JP2013129035A - Hand device - Google Patents

Hand device Download PDF

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JP2013129035A
JP2013129035A JP2011281259A JP2011281259A JP2013129035A JP 2013129035 A JP2013129035 A JP 2013129035A JP 2011281259 A JP2011281259 A JP 2011281259A JP 2011281259 A JP2011281259 A JP 2011281259A JP 2013129035 A JP2013129035 A JP 2013129035A
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pair
rotating shaft
hand device
rotation shaft
annular
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JP5638509B2 (en
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Masatoshi Murai
正俊 村井
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Abstract

PROBLEM TO BE SOLVED: To provide a hand device that is reduced in installation space and can readily and quickly change a gripping claw according to an object to be gripped.SOLUTION: The hand device includes: a rotation shaft 3; an actuator 4 for rotating the rotation shaft 3; a pair of gripping members 6 constituted of a pair of annular parts 62 that are restricted from rotating in a circumferential direction relative to the rotation shaft but movable in an axial direction of the rotation shaft 3, and a gripping part 61 fixed to each annular part 62; and a chuck body 1 including a pair of chuck claws 11 for allowing the pair of gripping members 6 to be opened and closed. The pair of gripping members 6 each has an annular recess 67 formed with an axis of the rotation shaft 3 as the center thereof in a circumferential direction of the annular part 62, and the chuck claw 11 meshes with the recess 67 so that the annular part 62 is rotatable.

Description

本発明は、組立作業やハンドリング作業を行う際にロボット等に装着されてワークを把持するハンド装置に関し、特に、ハンドの把持爪の交換作業が不要なハンド装置に関するものである。   The present invention relates to a hand device that is mounted on a robot or the like and grips a workpiece when performing assembly work or handling work, and particularly relates to a hand device that does not require a hand gripping claw replacement operation.

従来、開閉動作するチャック本体と、チャック本体の開閉方向と同方向に開閉可能でチャック本体の開く方向あるいは閉じる方向に常時付勢されているチャック爪部で構成されるハンド装置として特許文献１に示す装置が提案されている。
また、複数個のツール取付部を有して割り出し回転し、ツール取付部にはその割り出し位置で使用するツールが取り付けられているハンド装置として特許文献２に示す装置が提案されている。 Conventionally, Patent Document 1 discloses a hand device composed of a chuck body that opens and closes and a chuck claw portion that can be opened and closed in the same direction as the opening and closing direction of the chuck body and is always biased in the opening direction or closing direction of the chuck body. A device to show has been proposed.
Further, an apparatus shown in Patent Document 2 has been proposed as a hand device in which a plurality of tool attachment portions are indexed and rotated, and a tool used at the indexing position is attached to the tool attachment portion.

特開平５−３８６９１JP 5-38691 特開平５−３０１１８９JP-A-5-301189

特許文献１に示すハンド装置においては、ワーク毎にチャックとチャック爪着脱機構が必要であり、運用コストが高くなるという課題があった。
また、爪の着脱時間が必要であるという課題があった。
更に、特許文献２に示すハンド装置においては、割り出し機構が複雑となる結果、ハンド構成が大きくなり、設置する時に周辺機器と干渉するという課題があった。 In the hand device shown in Patent Document 1, a chuck and a chuck claw attaching / detaching mechanism are required for each workpiece, and there is a problem that the operation cost increases.
Moreover, the subject that the attachment / detachment time of a nail | claw was required occurred.
Furthermore, in the hand device shown in Patent Document 2, as a result of the complicated indexing mechanism, there is a problem that the hand configuration becomes large and interferes with peripheral devices when installed.

本発明は、このような課題を解決するためになされたものであり、設置スペースを取らず、把持対象物に合わせて簡単に、短時間に把持爪の変更ができるハンド装置を提供することを目的とする。   The present invention has been made to solve such a problem, and provides a hand device that can easily change a gripping claw in a short time according to a gripping object without taking up installation space. Objective.

