JPS6196693U - - Google Patents
Info
- Publication number
- JPS6196693U JPS6196693U JP17993984U JP17993984U JPS6196693U JP S6196693 U JPS6196693 U JP S6196693U JP 17993984 U JP17993984 U JP 17993984U JP 17993984 U JP17993984 U JP 17993984U JP S6196693 U JPS6196693 U JP S6196693U
- Authority
- JP
- Japan
- Prior art keywords
- gripping
- center
- rotation
- rotary actuator
- increases
- 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
- 210000000078 claw Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
Landscapes
- Feeding Of Workpieces (AREA)
Description
第１図は一部を断面で示したこの考案の一実施
例の平面図、第２図は第１図のＡ−Ａ断面図、第
３図はカム状貫通孔の実施例の説明図、第４図は
従来の把持装置の平面図、第５図はその断面図で
ある。
図において、１９は筐体、２１はロータリアク
チユエータ、２３は連動部材、２３Ａはカム状貫
通材、２６は案内棒、２９はベアリング、３０は
案内部材、３０Ａは突起部、３２は爪部材である
。なお各図中同一符号は同一または相当部分を示
す。
Fig. 1 is a plan view of an embodiment of this invention, partially shown in cross section, Fig. 2 is a sectional view taken along line A-A in Fig. 1, and Fig. 3 is an explanatory diagram of an embodiment of the cam-shaped through hole. FIG. 4 is a plan view of a conventional gripping device, and FIG. 5 is a sectional view thereof. In the figure, 19 is a housing, 21 is a rotary actuator, 23 is an interlocking member, 23A is a cam-shaped penetrating member, 26 is a guide rod, 29 is a bearing, 30 is a guide member, 30A is a projection, and 32 is a claw member It is. Note that the same reference numerals in each figure indicate the same or corresponding parts.
Claims (1)
動部材と、この連動部材の回動中心から放射状に
形成され、かつその回動中心から遠くになるに従
つて傾斜角（ｔａｎδ）が、把持力Ｆと上記ロー
タリアクチユエーエータの駆動力Ｔと上記連部材
の回動中心からの半径Ｒとの間にＦ＝Ｔ／Ｒ．ｔ
ａｎδの関係にあり、かつ上記半径Ｒが所定の係
数Ｋを介してＦ＝ＫＲの関係になるようにした複
数のカム状貫通孔と、このカム状貫通孔に貫挿さ
れた複数の把持部とを備え、上記ロータリアクチ
ユエータの作動により上記把持部材が上記連動部
材の回転中心より遠くになるに従い上記把持部材
の把持力が大きくなるようにしたロボツトの把持
装置。 An interlocking member that is repeatedly rotated by a rotary actuator is formed radially from the center of rotation of the interlocking member, and as the distance from the center of rotation increases, the angle of inclination (tan δ) increases with the gripping force F and the above. Between the driving force T of the rotary actuator and the radius R from the center of rotation of the linking member, F=T/R. t
a plurality of cam-shaped through holes having a relationship of an δ and such that the radius R has a relationship of F=KR via a predetermined coefficient K; and a plurality of gripping portions inserted into the cam-shaped through holes. A gripping device for a robot, wherein the gripping force of the gripping member increases as the gripping member becomes farther from the center of rotation of the interlocking member due to the operation of the rotary actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17993984U JPS6196693U (en) | 1984-11-29 | 1984-11-29 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17993984U JPS6196693U (en) | 1984-11-29 | 1984-11-29 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6196693U true JPS6196693U (en) | 1986-06-21 |
Family
ID=30737502
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP17993984U Pending JPS6196693U (en) | 1984-11-29 | 1984-11-29 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6196693U (en) |
-
1984
- 1984-11-29 JP JP17993984U patent/JPS6196693U/ja active Pending
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