JPH0429384U - - Google Patents

Description

【図面の簡単な説明】[Brief explanation of the drawing]

第１図はロボツトハンドの斜視図、第２図はチ
ヤツク装置の内部機構図、第３図はロボツトハン
ドの底面図、第４，５図は下ハンド本体の平面図
と側面図、第６図は第５図Ｘ−Ｘ線矢視図、第７
図はセンサー鉄筋の位置関係図、第８図はロボツ
トハンドの使用状態を示す斜視図、第９図はロボ
ツトハンドの側面図、第１０図は上下ハンド本体
で鉄筋を挟持した状態の部分拡大図、第１１、１
２図は鉄筋を移載する状態を示す斜視図である。 Ａ……ロボツトハンド、１……アーム、２……
チヤツク装置、３，４……作動桿、５……上ハン
ド本体、六……下ハンド本体、７，８……爪、９
，１０……プツシヤー、１１，１２……ラツク、
１３，１４……ピニオン、１５，１６……ラツク
、１７……両面ラツク、１８……内部シリンダー
、１９……ピストンロツド、２１〜２６……孔、
２７……ネジ孔、２８……ネジ、２９……シユー
ト、３０……分配台、３１……切欠、３２……押
えレバー、３３……案内ガイド、３４……プツシ
ヤーロツド、３５……矢印、３６……点線、ａ，
ａ１〜ａ３，ａ′１〜ａ′５，ａ”１〜ａ”４…
…鉄筋、ｓ１〜ｓ６……近接センサー、Ｌ１〜Ｌ
６……距離。 Figure 1 is a perspective view of the robot hand, Figure 2 is a diagram of the internal mechanism of the chuck device, Figure 3 is a bottom view of the robot hand, Figures 4 and 5 are a plan view and side view of the lower hand body, and Figure 6 is a diagram of the robot hand. Figure 5: X-X arrow view, Figure 7
The figure shows the positional relationship of the sensor reinforcing bars, Figure 8 is a perspective view showing how the robot hand is used, Figure 9 is a side view of the robot hand, and Figure 10 is a partially enlarged view of the reinforcing bar being held between the upper and lower hand bodies. , No. 11, 1
FIG. 2 is a perspective view showing a state in which reinforcing bars are transferred. A... Robot hand, 1... Arm, 2...
Chuck device, 3, 4... Operating rod, 5... Upper hand body, 6... Lower hand body, 7, 8... Claw, 9
, 10... Pushya, 11, 12... Lack,
13, 14... Pinion, 15, 16... Rack, 17... Double-sided rack, 18... Internal cylinder, 19... Piston rod, 21-26... Hole,
27...screw hole, 28...screw, 29...chute, 30...distribution table, 31...notch, 32...presser lever, 33...guidance guide, 34...pusher rod, 35...arrow, 36 ...Dotted line, a,
a1 to a3, a'1 to a'5, a"1 to a"4...
...Reinforcing bar, s1-s6...Proximity sensor, L1-L
6...Distance.

Claims (1)

【実用新案登録請求の範囲】 (1) 鉄筋を一列に並べて挟持すべく平行に配設
された一対のハンド本体と、該ハンド本体を開閉
させるチヤツク装置を備えたロボツトハンドにお
いて、ハンド本体同士の間に挟持した鉄筋をハン
ド本体先端に向かつて押圧するプツシヤーを設け
ると共に、ハンド本体の先端には鉄筋を係止する
爪を突設したことを特徴とする鉄筋移載用ロボツ
トハンド。 (2) 上記ハンド本体の内面に鉄筋を検知できる
センサーを配設した請求項(1)記載の鉄筋移載用
ロボツトハンド。[Scope of Claim for Utility Model Registration] (1) A robot hand that is equipped with a pair of hand bodies arranged in parallel to hold reinforcing bars in a line and a chuck device that opens and closes the hand bodies. A robot hand for transferring reinforcing bars, characterized in that a pusher is provided to push the reinforcing bars held between the hands toward the tip of the hand body, and a claw for locking the reinforcing bars is provided protruding from the tip of the hand body. (2) The robot hand for transferring reinforcing bars according to claim (1), wherein a sensor capable of detecting reinforcing bars is provided on the inner surface of the hand body.