この発明に係るハンド装置は、
回転軸と、
回転軸を回転させる回転アクチュエータと、
回転軸を挿入する貫通孔を有する環状部であって、回転軸に対して周方向の回転を規制され、且つ、回転軸の軸方向には移動可能な一対の環状部及びそれぞれの環状部と一体、又は、環状部に別体として固定された把持部とからなる一対の把持部材と、
一対の把持部材を開閉動作する一対のチャック爪部を有するチャック本体とを有し、
前記一対の把持部材は、それぞれ環状部の周方向に、回転軸の軸芯を中心として設けた円環状の第１凹部又は第１凸部を有し、
一方のチャック爪部は、一方の第１凹部又は第１凸部に、
他方のチャック爪部は、他方の第１凹部又は第１凸部に、
それぞれの環状部が回転可能に噛み合うものである。 The hand device according to the present invention is:
A rotation axis;
A rotary actuator that rotates the rotary shaft;
An annular portion having a through-hole into which the rotating shaft is inserted, a pair of annular portions that are restricted from rotating in the circumferential direction with respect to the rotating shaft and that are movable in the axial direction of the rotating shaft, and the respective annular portions; A pair of gripping members formed of one or a gripping part fixed separately to the annular part;
A chuck body having a pair of chuck claws for opening and closing the pair of gripping members,
The pair of gripping members each have an annular first concave portion or first convex portion provided around the axis of the rotation shaft in the circumferential direction of the annular portion,
One chuck claw is formed in one first concave portion or first convex portion,
The other chuck claw is formed in the other first concave portion or first convex portion,
Each annular part meshes | engages rotatably.

この発明に係るハンド装置は、
回転軸と、
回転軸を回転させる回転アクチュエータと、
回転軸を挿入する貫通孔を有する環状部であって、回転軸に対して周方向の回転を規制され、且つ、回転軸の軸方向には移動可能な一対の環状部及びそれぞれの環状部と一体、又は、環状部に別体として固定された把持部とからなる一対の把持部材と、
一対の把持部材を開閉動作する一対のチャック爪部を有するチャック本体とを有し、
一対の把持部材は、それぞれ環状部の周方向に、回転軸の軸芯を中心として設けた円環状の第１凹部又は第１凸部を有し、
一方のチャック爪部は、一方の第１凹部又は第１凸部に、
他方のチャック爪部は、他方の第１凹部又は第１凸部に、
それぞれの環状部が回転可能に噛み合うものなので、
把持部材を回転アクチュエータにより回転させることにより、部品毎に最適な把持爪で部品を把持できる。
よって、多品種の部品を一つのハンドで把持可能であり、把持爪の着脱動作が不要となり、段取り時間を削減できるハンド装置を提供できる。
また、チャック本体は一つとしつつ、部品毎に異なった把持爪を使用できるので、ハンド装置全体の設置スペースを小さくすることができる。 The hand device according to the present invention is:
A rotation axis;
A rotary actuator that rotates the rotary shaft;
An annular portion having a through-hole into which the rotating shaft is inserted, a pair of annular portions that are restricted from rotating in the circumferential direction with respect to the rotating shaft and that are movable in the axial direction of the rotating shaft, and the respective annular portions; A pair of gripping members formed of one or a gripping part fixed separately to the annular part;
A chuck body having a pair of chuck claws for opening and closing the pair of gripping members,
The pair of gripping members each have an annular first concave portion or first convex portion provided around the axis of the rotation shaft in the circumferential direction of the annular portion,
One chuck claw is formed in one first concave portion or first convex portion,
The other chuck claw is formed in the other first concave portion or first convex portion,
Since each annular part meshes rotatably,
By rotating the gripping member with a rotary actuator, it is possible to grip a component with an optimal gripping claw for each component.
Therefore, it is possible to provide a hand device that can hold a wide variety of parts with a single hand, eliminates the need for attaching / detaching gripping claws, and reduces the setup time.
In addition, since a single grip body can be used for each component while using a single chuck body, the installation space for the entire hand device can be reduced.

