JPH0365686U - - Google Patents
Info
- Publication number
- JPH0365686U JPH0365686U JP1989126907U JP12690789U JPH0365686U JP H0365686 U JPH0365686 U JP H0365686U JP 1989126907 U JP1989126907 U JP 1989126907U JP 12690789 U JP12690789 U JP 12690789U JP H0365686 U JPH0365686 U JP H0365686U
- Authority
- JP
- Japan
- Prior art keywords
- finger
- rod
- baggage
- holding
- scraper
- 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.)
- Granted
Links
- 238000010586 diagram Methods 0.000 description 2
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Description
図面は本考案に係る荷物抱え込みハンドの一実
施例を示すものであり、第1図は一部切欠した正
面図、第2図は機枠左側の揺動リンク機構の詳細
図、第3図は第2図のA−A線矢視断面図、第4
図は機枠左右の揺動リンク機構の動作説明図、第
5A図乃至第5C図は荷物抱え込み動作を順を追
つて示す動作説明図である。
1L,1R……フインガ、2……荷物、3L,
3R……スクレーパ、5……機枠、7L,7R…
…シリンダ、10L,10R……回転軸、11L
,11R……第1原動桿、13L,13R……第
2原動桿、16L,16R……揺動桿、18L,
18R……連結桿、19L,19R……支軸、2
0L,20R……支軸、23L,23R……スラ
イドガイド、24L,24R……スパーギア、2
5L,25R……ラツク、26……スライドバー
。
The drawings show an embodiment of the baggage holding hand according to the present invention, in which Fig. 1 is a partially cutaway front view, Fig. 2 is a detailed view of the swing link mechanism on the left side of the machine frame, and Fig. 3 is a detailed view of the swing link mechanism on the left side of the machine frame. Sectional view taken along line A-A in Figure 2, No. 4
The figure is an explanatory diagram of the operation of the swinging link mechanism on the left and right sides of the machine frame, and FIGS. 5A to 5C are explanatory diagrams of the operation sequentially showing the baggage holding operation. 1L, 1R...Finger, 2...Luggage, 3L,
3R...Scraper, 5...Machine frame, 7L, 7R...
...Cylinder, 10L, 10R...Rotating shaft, 11L
, 11R...first driving rod, 13L, 13R...second driving rod, 16L, 16R...swinging rod, 18L,
18R...Connection rod, 19L, 19R...Spindle, 2
0L, 20R...Spin shaft, 23L, 23R...Slide guide, 24L, 24R...Spur gear, 2
5L, 25R...Rack, 26...Slide bar.
Claims (1)
接続された一対の原動桿の夫々に荷物を左右から
抱え込んで支持するためのフインガを固定すると
共に、同フイガによる抱え込み位置を同フインガ
の内側位置で左右方向から規制するためのスクレ
ーパを揺動桿に固定し、前記フインガの開閉に際
して、左右夫々に配置されたスクレーパを、フイ
ンガが荷物から離脱するまで同荷物に接触させ、
またフインガが荷物を抱え込む前に同荷物に接触
可能に、スクレーパをフインガに連動可能に接続
する連結桿を原動桿と揺動桿に枢支して成る荷物
抱え込みハンド。 2 前記原動桿と連結桿との枢支点を、フインガ
が荷物の抱え込み位置を採る状態においてスクレ
ーパの外方に配置し、揺動桿と連結桿との枢支点
を、荷物抱え込み位置からフインガの先端がスク
レーパの外方に離脱するまでの間に前記原動桿と
連結桿との枢支点が採り得る回動角度のほぼ2等
分線上に位置させて原動桿の枢支点寄りに配置し
た請求項1記載の荷物抱え込みハンド。 3 前記左右に配置された夫々の原動桿の枢軸に
スライドガイドを回転自在に設けると共に、原動
桿の枢軸を中心に夫々の原動桿と一体に回転する
ギアを設け、一方のギアに噛合するラツクを上面
に持ち他方のギアに噛合するラツクを下面に持つ
スライドバーを、前記スライドガイドに摺動自在
に嵌入して成る請求項1又は2記載の荷物抱え込
みハンド。[Scope of Claim for Utility Model Registration] 1. A pair of driving rods operably connected to a rotational drive source provided on the machine frame, each of which has a finger for holding and supporting the load from the left and right sides, and fixing the same. A scraper is fixed to a swinging rod to regulate the holding position by the finger from the left and right at the inside position of the finger, and when the finger is opened and closed, the scrapers placed on the left and right sides are held in the same position until the finger separates from the cargo. contact the baggage,
In addition, the baggage holding hand is made up of a connecting rod that connects the scraper to the finger so that it can be interlocked with the finger so that the finger can come into contact with the baggage before holding the baggage, and is pivoted to the movable rod and the swinging rod. 2. The pivot point between the driving rod and the connecting rod is placed outside the scraper when the finger takes the cargo holding position, and the pivot point between the swinging rod and the connecting rod is moved from the cargo holding position to the tip of the finger. Claim 1, wherein the pivot point of the driving rod and the connecting rod is located on a line that approximately bisects a possible rotation angle and is disposed near the pivot point of the driving rod until the movable rod is detached from the scraper. The baggage carrying hand mentioned above. 3. A slide guide is rotatably provided on the axis of each of the driving rods arranged on the left and right, and a gear is provided that rotates integrally with each driving rod around the axis of the driving rod, and a rack meshes with one of the gears. 3. The baggage holding hand according to claim 1, further comprising a slide bar having a rack on the upper surface and a rack on the lower surface for meshing with the other gear, which is slidably fitted into the slide guide.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1989126907U JPH0637909Y2 (en) | 1989-10-30 | 1989-10-30 | Hand luggage |
KR2019900008542U KR960005144Y1 (en) | 1989-10-30 | 1990-06-18 | Finger member of cargo handling machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1989126907U JPH0637909Y2 (en) | 1989-10-30 | 1989-10-30 | Hand luggage |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH0365686U true JPH0365686U (en) | 1991-06-26 |
JPH0637909Y2 JPH0637909Y2 (en) | 1994-10-05 |
Family
ID=14946845
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP1989126907U Expired - Lifetime JPH0637909Y2 (en) | 1989-10-30 | 1989-10-30 | Hand luggage |
Country Status (2)
Country | Link |
---|---|
JP (1) | JPH0637909Y2 (en) |
KR (1) | KR960005144Y1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013084788A1 (en) * | 2011-12-07 | 2013-06-13 | Thk株式会社 | Parallel link robot |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101232265B1 (en) * | 2011-10-18 | 2013-02-12 | (주)로파 | Industrial robot finger apparatus used link member |
-
1989
- 1989-10-30 JP JP1989126907U patent/JPH0637909Y2/en not_active Expired - Lifetime
-
1990
- 1990-06-18 KR KR2019900008542U patent/KR960005144Y1/en not_active IP Right Cessation
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013084788A1 (en) * | 2011-12-07 | 2013-06-13 | Thk株式会社 | Parallel link robot |
JP2013119135A (en) * | 2011-12-07 | 2013-06-17 | Thk Co Ltd | Parallel link robot |
US9694501B2 (en) | 2011-12-07 | 2017-07-04 | Thk Co., Ltd. | Parallel link robot |
Also Published As
Publication number | Publication date |
---|---|
KR910006988U (en) | 1991-05-27 |
JPH0637909Y2 (en) | 1994-10-05 |
KR960005144Y1 (en) | 1996-06-22 |
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