JPS60201834A - Multifunctioning chuck - Google Patents

Multifunctioning chuck

Info

Publication number
JPS60201834A
JPS60201834A JP59058576A JP5857684A JPS60201834A JP S60201834 A JPS60201834 A JP S60201834A JP 59058576 A JP59058576 A JP 59058576A JP 5857684 A JP5857684 A JP 5857684A JP S60201834 A JPS60201834 A JP S60201834A
Authority
JP
Japan
Prior art keywords
suction cup
chuck
cylinder
sucker
holder
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
Application number
JP59058576A
Other languages
Japanese (ja)
Inventor
Makoto Tada
誠 多田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toshiba Corp
Original Assignee
Toshiba Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Toshiba Corp filed Critical Toshiba Corp
Priority to JP59058576A priority Critical patent/JPS60201834A/en
Publication of JPS60201834A publication Critical patent/JPS60201834A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/043—Construction of the grippers
    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To provide a multifunctioning chuck having a simple structure and as well to facilitate the maintenance thereof, thereby it is possible to shorten the working time of the assembly thereby, by clamping a workpiece with two holders each having a pair of cylindrical gripping pawls to position and hold the same, and thereafter by holding it with the use of a center sucker. CONSTITUTION:When a switch S1 is turned on, a solenoid selector valve 14 is energized to communicate a compressor 15 with a cylinder 13 while a cylinder 12 is opened to the atmosphere, and therefore, a holder 5 is pushed leftward, causing a holder 4 to be moved rightward by means of a pinion 11, thereby the space between pawls 16, 17 is made narrower. When the distance between the pawls 16, 17 comes to be a predetermined distance, this distance is maintained by means of stopper, or the like. Then a switch S2 is turned on, a solenoid selector valve 19 is energized to communicate the compressor 15 with a pressure chamber 18c in a cylinder 18 while a pressure chamber 18b is opened to the atmosphere so that a sucker 7 is moved downward until it makes into contact with a workpiece. Then, a switch S3 is turned on, and a pressure chamber in the sucker 7 is communicated with a vacuum pump 21 so that the workpiece is held by the sucker 7, thereby the working time of assembly with the sue of this chuck may be shortened.

Description

【発明の詳細な説明】 〔発明の技術分野〕 本発明は３１Ｆｉｆ１方向く移動する産業用ロボット本
体に装着される多機能チャックに関するもので、詳しく
は、部品の位置決め機能および保持機能および組立機能
を備えた多機能チャックに関するものである。Detailed Description of the Invention [Technical Field of the Invention] The present invention relates to a multifunctional chuck that is attached to an industrial robot body that moves in one direction. The present invention relates to a multifunctional chuck equipped with the following functions.

〔発明の技術的背景〕[Technical background of the invention]

自動組立ラインには、それぞれ部品の位置決め、組立て
の機能をもつステージ５ン間に設置され、それらのステ
ーシラン間で部品を搬送するために産業用ロボットが組
込まれている。このような自動組立ラインで採用されて
いる産業用ロボットは、ステージ５ｙ間で部品を率に搬
送するだけであり、位置決め機能を備えていな−〜。The automatic assembly line is installed between five stages, each of which has the function of positioning and assembling parts, and is equipped with an industrial robot to transport parts between these stages. The industrial robots used in such automatic assembly lines only transport parts between stages 5y, and do not have a positioning function.

また、自動組立ラインには、組立て機能および保持機能
を個別に有する複数個のグリップを備えた産業用ロボッ
トが採用されている場合もある＠このような自動組立ラ
インでは、部品が各グリップによって順次所定位置に運
ばれ、そこで組立てられる。Additionally, automatic assembly lines may employ industrial robots equipped with multiple grips that have separate assembly and holding functions. It is transported to a designated location and assembled there.

〔背景技術の問題点〕[Problems with background technology]

ところで、これらの自動組立ラインのうち前者は各ステ
ージ■ン毎に部品の位置決めを行なわなく【はならず、
したがって組立作業時間が長くなり、後者では産業用ロ
ボットの構造が複雑化し、高価になるばかりでなく、メ
ンテナンスも困難となっていた。By the way, among these automatic assembly lines, the former does not position parts at each stage.
Therefore, the assembly work time is longer, and in the latter case, the structure of the industrial robot is not only complicated and expensive, but also maintenance is difficult.

