値は大なるものがある。 As is clear from the description of the embodiments above, the article gripping device of the present invention is capable of gripping large or thick parts with its claws, vacuum suctioning small or thin parts, and is capable of gripping various parts. It has become possible to respond, and its industrial value is great.
第１図は本発明の一実施例におけるロボツトハ
ンドの一部を断面した立体図、第２図は第１図の
一部を断面した正面図、第３図は第２の実施例に
おけるロボツトハンドの一部を断面した正面図、
第４図は空気回路の説明図、第５〜７図は被把持
物の大きさに対応した把持状態を示す説明図であ
る。
１……ハンド本体、２……圧力流路、３，４…
…ピストン、５，６……爪、７，８……ガイド、
９，１０……シリンダー、１４，１７……流体
路、１５，１６，１８，１９……開口部、２４，
２５……管、……爪本体、……真空吸着部。
Fig. 1 is a partially sectional three-dimensional view of a robot hand according to an embodiment of the present invention, Fig. 2 is a partially sectional front view of Fig. 1, and Fig. 3 is a robot hand according to a second embodiment. A partially sectional front view of
FIG. 4 is an explanatory diagram of the air circuit, and FIGS. 5 to 7 are explanatory diagrams showing gripping states corresponding to the size of the object to be gripped. 1...Hand body, 2...Pressure flow path, 3, 4...
...Piston, 5, 6...Claw, 7, 8...Guide,
9, 10... Cylinder, 14, 17... Fluid path, 15, 16, 18, 19... Opening, 24,
25...Tube,...Claw body,...Vacuum suction part.
Claims (1)
付けられ、アクチユエータによつて上記ハンド本
体に対し相対移動して物品を把持する一対の爪と
を有し、上記少なくとも一方の爪には物品を吸着
する吸着孔を上記爪の下端に設け、この吸着孔と
真空発生器とを連結した物品把持装置。 ２ 上記アクチユエータを空圧により作動するよ
う構成し、この空圧源を上記真空発生器の空圧源
と共用するようにした特許請求の範囲第１項記載
の部品把持装置。[Scope of Claims] 1. A hand main body, and a pair of claws having one end attached to the hand main body and configured to move relative to the hand main body by an actuator to grip an article; An article gripping device in which a suction hole for suctioning an article is provided at the lower end of the claw, and the suction hole is connected to a vacuum generator. 2. The component gripping device according to claim 1, wherein the actuator is configured to be operated by pneumatic pressure, and this pneumatic pressure source is shared with the pneumatic pressure source of the vacuum generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57080893A JPS58196993A (en) | 1982-05-13 | 1982-05-13 | Gripper for article |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57080893A JPS58196993A (en) | 1982-05-13 | 1982-05-13 | Gripper for article |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS58196993A JPS58196993A (en) | 1983-11-16 |
| JPS6218317B2 true JPS6218317B2 (en) | 1987-04-22 |
Family
ID=13731036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57080893A Granted JPS58196993A (en) | 1982-05-13 | 1982-05-13 | Gripper for article |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58196993A (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4611846A (en) * | 1984-10-23 | 1986-09-16 | Amp Incorporated | Gripper head |
| JPS6225188U (en) * | 1985-07-30 | 1987-02-16 | ||
| JPH01101787U (en) * | 1987-12-25 | 1989-07-10 | ||
| JPH02110492U (en) * | 1989-02-16 | 1990-09-04 | ||
| EP3263292B1 (en) * | 2016-06-28 | 2025-07-16 | Tata Consultancy Services Limited | Adaptive gripper device |
-
1982
- 1982-05-13 JP JP57080893A patent/JPS58196993A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS58196993A (en) | 1983-11-16 |
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