Double hand with a through hole

Details Double hand with a through hole Double hand with a through hole

1982-06-04

1984-12-18

Marbert, James B.

Handling: hand and hoist-line implements

Grapple

Well type

414732, 414735, B66C 110, B25J 1500

Patent

active

044887469

DESCRIPTION:

BRIEF SUMMARY
DESCRIPTION

1. Field of the Invention
This invention relates to an industrial robot employed for loading and unloading a workpiece to a machine tool, more particularly to an improved workpiece-gripping double hand of an industrial robot.
2. Background Art
In loading a workpiece on the chuck of a machine tool, for example, a lathe, and unloading the machined workpiece from the chuck by the use of an industrial robot, a double hand, in general, is used in order to reduce the loading and unloading time.
A double hand comprises two parallely disposed hand units of approximately analogous construction connected by a pressing mechanism. The plate members of the pressing mechanism are interposed between the fingers of one hand unit and the fingers of the other hand unit.
In machining a workpiece on a lathe or another machine tool, it is often necessary to machine one end of the workpiece first, and then to chuck the workpiece again at the machined end to machine the other end. In such a machining procedure, a conventional double hand is inverted after unloading a machined workpiece and placing the same on a table and then grip the workpiece again. This conventional procedure is disadvantageous since changing the grip requires a long time.


DISCLOSURE OF THE INVENTION

It is an object of the present invention to eliminate this disadvantage of conventional double hands and to provide a double hand of a construction capable of performing the change of grip easily and in a short time. According to the present invention, the object of the invention is attained by providing an opening for the plate member of each hand unit of a double hand with the center of the opening being coincident with the center axis of workpiece gripping.


BRIEF DESCRIPTION OF THE DRAWING

FIG. 1 is a perspective view of an industrial robot to which the double hand of the present invention is preferably applied;
FIG. 2 is a side elevation of a double hand of the present invention;
FIG. 3 is a top plan view of the double hand of FIG. 2;
FIG. 4 is a side elevation of a plate member of the pressing unit;
FIG. 5 is a sectional view of the pressing mechanism; and
FIG. 6 is a side elevation of the driving mechanism of the hand unit.


BEST MODE OF CARRYING OUT THE INVENTION

Referring to FIG. 1 illustrating, in a perspective view, an industrial robot to which a double hand of the present invention is suitably applicable, the arm of the industrial robot is adapted to be controlled by a servomechanism so as to perform a horizontal linear motion along the X-axis, swiveling motion in a vertical plane along the course A between the horizontal position and the vertical position, twisting motion in a vertical plane from the vertical position along the course B, vertical linear motion along the Z-axis, and swiveling motion in a horizontal plane along the course C. The turning motion of the wrist part about the .alpha.-axis can selectively be controlled between 0.degree./90.degree. and 0.degree./180.degree. turning positions by means of ON/OFF control.
FIGS. 2 and 3 are a side elevation and a top plan view, respectively, of a double hand of the present invention. Referring to FIGS. 2 and 3, the double hand comprises paired stationary hand unit 2 and pressing hand unit 3 constituting the double hand, a pair of fingers 2-1 and 2-2 of the stationary hand unit 2, a plate member 2-3 of a pressing unit, a pair of fingers 3-1 and 3-2 of the pressing hand unit 3, gripping tips (claws) 2-4, 2-5, 3-4 and 3-5, and a plate member 3-3 of the pressing unit. Reference numbers 4 and 5 designate a pressing mechanism and a hand fitting lug attached to the stationary hand unit 2, respectively. The hand units 2 and 3 have flat gripping surfaces which are oriented perpendicularly to the gripping center axis P of the fingers, are disposed in parallel along the gripping center axis P with a predetermined distance between them, and are interlinked by the pressing mechanism 4. In the drawing, a symbol W designates a workpiece.
FIG. 4 is a side elevation of the plate members 2-3 an

REFERENCES:
patent: 3809255 (1974-05-01), Koch et al.
patent: 4352620 (1982-10-01), Inaba et al.

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