〔発明の目的〕[Purpose of the invention]

本発明の目的は、このような問題点に鑑みて、構造が簡
単で安価であり、しかもメンテナンスが容易な上に組立
作業時間の短縮が可能な産業用ロボットの多機能チャッ
クを提供することにある・ 〔発明の概要〕 即ち、本発明では、２個のホルダに２本づつ固定された
円柱状把持爪で部品を挾み、それＫよって部品の位置決
めおよび保持を行ない、さらにホルダ間に臨ませた吸着
盤によって部品を・保持するようＫして上記目的を達成
している◎〔発明の実施例〕 以下図面に示した実施例を参照しながら本発明を説明す
る。第１図は本発明に係る多機能チャックの外観を示し
、第２図はその動作機構を示した図である。SUMMARY OF THE INVENTION In view of these problems, an object of the present invention is to provide a multifunctional chuck for an industrial robot that has a simple and inexpensive structure, is easy to maintain, and can shorten assembly work time. [Summary of the Invention] That is, in the present invention, a part is held between two cylindrical gripping claws fixed to two holders, and the part is thereby positioned and held. The above object is achieved by holding the parts with a suction cup that is attached. [Embodiments of the Invention] The present invention will be described below with reference to embodiments shown in the drawings. FIG. 1 shows the appearance of a multifunctional chuck according to the present invention, and FIG. 2 shows its operating mechanism.

この多機能チャック（以下単にチャックという）１は、
そのフレ゛−ム２が図示しない産業用ロボット本体に固
定され、３軸方向（Ｘ”ｌＺ方向）へ全体が移動される
。このフレーム２には、把持爪移動機構３を介してホル
ダ４，５が、また吸着盤移動機構６を介して吸着盤７が
それぞれ配設されており、また吸着盤７には吸着機構８
が付設されている。This multi-functional chuck (hereinafter simply referred to as chuck) 1 is
The frame 2 is fixed to an industrial robot body (not shown), and the entire body is moved in three axes directions (X''lZ directions).Holders 4, 5 and a suction cup 7 are disposed via a suction cup moving mechanism 6, and a suction mechanism 8 is attached to the suction cup 7.
is attached.

把持爪移動機構３は、ホルダ４，５の延設部に形成した
ラック９．１０をピニオン１１を介して互に噛合させる
とともに１ラック９，１０の端部にシリンダ１２．１３
のピストンロッド１２ａ、１３ａを結合させ、かつこれ
らシリンダ１２．１３を電磁切換弁工４を介してコンプ
レッサ１５Ｋｍ続してなるものである。また、ホルダ４
，５には、第８図にも示したように、それぞれ２本の把
持爪１６，１６，１７，１７が固定されている。これら
の把持爪１６，１７は円柱状に形成されており、自由端
附近に適宜中の小径部１６１Ｌ、１７ａが形成されてい
る。The gripping claw moving mechanism 3 engages racks 9 and 10 formed on the extending portions of the holders 4 and 5 with each other via a pinion 11, and also has cylinders 12 and 13 at the ends of each rack 9 and 10.
The piston rods 12a and 13a are connected to each other, and these cylinders 12 and 13 are connected via an electromagnetic switching valve 4 to a compressor 15 km. Also, holder 4
, 5 have two gripping claws 16, 16, 17, 17 fixed thereto, respectively, as shown in FIG. These gripping claws 16, 17 are formed in a cylindrical shape, and appropriate medium small diameter portions 161L, 17a are formed near the free ends.

そして、把持爪１６，１７は以下のように作動される。The gripping claws 16 and 17 are operated as follows.

