JPH0319685U - - Google Patents
Info
- Publication number
- JPH0319685U JPH0319685U JP7971689U JP7971689U JPH0319685U JP H0319685 U JPH0319685 U JP H0319685U JP 7971689 U JP7971689 U JP 7971689U JP 7971689 U JP7971689 U JP 7971689U JP H0319685 U JPH0319685 U JP H0319685U
- Authority
- JP
- Japan
- Prior art keywords
- fingers
- support members
- pair
- gripping device
- supported
- 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.)
- Pending
Links
Landscapes
- Automatic Assembly (AREA)
- Feeding Of Workpieces (AREA)
Description
第１図はこの考案の実施例に係る把持装置を示
す一部破断した正面図、第２図は駆動装置の横断
面図、第３図は第２図の−線断面図、第４図
は上記把持装置の左側面図、第５図は第４図の
−線断面図、第６図は第４図の−線断面図
、第７図はワークの把持動作を説明するための平
面図、第８図はこの考案の他の実施例を示す一部
破断した正面図、第９図は従来の把持装置を示す
正面図、第１０図は従来のワークの把持動作を説
明するための平面図である。
５ａ，５ｂ，６ａ，６ｂ……フインガ、４，４
Ａ……支持部材、４ａ……周辺部、Ｗ……ワーク
、Ｍ……軸線。
FIG. 1 is a partially cutaway front view showing a gripping device according to an embodiment of the invention, FIG. 2 is a cross-sectional view of the drive device, FIG. 3 is a cross-sectional view taken along the line -- in FIG. 2, and FIG. A left side view of the gripping device, FIG. 5 is a sectional view taken along the - line in FIG. 4, FIG. 6 is a sectional view taken along the - line in FIG. Fig. 8 is a partially cutaway front view showing another embodiment of this invention, Fig. 9 is a front view showing a conventional gripping device, and Fig. 10 is a plan view for explaining the conventional gripping operation of a workpiece. It is. 5a, 5b, 6a, 6b...finger, 4, 4
A...Support member, 4a...Periphery, W...Workpiece, M...Axis line.
Claims (1)
され、上記２つの支持部材を駆動することにより
上記一対のフインガを互いに近接・離反させて、
ワークの把持動作を行なう把持装置において、上
記２つの支持部材のうち少なくとも一方が、フイ
ンガの移動方向と平行な軸線まわりに回動可能に
設けられるとともに、この支持部材の周辺部に、
形状の異なる複数のフインガが周方向に間隔をあ
けて支持されていることを特徴とする把持装置。 A pair of fingers are individually supported by two support members, and the pair of fingers are moved toward and away from each other by driving the two support members,
In a gripping device that performs a gripping operation on a workpiece, at least one of the two support members is rotatably provided around an axis parallel to the moving direction of the fingers, and a peripheral portion of the support member includes:
A gripping device characterized in that a plurality of fingers of different shapes are supported at intervals in the circumferential direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7971689U JPH0319685U (en) | 1989-07-06 | 1989-07-06 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7971689U JPH0319685U (en) | 1989-07-06 | 1989-07-06 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0319685U true JPH0319685U (en) | 1991-02-26 |
Family
ID=31624125
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7971689U Pending JPH0319685U (en) | 1989-07-06 | 1989-07-06 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0319685U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011240430A (en) * | 2010-05-18 | 2011-12-01 | Star Seiki Co Ltd | Workpiece grasping device |
| JP2013010150A (en) * | 2011-06-28 | 2013-01-17 | Yaskawa Electric Corp | Robot and robot hand |
| JP2016043465A (en) * | 2014-08-26 | 2016-04-04 | 村田機械株式会社 | Chuck device and loader device |
| JP2017504064A (en) * | 2013-12-16 | 2017-02-02 | カーソン オプティカル， インコーポレイテッド | Self-centering device, self-centering method, clamping device, adapter for optical device, and clamping method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS49103356A (en) * | 1973-02-09 | 1974-09-30 | ||
| JPS6161781A (en) * | 1984-09-03 | 1986-03-29 | キヤノン株式会社 | Work holding device |
| JPS635234A (en) * | 1986-06-25 | 1988-01-11 | Shimadzu Corp | 1-2D photometry device |
-
1989
- 1989-07-06 JP JP7971689U patent/JPH0319685U/ja active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS49103356A (en) * | 1973-02-09 | 1974-09-30 | ||
| JPS6161781A (en) * | 1984-09-03 | 1986-03-29 | キヤノン株式会社 | Work holding device |
| JPS635234A (en) * | 1986-06-25 | 1988-01-11 | Shimadzu Corp | 1-2D photometry device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011240430A (en) * | 2010-05-18 | 2011-12-01 | Star Seiki Co Ltd | Workpiece grasping device |
| JP2013010150A (en) * | 2011-06-28 | 2013-01-17 | Yaskawa Electric Corp | Robot and robot hand |
| US8857875B2 (en) | 2011-06-28 | 2014-10-14 | Kabushiki Kaisha Yaskawa Denki | Robot and robot hand |
| JP2017504064A (en) * | 2013-12-16 | 2017-02-02 | カーソン オプティカル， インコーポレイテッド | Self-centering device, self-centering method, clamping device, adapter for optical device, and clamping method |
| JP2016043465A (en) * | 2014-08-26 | 2016-04-04 | 村田機械株式会社 | Chuck device and loader device |