Handling: hand and hoist-line implements – Hook – hoistline – or grab type – Locking device
Patent
1984-04-10
1986-01-21
Marbert, James B.
Handling: hand and hoist-line implements
Hook, hoistline, or grab type
Locking device
2941031, 414736, B25J 1500
Patent
active
045654000
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to an industrial robot and, more particularly, to a robot double hand having two sets of gripping fingers.
BACKGROUND ART
Various robot double hands each having two sets of gripping fingers disposed on opposite sides of a hand body, and capable of being opened or closed, have been proposed to improve the working efficiency of industrial robots. In a typical conventional robot double hand, a pair of gripping fingers are moved slidably in opposite directions along the corresponding side of a hand body for opening and closing operations, and those gripping fingers always project a considerable distance from the hand body. Therefore, the gripping fingers when open are likely to interfere with the work during the approach of the double hand to the work, thus limiting the degree of freedom of the approach motion of the robot double hand toward the work.
Accordingly, it is an object of the present invention to provide a robot double hand for an industrial robot wherein the robot double hand is capable of avoiding the above-mentioned interference of the gripping fingers when the robot double hand approaches the work, so that the degree of freedom of the motion of the robot double hand in approaching a work can be increased.
It is another object of the present invention to provide a robot double hand for an industrial robot wherein the overall width of the robot double hand is narrower when each pair of the gripping fingers are in the open position.
DISCLOSURE OF THE INVENTION
The above-mentioned objects of the present invention are attained by a robot double hand for an industrial robot, comprising a hand body, two sets of work clamping means, and an actuator for controlling the opening and closing motions of each set of the work clamping means. The hand body has a rear end capable of being attached to the free end of the wrist of an industrial robot, a front end and opposite sides extending between the front end and the rear end, and each work clamping means has a pair of work gripping fingers; the root of each finger being supported pivotally for turning motion on the corresponding side of the hand body, and the actuator being adapted to turn the corresponding pair of the work gripping fingers on the roots thereof in opposite directions.
According to the present invention, the paired work gripping fingers of each work clamping means are turned in opposite directions on the respective roots on the corresponding side of a hand body, for opening and closing operations; namely, for releasing and holding operations. Therefore, the projecting length of the fingers from the side of the hand body when the fingers are open is reduced to a minimum necessary extent, so that the above-mentioned interference of the fingers with the work can be avoided.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a plan view of a double hand for an industrial robot embodying the present invention, showing the internal mechanisms;
FIG. 2 is a side elevation of the double hand of FIG. 1 as seen along line II--II, and
FIG. 3 is a front elevation of the double hand of FIG. 1 as seen from the front end thereof.
BEST MODE OF CARRYING OUT THE INVENTION
A preferred embodiment of the present invention will be described hereinafter with reference to the accompanying drawings.
Referring to FIGS. 1 to 3, the double hand has a hand body 10. The hand body 10 consists of two parallel side plates 11 and 12, frame members 13 and 14 interconnecting the corresponding ends of the side plates 11 and 12, two cover plates 15 and 16 closing the upper and the lower sides, respectively, of a space defined by the side plates and the frame members, and a base plate 17 partitioning the space defined by the side plates, the frame members, and the cover plates into the upper side and the lower side, namely, the front side and the back side. The base plate 17 is fixedly joined to the side plates 11 and 12 the frame members 13 and 14. The frame member 13 and the frame member 14 form the front end and the rear end, re
REFERENCES:
patent: 3147993 (1964-09-01), Broderson et al.
patent: 4484855 (1984-11-01), Inaba et al.
Nakashima Seiichiro
Terada Akihiro
Torii Nobutoshi
Fanuc Ltd.
Marbert James B.
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