スイッチ８凰が操作されていない状態では、電磁切換弁
１４は、第２図に示した位置にあって、コンプレッサ１
５とシリンダ１２とを連通させ、シリンダ１３を大気に
開放させている・したがって、このような状態では、ホ
ルダ４が第２図において左方に押送され、それに伴いピ
ニオン１１を介してホルダ５が同図において右方に押送
され、把持爪１６，１７間は大きく開いている。スイッ
チｓ１が操作されると、電磁切換弁１４は作動され、コ
ンプレッサ１５とシリンダ１３とを連通させ、かつシリ
ンダ１２を大気に開放する。したがって、ホルダ５は第
２図において左方に押送され、それに伴いピニオン１１
を介してホルダ４が同図右方へ押送され、把持爪１６，
１７間は狭められる。そして、把持爪１６．１７間の距
離が予め設定された距離に達すると、ストッパ等によっ
て、その距離が維持される◎ また、吸着盤移動機構６は、フレーム２に固定したシリ
ンダ１８を電磁切換弁１９を介してコンプレッサ１５に
接続したもので、シリンダ１８のピストンロッド１８に
の先端に吸着盤７を連結している。When the switch 8 is not operated, the electromagnetic switching valve 14 is in the position shown in FIG.
5 and the cylinder 12 are communicated with each other, and the cylinder 13 is opened to the atmosphere. Therefore, in such a state, the holder 4 is pushed to the left in FIG. In the same figure, it is pushed to the right, and the gap between the gripping claws 16 and 17 is wide. When the switch s1 is operated, the electromagnetic switching valve 14 is operated, causing the compressor 15 and the cylinder 13 to communicate with each other, and opening the cylinder 12 to the atmosphere. Therefore, the holder 5 is pushed to the left in FIG.
The holder 4 is pushed to the right in the figure through the gripping claws 16,
17 days will be narrowed down. When the distance between the gripping claws 16 and 17 reaches a preset distance, the distance is maintained by a stopper or the like.In addition, the suction cup moving mechanism 6 moves the cylinder 18 fixed to the frame 2 by electromagnetic switching. It is connected to the compressor 15 via a valve 19, and a suction cup 7 is connected to the tip of the piston rod 18 of the cylinder 18.

そして、吸着盤７は以下のように作動される。Then, the suction cup 7 is operated as follows.

スイッチ８．が操作されていない状態では、電磁切換弁
１９は、第２図に示した位置にあって、コンプレッサ１
５とシリンダ１８の圧力室１８１）とを連通させ、圧力
室１８０を大気に開放させている・したがって、このよ
うな状態では、吸着盤７が第２図における上方に位置さ
れている。Switch 8. When the compressor 1 is not operated, the solenoid switching valve 19 is in the position shown in FIG.
5 and the pressure chamber 181) of the cylinder 18, and the pressure chamber 180 is opened to the atmosphere. Therefore, in such a state, the suction cup 7 is positioned above in FIG.

スイッチ８．が操作されると、電磁切換弁１９は作動さ
れ、コンプレツ？１５とシリンダ１８の圧力室１８０と
を連通させ、圧力室１８１）を大気に開放する。したが
って、吸着盤７は、第２図において下方に移動される。Switch 8. When is operated, the electromagnetic switching valve 19 is operated and the complete? 15 and the pressure chamber 180 of the cylinder 18 are communicated, and the pressure chamber 181) is opened to the atmosphere. Therefore, the suction cup 7 is moved downward in FIG.

そして、この吸着盤７は部品に接触したとき、その移動
が停止される・ また吸着機構８は、電磁切換弁２０とバキュームポンプ
２１とを備えたもので、バキュームポンプ２１は電磁切
換弁２０を介して吸着盤７に接続されている。そして、
この吸着機構８は、スイッチ日、が操作されていない状
態では、電磁切換弁２０が第２図に示した位置にあって
、吸着盤７の圧力室を大気に開放しており、スイッチＳ
、が作動されると、吸着盤７の圧力室がバキュームポン
プ２１と接続される。したがって、スイッチｓ３が作動
されると、部品は吸着盤７に保持される。When the suction cup 7 comes into contact with a component, its movement is stopped.The suction mechanism 8 is equipped with an electromagnetic switching valve 20 and a vacuum pump 21. It is connected to the suction cup 7 via the suction cup 7. and,
In this suction mechanism 8, when the switch S is not operated, the electromagnetic switching valve 20 is in the position shown in FIG. 2, opening the pressure chamber of the suction cup 7 to the atmosphere, and the switch S
, is activated, the pressure chamber of the suction cup 7 is connected to the vacuum pump 21. Therefore, when the switch s3 is activated, the component is held on the suction cup 7.

