• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Double hands for an industrial robot, which have two hand units (2, 3) including at least a pair of fingers (2-1; 2-2; 3-1; 3-2) and plate members (2-3, 3-3) for a push unit (4) provided in parallel with the fingers in a holding center axial direction of the fingers in such a manner that the holding center axes coincide, the plate members (2-3, 3-3) confront one another, and the opening sides of the fingers are directed to opposite sides by connecting them through a pushing mechanism (4). A work passing hole (6) having a center at the holding center axis is provided at the members (2-3, 3-3) of the hand units (2, 3) to freely move with respect to the work held by the hand units (2, 3) of the double hands along the holding axis.
    公开号:SU1179913A3
    申请号:SU823451223
    申请日:1982-06-07
    公开日:1985-09-15
    发明作者:Инаба Хадзиму；Сакакибара Синзуке；Нихеи Рио
    申请人:Фудзицу Фанук Лимитед (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to an industrial robot used for loading and unloading a machined part into a machine, and in particular, relates to the design of the mechanical arm of an industrial robot for gripping a part. The aim of the invention is to provide an alternative gripping of the workpiece with one or another gripper. FIG. 1 shows the brush of a mechanical arm, side view; in fig. 2 the same, top view; Fig, 3 - plate element of the clamping unit, side view; in fig. 4 - clamping mechanism, cut; Fig, 5 - drive mechanism, side view. The mechanical hand includes paired stationary assembly 1 and clamping assembly 2, two guide pins 3 and 4 of stationary assembly 1, a lamellar element 5 of the pressure assembly, two fingers 6 and 7 of assembly 2, clamping tips (grips) 8-P and a plate member 12 clamping knot. Reference numerals 13 and 14 indicate the clamping mechanism and the protrusion for mounting the hand of a mechanical hand, fastened to the stationary node 1. Nodes 1 and 2 have flat gripping surfaces oriented perpendicular to the central axis 15 of the gripper, parallel to the central axis of the gripping a certain distance between them and interconnected by a clamping mechanism 13. The position 16 denotes the item to be machined. In each lamellar element 5 and 12, an opening 17 is provided, coaxial with the central axis 15 of the gripper for mounting the workpiece 16 through the lamellar element. Each lamellar element is designed as a single element consisting of a main section 18, connecting sections 19 and 20 and a front end section 21. Holes 22-24, respectively, are formed in the central part of the front end section 21 and near the horizontal edges of the main section 18. installation of the clamping mechanism. Three clamping mechanism 13 is located between the stationary node 1 and the node .2 clamp. The cone head 25 is fastened to the plate element 12 of the pressing unit 2 with bolts 26, and the head 27 is attached to the plate element 5 of the stationary unit 1 with bolts 28. The upper end of the rod 29 with the conical head, coming from below through the conical head 25, is attached to the head 27 with the bolt 30. Between the conical head 25 and the head 27 there is provided a coil spring 31 coaxially with the rod 29. Thus, the lamellar element 12 of the clamping assembly is stably positioned when the conical part of the rod 29 fits tightly into the cone-shaped opening of the conical head 25 under the action of springs; 31. When a clamping force is applied to the clamping plate 12 in the direction of the plate element 5, the tapered head 25 rises against the force 31 so as to loosen the tapered fit and release the clamping plate element 12 relative to the element 5. The drive mechanism of the node 2 is identical to the design of the stationary assembly 1. The drive mechanism comprises an electromagnetic valve 32, a pneumatic cylinder 33 mechanism, guide rods 34 and 35, rocker 36, a joint axis 37, limit switches 38 and 39, a leash 40 and co corresponding protrusions 41 and 42 of the guide fingers. . In operation, the guide pins of the stationary assembly 1 are in a fully diluted state, wherein the driver 40 acts on the limit switch 38, confirming the fully diluted state of the fingers. When the piston rod of the pneumatic cylinder 33 is pushed out when switching the solenoid valve 32, the protrusion 42 of the pin 4 connected to the piston rod moves to the right, and the link 36 rotates on the axis 37 so that the protrusion 41 of the finger 3 moves to the left along the guide rod 34, then fingers 3 and 4 move in the direction of fully collapsed positions. The fully collapsed position is detected by the limit switch 39. When the solenoid valve switches to the opposite position, all components of the mechanism are moved in opposite directions so that the fingers return to the corresponding positions shown in FIG. 5. The mechanical arm of the invention is suitable for gripping a workpiece, placing this part on the table when the central axis of the part is vertical, and then free movement relative to the part along its central axis (central axis of the grip) even if both hands parallel along the central axis of the grip, since the lamellar elements 5 and 12 provide holes for mounting the workpiece to be machined through these lamellar elements of the pressure unit. Consequently, a change in the position of the gripping part can be easily and quickly provided with a vertical movement of the brush of the mechanical arm, which is preferable for changing the position of the gripping part. Due to the fact that the main portion 18, the front end portion 21 and the connecting portions 19 and 20 of the plate element are combined in one piece, each plate element is quite rigid and does not have an undesirable influence on the action of the clamping mechanism.
    N |
    five