本発明の実施の形態１に係るハンド装置の斜視図である。It is a perspective view of the hand apparatus which concerns on Embodiment 1 of this invention. 本発明の実施の形態１に係るハンド装置の開状態における一部断面正面図である。It is a partial cross section front view in the open state of the hand apparatus which concerns on Embodiment 1 of this invention. 本発明の実施の形態１に係るハンド装置の把持部材の斜視図である。It is a perspective view of the holding member of the hand device according to the first embodiment of the present invention. 本発明の実施の形態１に係るハンド装置の把持部材の斜視図及び側面図である。It is the perspective view and side view of the holding member of the hand apparatus which concern on Embodiment 1 of this invention. 本発明の実施の形態１に係るハンド装置の把持部材の断面図である。It is sectional drawing of the holding member of the hand apparatus which concerns on Embodiment 1 of this invention. 本発明の実施の形態１に係るハンド装置の回転軸の斜視図及び側面図である。It is the perspective view and side view of a rotating shaft of the hand apparatus which concern on Embodiment 1 of this invention. 本発明の実施の形態１に係るハンド装置の閉状態における一部断面正面図である。It is a partial cross section front view in the closed state of the hand apparatus which concerns on Embodiment 1 of this invention. 本発明の実施の形態２に係るハンド装置の把持部材の斜視図及び側面図である。It is the perspective view and side view of the holding member of the hand apparatus which concern on Embodiment 2 of this invention. 本発明の実施の形態２に係るハンド装置の把持部材の断面図である。It is sectional drawing of the holding member of the hand apparatus which concerns on Embodiment 2 of this invention.

実施の形態１．
以下、この発明の実施の形態１を図を用いて説明する。
図１は、ハンド装置１００の斜視図である。
図２は、ハンド装置１００の開状態における一部断面正面図である。
チャック本体１は、図２の左右方向に開閉動作可能な一対のチャック爪部１１を有する。
このチャック本体１は、固定フランジ２に固定されている。
また、チャック本体１は、チャック爪部１１を開閉可能なアクチュエータを内蔵している。
このアクチュエータとしては、安価にはエア式を用いるが、ストローク可変機能を必要とする場合は電動式を用いる。 Embodiment 1 FIG.
Embodiment 1 of the present invention will be described below with reference to the drawings.
FIG. 1 is a perspective view of the hand device 100.
FIG. 2 is a partial cross-sectional front view of the hand device 100 in the open state.
The chuck body 1 has a pair of chuck claws 11 that can be opened and closed in the left-right direction in FIG.
The chuck body 1 is fixed to a fixed flange 2.
The chuck body 1 has a built-in actuator that can open and close the chuck claw portion 11.
As this actuator, an air type is used at low cost, but an electric type is used when a variable stroke function is required.

固定フランジ２には、回転軸３が回転可能に支持されている。
回転軸３は、固定フランジ２に固定され、回転アクチュエータ４に接続されていて、この回転アクチュエータ４によって回転駆動される。
回転アクチュエータ４としては、安価にはエア式を用いるが、ストローク可変機能を必要とする場合は電動式を用いる。 A rotating shaft 3 is rotatably supported on the fixed flange 2.
The rotary shaft 3 is fixed to the fixed flange 2 and connected to the rotary actuator 4, and is rotated by the rotary actuator 4.
As the rotary actuator 4, an air type is used at low cost, but an electric type is used when a variable stroke function is required.

図３は、ハンド装置１００に備える一対の把持部材６の一方の斜視図である。
図４（ａ）は、把持部材６の他の斜視図であり、図４（ｂ）は把持部材６の側面図である。
図５は、把持部材６の断面図である。
把持部材６は、両端にハンド装置１００で取り扱う部品形状に最適な２つの把持爪６４、６５を有する把持部６１と、軸方向に回転軸３を挿入する貫通孔６３を有する環状部６２とで構成されていて、環状部６２の貫通孔６３は把持部６１まで連通している。
また、貫通孔６３の内周面には環状部６２の軸方向に伸びる凹型の溝６６（特許請求の範囲における第２凹部に相当）を設けている。 FIG. 3 is a perspective view of one of the pair of gripping members 6 provided in the hand device 100.
FIG. 4A is another perspective view of the gripping member 6, and FIG. 4B is a side view of the gripping member 6.
FIG. 5 is a cross-sectional view of the gripping member 6.
The gripping member 6 includes a gripping portion 61 having two gripping claws 64 and 65 that are optimal for the part shape handled by the hand device 100 at both ends, and an annular portion 62 having a through-hole 63 into which the rotary shaft 3 is inserted in the axial direction. The through-hole 63 of the annular portion 62 communicates with the grip portion 61.
In addition, a concave groove 66 (corresponding to the second concave portion in the claims) extending in the axial direction of the annular portion 62 is provided on the inner peripheral surface of the through hole 63.