このような各機構を備えた多機能チャック１では、第４
図（−）　、　（ｂ）に示したような径ＤＩ、Ｄ。In the multifunctional chuck 1 equipped with such mechanisms, the fourth
Diameters DI and D as shown in Figures (-) and (b).

’）　４％　ｆＬ　ル（Ｄｌ　＞　”ｔ　）部品Ａ、Ｂ
を第５図（＆）　、　（１））に示したように把持爪１
６，１７を互に寄せることＫよって位置決めを行ない、
かつ保持する。') 4% fL le (Dl >"t) Parts A, B
As shown in Figure 5 (&), (1)), gripping claw 1
6 and 17 are brought together, positioning is performed by K,
and retain.

即ち、径Ｄ１の部品ムは、把持爪１６．１７の小径部１
６ａ、１１７１間で保持し、径り、の部品Ｂは把持爪１
６，１７の大径＠１６１）ｔ１７ｂで保持する０特に、
部品ムを把持爪１６．１７の小径部１６ａ。That is, the part having the diameter D1 is the small diameter part 1 of the gripping claw 16.17.
Part B held between 6a and 1171 is gripping claw 1.
6, 17 large diameter @ 161) 0 held at t17b, especially,
The small diameter portion 16a of the claw 16.17 grips the component.

１７ａで保持した場合には、部品Ａは小径部１６ａ。When held by 17a, part A is the small diameter portion 16a.

１７已によって形成される１１１１６０　ｔ　１７　ｃ
内に収容されるので、部品Ａは必ずしも把持爪１６，１
７によりて圧着されなくてもよい。このようにして位置
決めされた部品人、Ｂは、第６図に示したように吸着盤
７に吸着され、適宜な高さまで移動される。111160 formed by 17 t 17 c
Since the component A is accommodated in the gripping claws 16, 1
7 may not be crimped. The part person B thus positioned is sucked by the suction cup 7 as shown in FIG. 6, and is moved to an appropriate height.

また、この多機能チャックｌでは、以下のような作業も
行なうことができる。まず、把持爪１６゜１７を互に寄
せて、部品Ｂの位置決めを行ない、その後把持爪１６．
１７を開く。次いで吸着盤７を下降させて部品Ｂを吸着
し、そのまま吸着盤７を上昇させる。次いで、多機能チ
ャック全体を部品ムの位置に移動させ、把持爪１６．１
７を寄せ、その小径部１６１Ｌｔ１７ａＫよって部品人
の位置決めを行なう。次いで、把持爪１６，１７を開い
て、その後、吸着盤７を下降させて、部品Ｂを部品Ａ上
に組立てる。以後、吸着盤７は部品Ｂを放して上昇する
。そして、組立てられた部品Ａ、Ｂは把持爪１６，１７
を寄せるととによって、把持爪１６，１７に保持される
。Furthermore, the following operations can be performed with this multifunctional chuck I. First, the gripping claws 16 and 17 are brought together to position the part B, and then the gripping claws 16.
Open 17. Next, the suction cup 7 is lowered to suck the component B, and the suction cup 7 is then raised. Next, the entire multifunctional chuck is moved to the position of the part, and the gripping claws 16.1
7, and position the parts person using the small diameter portion 161Lt17aK. Next, the gripping claws 16 and 17 are opened, and the suction cup 7 is then lowered to assemble the part B onto the part A. Thereafter, the suction cup 7 releases the part B and ascends. The assembled parts A and B are gripping claws 16 and 17.
It is held by the gripping claws 16 and 17 by bringing the parts together.