    13
    12
    iS
    19 17 II
    / 22
    (Y
    21

    20


    32 J4r / / / /
    // tf2 38 40 39
    7
    权利要求:
    Claims (1)
    [1]
    MECHANICAL HAND BRUSH containing a fixed unit and two parallel tongs, each having at least two clamping fingers, a clamping node located between the tongs, and a plate element located between the tongs parallel to them, while the open (working) sides of the tongs are opposite directions, one grip is connected with a fixed node, and the second with a clamping node, characterized in that, in order to implement an alternative grip of the workpiece by the first or second grip, the plate element has two parallel plates, in each of which a hole is made for the passage of the workpiece, one plate is attached to the first tong, the second to the second tong, and the clamping unit has three clamping mechanisms located between the plates in additional mounting holes made therein.
    SU „1179913
    Phi a. 1
    类似技术:
    公开号 | 公开日 | 专利标题
    US3574381A|1971-04-13|Clamping tool
    US4540211A|1985-09-10|Jaw assembly
    US3482831A|1969-12-09|Toggle action jaw type gripper
    SU1179913A3|1985-09-15|Mechanical arm hand
    US4484855A|1984-11-27|Double-hand unit
    GB2121760A|1984-01-04|A workpiece transfer device
    KR100501400B1|2005-07-18|air finger
    US4540212A|1985-09-10|Industrial robot hand
    US4449745A|1984-05-22|Toggle action jaw-type gripper
    SU751622A1|1980-07-30|Manipulator gripper
    US4705313A|1987-11-10|Selective gripping of inside and outside of articles
    JP2648794B2|1997-09-03|Robot holding device
    US4667970A|1987-05-26|Long-stroke high-force chuck
    SU1646853A1|1991-05-07|Grip of manipulator
    GB2145690A|1985-04-03|Hand apparatus of a robot
    SU1458222A1|1989-02-15|Gripping device of manipulator
    SU1281366A1|1987-01-07|Arrangement for assembling a beam with flange for welding
    SU716809A2|1980-02-25|Manipulator gripper
    SU1593951A1|1990-09-23|Gripping device
    JP2636384B2|1997-07-30|Robot hand
    SU1007973A1|1983-03-30|Gripping device
    SU1119842A1|1984-10-23|Gripper
    SU759308A1|1980-08-30|Manipulator
    SU1364472A1|1988-01-07|Industrial robot grip
    SU1093543A1|1984-05-23|Grip
    同族专利:
    公开号 | 公开日
    EP0062071A1|1982-10-13|
    JPS5821665Y2|1983-05-09|
    EP0062071A4|1984-02-07|
    EP0062071B1|1986-04-16|
    DE3174410D1|1986-05-22|
    US4488746A|1984-12-18|
    WO1982001157A1|1982-04-15|
    KR850000127Y1|1985-02-13|
    KR830001495U|1983-10-17|
    JPS5768791U|1982-04-24|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    BE789371A|1971-09-29|1973-01-15|Peltzer & Ehlers|DEVICE FOR TRANSPORTING PARTS FROM ONE DIE TO THE NEXT IN MULTI-STAGE PRESSES.|
    JPS5111385B2|1971-11-01|1976-04-10|
    JPS5211813B2|1973-02-24|1977-04-02|
    JPS5412863Y2|1973-04-25|1979-06-04|
    JPS558060B2|1975-07-18|1980-03-01|
    JPS5412863A|1977-06-30|1979-01-30|Seiko Instr & Electronics Ltd|Digital display type electronic watch|
    JPS5950474B2|1979-06-30|1984-12-08|Fuanatsuku Kk|JPS632734B2|1983-06-06|1988-01-20|Kogyo Gijutsuin|
    US4635985A|1984-05-29|1987-01-13|International Business Machines Corporation|Self-pivoting robotic gripper tool|
    JPH0639697B2|1990-11-30|1994-05-25|株式会社芝浦製作所|Substrate loading device|
    US5237468A|1991-10-15|1993-08-17|International Business Machines Corporation|Camera and gripper assembly for an automated storage library|
    DE19605786A1|1996-02-16|1997-08-21|Hoechst Schering Agrevo Gmbh|Oil suspension concentrates|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP1980142632U|JPS5821665Y2|1980-10-08|1980-10-08|
    PCT/JP1981/000269|WO1982001157A1|1980-10-08|1981-10-07|Through double hand|
    [返回顶部]