図６（ａ）は、回転軸３の斜視図であり、図６（ｂ）はその側面図である。
回転軸３は、円柱形状をしていて、固定フランジ２により回転可能に支持されるとともに水平方向の移動は規制されている。
図に示すように、回転軸３には２箇所に、それぞれ１８０度の位相差をもって径方向に突出する２つの回転軸突起部３１（特許請求の範囲における第３凸部に相当）を設けている。
回転軸突起部３１は、回転軸３に対し完全に固定されたものであり、安価に構成するには、例えばピン形状の部品を圧入して構成する。
この回転軸突起部３１が先述の溝６６に収まるように、回転軸３を一対の把持部材６に挿入して取り付ける。 6A is a perspective view of the rotating shaft 3, and FIG. 6B is a side view thereof.
The rotating shaft 3 has a cylindrical shape, is rotatably supported by the fixed flange 2, and is restricted from moving in the horizontal direction.
As shown in the figure, the rotary shaft 3 is provided with two rotary shaft protrusions 31 (corresponding to the third convex portion in the claims) that protrude in the radial direction with a phase difference of 180 degrees at two locations. Yes.
The rotating shaft protrusion 31 is completely fixed to the rotating shaft 3 and is configured by press-fitting, for example, a pin-shaped component in order to configure it at a low cost.
The rotating shaft 3 is inserted and attached to the pair of gripping members 6 so that the rotating shaft protrusion 31 is accommodated in the groove 66 described above.

図５に示すように、把持部材６の環状部６２の外周面には、その周方向の全周に渡って、チャック爪部１１の先端が挿入されるチャック溝６７（特許請求の範囲における第１凹部に相当）が形成されている。   As shown in FIG. 5, on the outer peripheral surface of the annular portion 62 of the gripping member 6, a chuck groove 67 into which the tip of the chuck claw portion 11 is inserted over the entire circumference in the circumferential direction. Equivalent to one recess).

次に、ハンド装置１００の動作を説明する。
図２は、ハンド装置１００の一対のチャック爪部１１が開いた状態における一部断面正面図であり、図７は、閉じた状態における一部断面正面図である。 Next, the operation of the hand device 100 will be described.
2 is a partial cross-sectional front view of the hand device 100 in a state where the pair of chuck claws 11 are open, and FIG. 7 is a partial cross-sectional front view of the hand device 100 in a closed state.

これらの図を用いて把持部材６の開閉動作について説明する。
把持部材６は、回転軸３の回転軸突起部３１により回転軸３の周方向への回転は規制されているが、回転軸３の軸方向への平行移動は、回転軸突起部３１が溝６６の中を回転軸３の軸方向に摺動できるので可能である。
また、チャック爪部１１の先端部は、回転軸３の回転位相に関係なく常にチャック溝６７に挿入された位置関係に存在する。
したがって、チャック爪部１１がチャック本体１に内蔵するアクチュエータにより開閉動作を行うと、把持部材６はチャック爪部１１の動作に連動して左右方向に開閉動作を実施する。 The opening / closing operation of the gripping member 6 will be described with reference to these drawings.
In the gripping member 6, the rotation of the rotation shaft 3 in the circumferential direction is restricted by the rotation shaft protrusion 31 of the rotation shaft 3. This is possible because it can slide in the axial direction of the rotary shaft 3.
Further, the tip end portion of the chuck claw portion 11 always exists in the positional relationship inserted into the chuck groove 67 regardless of the rotational phase of the rotary shaft 3.
Therefore, when the chuck claw portion 11 is opened and closed by the actuator built in the chuck body 1, the gripping member 6 performs the opening and closing operation in the left-right direction in conjunction with the operation of the chuck claw portion 11.

把持部材６を閉動作させると、把持部材６の下端の把持爪６４により対象部品を把持し、組立・搬送を実施できる。
ここで、把持部材６の溝６６は、回転軸突起部３１に対し開閉動作により歯合が外れないように十分な長さを有している。 When the gripping member 6 is closed, the target part can be gripped by the gripping claws 64 at the lower end of the gripping member 6 and can be assembled and transported.
Here, the groove 66 of the gripping member 6 has a sufficient length so as not to be disengaged from the rotating shaft projection 31 by an opening / closing operation.