なお、上記実施例の把持爪１６．１７では、その自由端
部に小径部１６ａｔ１７＆を形成しているが、この小径
部１６＆ａ１７＆を第７図（ａ）に示したように１把持
爪１６，１７の基部に形成してもよく、また第７図（ｂ
）に示したように把持爪１６，１７を径の異なった３部
分によりて形成してもよく、その形状は各種のものが考
えられる。Note that the gripping claws 16, 17 of the above embodiment have small diameter portions 16at17& formed at their free ends, and this small diameter portion 16&a17& is connected to one gripping claw 16, 17 as shown in FIG. 7(a). It may also be formed at the base of the
), the gripping claws 16 and 17 may be formed of three parts having different diameters, and various shapes are possible.

また、上記実施例の把持爪移動機構３では、シリンダ１
２．１３によってホルダ４，５を直接動作させているが
、ピニオン１１を回転駆動させることＫよってホルダ４
，５を作動させることもでき、その機構は上記実施例に
限定されない。Further, in the gripping claw moving mechanism 3 of the above embodiment, the cylinder 1
2.13 directly operates the holders 4 and 5, but by rotationally driving the pinion 11, the holder 4
, 5 can also be operated, and the mechanism is not limited to the above embodiment.

また、上記実施例の吸着盤移動機構６では、シリンダ１
８によって吸着盤７を移動させているが、モータの回転
力を利用して例えばピストンロッド１８Ｉ！Ｌに相当す
るロッドを螺進させて上下動させたり、ピニオン、ラッ
クによって上下動させる等、各種態様を採用できる。さ
らにまた、上記実施例の吸着機ｓ８では、バキーームに
よって部品を吸着させているが、これは電磁石によって
もよい。In addition, in the suction cup moving mechanism 6 of the above embodiment, the cylinder 1
8, the suction cup 7 is moved by the rotational force of the motor, for example, the piston rod 18I! Various modes can be adopted, such as moving the rod corresponding to L by screwing it up and down, or moving it up and down by a pinion or rack. Furthermore, in the suction device s8 of the above embodiment, the parts are suctioned by a vacuum beam, but this may also be done by an electromagnet.

〔発明の効果〕〔Effect of the invention〕

上記したように１本発明に係る多機能チャックは、構造
が簡単であり、安価かつメンテナンスが容易であるばか
りでなく、位置決め機能および保持機能および組立機能
を共に備えるため、組立作業におげろ時間の短縮を図る
ことができる。As described above, the multifunctional chuck according to the present invention not only has a simple structure, is inexpensive, and easy to maintain, but also has a positioning function, a holding function, and an assembly function, so that it takes less time to assemble. The time can be shortened.

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

第１図は本発明に係る多機能チャックの実施例を示した
斜視図、第２図はその多機能チャックの動作機構を示し
た図、第３図はその多機能チャックの把持爪および吸着
盤を示した斜視図、第４図はその多機能チャックに適用
される部品を示した斜視図、第５図は把持爪の動作を示
した正面図、第６図は吸着盤の動作を示した正面図、第
７図は把持爪の他の形状を示した正面である。 ｌ・・・多機能チャック、２−・・フレーム、３−・・
持爪移動機構、４，５−ホルダ、６−・・吸着盤移機構
、７・・・吸着盤、８・−吸着機構、１６．１７把持爪
。 図　第　１　図 把 動 一一一面 第５回 （ａ）　（ｂ） 第６図　第７図Fig. 1 is a perspective view showing an embodiment of the multifunctional chuck according to the present invention, Fig. 2 is a diagram showing the operating mechanism of the multifunctional chuck, and Fig. 3 is a gripping claw and suction cup of the multifunctional chuck. Figure 4 is a perspective view showing parts applied to the multifunctional chuck, Figure 5 is a front view showing the operation of the gripping claw, and Figure 6 is the operation of the suction cup. The front view and FIG. 7 are front views showing other shapes of the gripping claws. l...Multi-function chuck, 2-...Frame, 3-...
Holding claw moving mechanism, 4, 5-Holder, 6--Suction plate moving mechanism, 7--Suction cup, 8--Suction mechanism, 16.17 Gripping claw. Figure 1 Figure 111 Page 5 (a) (b) Figure 6 Figure 7

Claims (2)

