JPH0429387U - - Google Patents
Info
- Publication number
- JPH0429387U JPH0429387U JP6979590U JP6979590U JPH0429387U JP H0429387 U JPH0429387 U JP H0429387U JP 6979590 U JP6979590 U JP 6979590U JP 6979590 U JP6979590 U JP 6979590U JP H0429387 U JPH0429387 U JP H0429387U
- Authority
- JP
- Japan
- Prior art keywords
- fingers
- plate
- work
- collar
- detects
- 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
- 238000001514 detection method Methods 0.000 claims description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
Description
図面は本考案によるロボツトハンドの１実施例
を示し、第１図は斜視図、第２図は一部切欠側面
図、第３図はハンドリング用ワークの斜視図、第
４図及び第５図はハンドリング用ワークを把持し
た状態の一部切欠側面図及び平面図、第６図は別
のワークを載置した時の一部切欠側面図である。
１……支持体、２……指、３……ハンドリング
用ワーク、３ａ……鍔、４……プレート、６……
圧縮コイルばね、８……接触センサ、９……ワー
ク積載検知センサ、１０……別のワーク。
The drawings show one embodiment of the robot hand according to the present invention, in which Fig. 1 is a perspective view, Fig. 2 is a partially cutaway side view, Fig. 3 is a perspective view of a handling workpiece, and Figs. FIG. 6 is a partially cutaway side view and a plan view of a state in which a handling workpiece is gripped, and FIG. 6 is a partially cutaway side view when another workpiece is placed. 1... Support body, 2... Finger, 3... Handling work, 3a... Tsuba, 4... Plate, 6...
Compression coil spring, 8... Contact sensor, 9... Work loading detection sensor, 10... Another work.
Claims (1)
閉する駆動源を備えた支持体とにより構成された
ロボツトハンドであつて、 前記両指にそれぞれ上下動自在に設けられ前記
両指に把持されたハンドリング用ワークの上面周
縁の鍔が記載されるプレートと、 前記両プレートを上方へ付勢する弾性体と、 前期プレート上に取着され前記鍔が載置された
ことを検知する接触センサと、 前記指に取り付けられ前記両指で把持した前記
ハンドリング用ワーク上に別のワークが載置た時
の前記プレートの沈み込みを検知するワーク積載
検知センサと を備えたロボツトハンド。[Claims for Utility Model Registration] A robot hand consisting of two horizontal fingers that grip a workpiece and a support body equipped with a drive source that opens and closes both fingers, the two fingers each having vertical movement. a plate that is freely provided and on which a collar on the upper surface of the handling workpiece held by the fingers is written; an elastic body that urges both the plates upward; and an elastic body that is attached to the first plate and on which the collar is placed. a contact sensor that detects that the plate has been placed; and a work loading detection sensor that is attached to the finger and detects sinking of the plate when another work is placed on the handling work that is gripped by both fingers. Robot hand with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6979590U JPH0429387U (en) | 1990-06-30 | 1990-06-30 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6979590U JPH0429387U (en) | 1990-06-30 | 1990-06-30 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0429387U true JPH0429387U (en) | 1992-03-09 |
Family
ID=31605408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6979590U Pending JPH0429387U (en) | 1990-06-30 | 1990-06-30 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0429387U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009226550A (en) * | 2008-03-24 | 2009-10-08 | Yaskawa Electric Corp | Hand with oscillating mechanism and substrate carrying device equipped with the same |
-
1990
- 1990-06-30 JP JP6979590U patent/JPH0429387U/ja active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009226550A (en) * | 2008-03-24 | 2009-10-08 | Yaskawa Electric Corp | Hand with oscillating mechanism and substrate carrying device equipped with the same |