次に、把持爪の段取り換えの方法について説明する。
回転アクチュエータ４により回転軸３を回転させると、回転軸突起部３１と溝６６が歯合しているので、把持部材６も回転する。
本実施例では回転軸を１８０°回転することにより、把持部６の把持爪６４と把持爪６５の位置関係が反転する。
これにより、把持爪６５に対応した部品の把持が可能となる。
この時、把持部材６のチャック溝６７にチャック爪部１１の先端が挿入されていることにより、把持部材６の開閉方向の動きは規制されている。 Next, a method for replacing the holding claws will be described.
When the rotary shaft 3 is rotated by the rotary actuator 4, since the rotary shaft protrusion 31 and the groove 66 are engaged, the gripping member 6 is also rotated.
In this embodiment, the positional relationship between the gripping claws 64 and the gripping claws 65 of the gripping portion 6 is reversed by rotating the rotation shaft by 180 °.
Thereby, it is possible to grip a part corresponding to the gripping claw 65.
At this time, the movement of the gripping member 6 in the opening / closing direction is restricted by the tip of the chuck claw portion 11 being inserted into the chuck groove 67 of the gripping member 6.

本実施例では、把持部６１の爪形状は２種類としたが、回転アクチュエータ４の位置決め点を多数設け、それぞれに対応する溝６６と把持爪を設けて多部品に対応することが可能である。   In this embodiment, the gripping part 61 has two types of claw shapes, but it is possible to provide a large number of positioning points of the rotary actuator 4 and provide corresponding grooves 66 and gripping claws to correspond to multiple parts. .

また、本実施例の中で説明した凹部、凸部の関係は逆であっても良い。
例えば、チャック溝６７を１つのフランジとし、チャック爪１１の先端部に凹部を設け、フランジ部分が凹部に挿入された状態で回転軸３が回転可能となる構成としても良い。
溝６６と、回転軸突起部３１の形状の関係についても同様である。 Further, the relationship between the concave portion and the convex portion described in the present embodiment may be reversed.
For example, the chuck groove 67 may be a single flange, a recess may be provided at the tip of the chuck claw 11, and the rotary shaft 3 may be rotated with the flange portion inserted into the recess.
The same applies to the relationship between the shape of the groove 66 and the rotation shaft protrusion 31.

本発明の実施の形態１に係るハンド装置１００によれば、把持部材６を回転アクチュエータ４により回転させることにより、部品毎に最適な把持爪で部品を把持できる。
よって、多品種の部品を一つのハンドで把持可能であり、把持爪の着脱動作が不要となり、段取り時間を削減できるハンド装置を提供できる。
また、チャック本体は一つとしつつ、部品毎に異なった把持爪を使用できるので、ハンド装置１００全体の設置スペースを小さくすることができる。 According to the hand device 100 according to the first embodiment of the present invention, the gripping member 6 is rotated by the rotary actuator 4, whereby the component can be gripped with an optimal gripping claw for each component.
Therefore, it is possible to provide a hand device that can hold a wide variety of parts with a single hand, eliminates the need for attaching / detaching gripping claws, and reduces the setup time.
In addition, since a single gripping claw can be used for each component while using only one chuck body, the installation space for the entire hand device 100 can be reduced.

実施の形態２．
本発明の実施の形態２を図を用いて実施の形態１と異なる部分を中心に説明する。
図８（ａ）は、本発明の実施の形態２に係るハンド装置の把持部材２０６の斜視図であり、図８（ｂ）は、その側面図である。
図９は、把持部材２０６の断面図である。
実施の形態１では回転軸３を円柱形状として外周面に回転軸突起部３１を設け、貫通孔６３の内周面に、回転軸３の軸方向に伸びる溝６６を設け、回転軸突起部３１を溝６６に歯合することによって、把持部材６の回転軸の周方向への回転を規制し、軸方向への移動を可能としていた。
本実施の形態では、回転軸を４角柱とし、貫通孔２６３を、軸方向の断面が四角形となるように設けている。
これにより、実施の形態１と同様に、把持部材２０６の回転軸の周方向への回転を規制し、同時に、軸方向への移動を可能とすることができる。 Embodiment 2. FIG.
The second embodiment of the present invention will be described with reference to the drawings, focusing on the differences from the first embodiment.
FIG. 8A is a perspective view of the gripping member 206 of the hand device according to the second embodiment of the present invention, and FIG. 8B is a side view thereof.
FIG. 9 is a cross-sectional view of the gripping member 206.
In the first embodiment, the rotation shaft 3 has a cylindrical shape, the rotation shaft protrusion 31 is provided on the outer peripheral surface, the groove 66 extending in the axial direction of the rotation shaft 3 is provided on the inner peripheral surface of the through hole 63, and the rotation shaft protrusion 31 is provided. Is engaged with the groove 66, thereby restricting the rotation of the gripping member 6 in the circumferential direction of the rotating shaft and enabling movement in the axial direction.
In the present embodiment, the rotation axis is a quadrangular prism, and the through hole 263 is provided so that the cross section in the axial direction is a quadrangle.
Thereby, similarly to the first embodiment, the rotation of the gripping member 206 in the circumferential direction of the rotation shaft can be restricted, and at the same time, the movement in the axial direction can be enabled.