【特許請求の範囲】[Claims] （１）３軸方向に移動する産業用ロボット本体に装着さ
れる多機能チャックにおいて、該多機能チャックは、２
本の柱状把持爪を備えた２個のホルダを、各把持爪が互
に平行となるように配設するとともに、それらのホルダ
を上記各把持爪の平行を維持しながら互に離接する方向
に移動させる把持爪移動機構を備えたアームと、上記ホ
ルダ間に吸着盤を配置するとともに、その吸着盤を上記
把持爪と平行な方向に移動させる吸着盤移動機構を備え
、かつ吸着盤に吸着機構を備えたアームとからなってい
ることを特徴とする多機能チャック。(1) In a multifunctional chuck attached to an industrial robot body that moves in three axes, the multifunctional chuck has two
Two holders equipped with pillar-shaped gripping claws for books are arranged so that the gripping claws are parallel to each other, and the holders are moved in directions that move toward and away from each other while maintaining the parallelism of the gripping claws. an arm having a gripping claw moving mechanism for moving the holder, a suction cup disposed between the holder, a suction cup moving mechanism for moving the suction cup in a direction parallel to the gripping claw, and a suction mechanism for the suction cup. A multifunctional chuck characterized by consisting of an arm with a （２）上記把持爪は、その軸方向の適宜巾毎に径を異な
らせたものであることを特徴とする特許請求の範囲第（
１）項記載の多機能チャック。(2) The gripping claw has a diameter that varies depending on an appropriate width in the axial direction.
Multifunctional chuck described in section 1).
JP59058576A 1984-03-27 1984-03-27 Multifunctioning chuck Pending JPS60201834A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP59058576A JPS60201834A (en) 1984-03-27 1984-03-27 Multifunctioning chuck

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59058576A JPS60201834A (en) 1984-03-27 1984-03-27 Multifunctioning chuck

Publications (1)

Publication Number Publication Date
JPS60201834A true JPS60201834A (en) 1985-10-12

Family

ID=13088263

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59058576A Pending JPS60201834A (en) 1984-03-27 1984-03-27 Multifunctioning chuck

Country Status (1)

Country Link
JP (1) JPS60201834A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003071653A (en) * 2001-08-29 2003-03-12 Hitachi Communication Technologies Ltd Automatic mounting device for elastic leg
CN104476158A (en) * 2014-12-08 2015-04-01 深圳市奥斯珂科技有限公司 Automatic steel clip feeding device
CN105563082A (en) * 2016-02-03 2016-05-11 吉林大学 Automatic assembling device for piston in manual pump
CN108994199A (en) * 2018-07-02 2018-12-14 滁州亿扬零部件制造有限公司 A kind of feed device for auto parts and components Sheet Metal Forming Technology
CN109158690A (en) * 2018-11-13 2019-01-08 王蒙蒙 A kind of steel plate plate fine pruning technique
CN110773661A (en) * 2019-11-04 2020-02-11 沈阳泰德自动化设备有限公司 Z-direction compensation mechanism

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003071653A (en) * 2001-08-29 2003-03-12 Hitachi Communication Technologies Ltd Automatic mounting device for elastic leg
JP4570823B2 (en) * 2001-08-29 2010-10-27 株式会社日立製作所 Automatic elastic leg mounting device
CN104476158A (en) * 2014-12-08 2015-04-01 深圳市奥斯珂科技有限公司 Automatic steel clip feeding device
CN104476158B (en) * 2014-12-08 2017-01-25 深圳市奥斯珂科技有限公司 Automatic steel clip feeding device
CN105563082A (en) * 2016-02-03 2016-05-11 吉林大学 Automatic assembling device for piston in manual pump
CN108994199A (en) * 2018-07-02 2018-12-14 滁州亿扬零部件制造有限公司 A kind of feed device for auto parts and components Sheet Metal Forming Technology
CN109158690A (en) * 2018-11-13 2019-01-08 王蒙蒙 A kind of steel plate plate fine pruning technique
CN110773661A (en) * 2019-11-04 2020-02-11 沈阳泰德自动化设备有限公司 Z-direction compensation mechanism
CN110773661B (en) * 2019-11-04 2021-05-18 沈阳泰德自动化设备有限公司 Z-direction compensation mechanism

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