なお、本実施の形態では、軸方向に対する断面が四角形の回転軸を使用したが、断面が三角形でも楕円形でも、円以外であれば回転突起部を設ける必要がない。   In the present embodiment, a rotation axis having a quadrangular cross section with respect to the axial direction is used. However, it is not necessary to provide a rotating projection if the cross section is a triangle or an ellipse and is not a circle.

本発明の実施の形態２に係るハンド装置によれば、実施の形態１で記載した効果と同様の効果を得ることができる。
更に、回転軸突起部と貫通孔の内周面に溝を設ける必要が無いので、部品点数を少なく装置を構成できるという効果がある。 According to the hand device according to the second embodiment of the present invention, the same effects as those described in the first embodiment can be obtained.
Furthermore, since it is not necessary to provide grooves on the inner peripheral surfaces of the rotating shaft protrusion and the through hole, there is an effect that the apparatus can be configured with a reduced number of parts.

なお、本発明は、その発明の範囲内において、各実施の形態を自由に組み合わせたり、各実施の形態を適宜、変形、省略することが可能である。   It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

１００ ハンド装置、１ チャック本体、１１ チャック爪部、２ 固定フランジ、
３ 回転軸、３１ 回転軸突起部、４ 回転アクチュエータ、６，２０６ 把持部材、
６１ 把持部、６２ 環状部、６３，２６３ 貫通孔、６４，６５ 把持爪、６６ 溝、６７ チャック溝。 100 hand device, 1 chuck body, 11 chuck claw, 2 fixing flange,
3 rotating shaft, 31 rotating shaft protrusion, 4 rotating actuator, 6,206 gripping member,
61 gripping part, 62 annular part, 63,263 through hole, 64,65 gripping claw, 66 groove, 67 chuck groove.

Claims (7)

回転軸と、
前記回転軸を回転させる回転アクチュエータと、
前記回転軸を挿入する貫通孔を有する環状部であって、前記回転軸に対して周方向の回転を規制され、且つ、前記回転軸の軸方向には移動可能な一対の環状部、及びそれぞれの前記環状部と一体、又は、前記環状部に別体として固定された把持部とからなる一対の把持部材と、
前記一対の把持部材を前記回転軸の軸方向に開閉動作する一対のチャック爪部を有するチャック本体とを有し、
前記一対の把持部材は、それぞれ前記環状部の周方向に、前記回転軸の軸芯を中心として設けた円環状の第１凹部又は第１凸部を有し、
一方の前記チャック爪部は、一方の前記第１凹部又は前記第１凸部に、
他方の前記チャック爪部は、他方の前記第１凹部又は前記第１凸部に、
それぞれの前記環状部が回転可能に噛み合うハンド装置。 A rotation axis;
A rotary actuator for rotating the rotary shaft;
A pair of annular portions each having a through-hole into which the rotation shaft is inserted, the rotation of the rotation shaft in the circumferential direction being restricted with respect to the rotation shaft, and movable in the axial direction of the rotation shaft; and A pair of gripping members that are integrated with the annular portion or a gripping portion fixed separately to the annular portion;
A chuck body having a pair of chuck claws for opening and closing the pair of gripping members in the axial direction of the rotation shaft;
The pair of gripping members each have an annular first concave portion or first convex portion provided around the axis of the rotating shaft in the circumferential direction of the annular portion,
One of the chuck claws is on one of the first concave portion or the first convex portion,
The other chuck claw portion is formed on the other first concave portion or the first convex portion,
A hand device in which each of the annular portions meshes rotatably. 前記把持部は、前記回転軸の周方向に異なる形状の複数の把持爪を有する請求項１に記載のハンド装置。 The hand device according to claim 1, wherein the grip portion includes a plurality of grip claws having different shapes in a circumferential direction of the rotation shaft. 前記回転軸の軸方向に垂直な断面は円形以外の形状であり、
前記貫通孔の前記回転軸に対して垂直な断面形状は、前記回転軸の軸方向に垂直な断面形状と等しい請求項１又は請求項２に記載のハンド装置。 The cross section perpendicular to the axial direction of the rotating shaft has a shape other than a circle,
The hand device according to claim 1 or 2, wherein a cross-sectional shape perpendicular to the rotation axis of the through hole is equal to a cross-sectional shape perpendicular to the axial direction of the rotation shaft. 前記回転軸の軸方向に垂直な断面は円形であり、
前記貫通孔の内周面は、前記回転軸の軸方向に伸びる第２凸部又は第２凹部を有し、
前記回転軸の外周に設けた第３凹部が前記第２凸部と、又は、第３凸部が前記第２凹部と
、前記環状部が前記回転軸の軸方向に摺動可能に噛み合っている請求項１又は請求項２に記載のハンド装置。 The cross section perpendicular to the axial direction of the rotating shaft is circular,
The inner peripheral surface of the through hole has a second convex portion or a second concave portion extending in the axial direction of the rotating shaft,
The third concave portion provided on the outer periphery of the rotating shaft meshes with the second convex portion, or the third convex portion meshes with the second concave portion, and the annular portion is slidable in the axial direction of the rotating shaft. The hand apparatus according to claim 1 or 2. 前記第３凸部は、前記回転軸の外周面から、前記回転軸の径方向外側に突出するピンである請求項４に記載のハンド装置。 5. The hand device according to claim 4, wherein the third convex portion is a pin that protrudes radially outward of the rotating shaft from an outer peripheral surface of the rotating shaft. 前記チャック爪部は、エア又は電動で駆動する請求項１乃至請求項５のいずれか１項に記載のハンド装置。 The hand device according to any one of claims 1 to 5, wherein the chuck claw portion is driven by air or electricity. 前記回転アクチュエータは、エア又は電動で駆動する請求項１乃至請求項６のいずれか１項に記載のハンド装置。 The hand device according to any one of claims 1 to 6, wherein the rotary actuator is driven by air or electricity.
JP2011281259A 2011-12-22 2011-12-22 Hand device Expired - Fee Related JP5638509B2 (en)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61166791U (en) * 1985-04-03 1986-10-16
JPH0538691A (en) * 1991-07-31 1993-02-19 Sankyo Seiki Mfg Co Ltd Chuck device
JPH05301189A (en) * 1992-04-24 1993-11-16 Sanyo Electric Co Ltd Turret type robot and its hand
WO1994003391A1 (en) * 1992-07-31 1994-02-17 Gian Carlo Brazzelli Automatic refuelling station
JPH06143181A (en) * 1992-11-07 1994-05-24 Kitagawa Iron Works Co Ltd Robot hand device
JP2011156649A (en) * 2010-02-04 2011-08-18 Yaskawa Electric Corp Gripper device and method for changing stroke amount thereof
JP2011189418A (en) * 2010-03-12 2011-09-29 Ihi Corp Robot hand

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61166791U (en) * 1985-04-03 1986-10-16
JPH0538691A (en) * 1991-07-31 1993-02-19 Sankyo Seiki Mfg Co Ltd Chuck device
JPH05301189A (en) * 1992-04-24 1993-11-16 Sanyo Electric Co Ltd Turret type robot and its hand
WO1994003391A1 (en) * 1992-07-31 1994-02-17 Gian Carlo Brazzelli Automatic refuelling station
JPH06143181A (en) * 1992-11-07 1994-05-24 Kitagawa Iron Works Co Ltd Robot hand device
JP2011156649A (en) * 2010-02-04 2011-08-18 Yaskawa Electric Corp Gripper device and method for changing stroke amount thereof
JP2011189418A (en) * 2010-03-12 2011-09-29 Ihi Corp Robot hand

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