WO2024062983A1 - Hand unit attachment structure for conveyance device - Google Patents
Hand unit attachment structure for conveyance device Download PDFInfo
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- WO2024062983A1 WO2024062983A1 PCT/JP2023/033317 JP2023033317W WO2024062983A1 WO 2024062983 A1 WO2024062983 A1 WO 2024062983A1 JP 2023033317 W JP2023033317 W JP 2023033317W WO 2024062983 A1 WO2024062983 A1 WO 2024062983A1
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- hand unit
- hand
- mounting member
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- mounting structure
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- 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
Definitions
- the present invention relates to a transport device used to transport a workpiece inside and outside a machine tool, and particularly relates to a mounting structure for a hand unit that is replaced depending on the type of workpiece.
- workpiece transport devices are provided for loading and unloading workpieces inside and outside the machine and transferring workpieces between spindles.
- a peripheral device called an end effector, gripper, hand, etc. is attached for holding the workpiece. In this specification, it is expressed as a hand.
- the suitable hand size and opening/closing structure differ depending on the shape and size of the workpiece, so until now, hand specifications were designed to suit the workpiece, so it is now possible to change the hand according to the workpiece to be processed.
- the preparation work was difficult. Additionally, it was necessary to check the interference area, speed, control parameters, etc. for each hand used.
- Patent Document 1 discloses an automatic gripper exchange device, which has a main body having claws for gripping a workpiece, and a gripper that is attached to and detached from a slider by a pin provided on the opposite side.
- a gripper that is attached to and detached from a slider by a pin provided on the opposite side.
- An object of the present invention is to provide a hand unit mounting structure that allows easy replacement of the hand unit attached to the tip of a conveying device and is compatible with a wide variety of workpieces.
- a hand unit mounting structure for a transport device is a hand unit mounting structure that can be attached to the transport device in a replaceable manner, and includes a first mounting member provided on the transport device side and a hand unit mounting structure that is attached to the first mounting member. a second attachment member and a connecting portion provided on the hand unit side; a mutual positioning member is provided between the first attachment member and the second attachment member; and a mutual positioning member is provided between the second attachment member and the connecting portion.
- the hand unit is characterized by having a mechanism for adjusting the mounting angle of the hand unit between the hand unit and the hand unit.
- the first mounting member is attached to the conveying device side
- the second mounting member is attached to the connecting portion of the hand unit
- a positioning member such as a parallel pin is provided between the first mounting member and the second mounting member, so that new centering work is not required each time the hand unit is replaced.
- the attachment angle can also be adjusted.
- the transport device has a sensor means for identifying the attached hand unit when the hand unit is attached to the conveying device.
- the area of interference with the movement of a hand workpiece, the movement path, the movement speed, etc. are controlled by a program. Therefore, when the hand unit is replaced, it is necessary to select a program accordingly, but if sensor means for identifying the hand unit is provided in this way, the corresponding program will be automatically selected. There is no need to check parameters etc. each time.
- the hand unit may include a drive section that controls the movement of the hand, which serves as a claw section for gripping a workpiece, and peripheral equipment such as an air blower.
- the hand unit can be easily replaced if it has a connector for wiring and/or piping, and it can also be made waterproof by using a waterproof connector as the connector.
- the hand unit has a hand section that grips a workpiece and a drive section that rotates or opens/closes the hand section, the drive section is a rotary actuator, and the hand is gear-coupled with the rotary actuator.
- the hand portion may be cantilevered with respect to the drive portion by a cross roller ring.
- an air cylinder may be used as the drive unit, and if a rotary actuator is used and the gear-connected hand unit is cantilever-supported by a cross roller ring, the support rigidity of the hand is improved, and piping and wiring Routes can be centrally arranged.
- the mounting structure of the hand unit according to the present invention can be applied to various types of hand units, such as a type in which the hand unit has hands in two places so that the hand unit can be rotated, and a type in which the hand unit has a shaft hand for gripping a shaft-shaped workpiece.
- the mounting position at the tip of the transport device is stable, and peripheral equipment such as piping and wiring can be shared. This makes it possible to handle a wide variety of workpieces and improves setup work efficiency.
- FIG. 1 An example of a structure in which a hand unit is attached to an attachment part of a transport device is shown.
- (a) shows a side view of the hand unit connected to the attachment part, and
- (b) shows a bottom view of the connection part.
- a cross-sectional view of the hand unit in an attached state is shown.
- the mounting structure of the hand unit is shown schematically, with (a) showing a side view and (b) showing a bottom view.
- 13A and 13B are explanatory diagrams for adjusting the angle of the hand unit.
- An example of a sensor attached to a hand unit is shown.
- FIG. 4 is an explanatory diagram of a drive unit of the hand unit.
- An explanatory diagram of the hand unit piping and wiring connector is shown.
- FIG. 1 partially shows the distal end side of the conveyance device, showing the main body portion 10 and the attachment portion 11 of the hand unit 20.
- the conveying device may be a robot hand, a loader for a machine tool, or the like, and is not particularly limited, and its movement in the X, Y, and Z axis directions is controlled as necessary.
- the hand unit 20 shown in FIG. 1 is an example that includes a hand section 21 that grips a workpiece and a drive section 23 that controls turning and opening/closing of the hand section 21.
- the drive unit 23 in FIG. 1 shows a cylinder drive system, it may also be a rotary actuator system, etc., as described later.
- a first mounting member 12 is fixed to the distal end side of the transfer device with bolts or the like, and a connecting portion 22 provided on the hand unit 20 side is connected to the first mounting member 12 via a second mounting member 13. Connect and fix. The details will be explained below based on FIGS. 2 to 5.
- FIG. 2(a) shows a side view of the first mounting member 12, second mounting member 13, and connecting portion 22 fixed to the main body of the conveyance device
- FIG. 2(b) shows the connecting portion 22 from below.
- FIG. 3 is a partial sectional view showing the mounting structure of the first mounting member 12, the second mounting member 13, and the connecting portion 22,
- FIG. 4 is a schematic diagram for explanation.
- the connecting portion 22 on the side of the hand unit 20 has four concentric elongated holes 22b and four working holes 22c.
- the first mounting member 12 has a plate shape and is fixed to the main body 10 side with bolts or the like. member) 12a, 12a.
- the connecting part 22 is fixed to the second mounting member 13 by inserting the bolt 22a into the arc-shaped elongated hole 22b. This can be done with a screwdriver or the like through the working hole 22c of the connecting portion 22.
- the reason for adopting such a mounting structure will be explained with reference to the schematic diagram of FIG. 4. If the first mounting member 12 is positioned and fixed to the main body part 10 of the conveyance device, and the connecting part 22 of the hand unit 20 is positioned and fixed to the second mounting member 13, when replacing the hand unit 20, it is necessary to Since they have been positioned, the distance between the first mounting member 12 and the second mounting member 13 is determined by the positioning members 12a, 12a such as parallel pins at the time of the next replacement, so there is no need to center them again. Furthermore, although it is shown in an expanded form in FIG.
- the bolt fastening hole of the connecting part 22 is made into a long hole 22b in order to align the Z-axis center. Therefore, the angle of deviation of the axis of the hand portion 21 can be adjusted. In this case as well, once the attachment angle between the connecting portion 22 and the second attachment member 13 is adjusted, there is no need to make adjustments each time the attachment is replaced.
- FIG. 6 shows an example in which a sensor 24 is provided that identifies the specifications of the hand unit 20 when the hand unit 20 is attached to the attachment portion 11 of the transport device. In this way, an NC program corresponding to the hand unit 20 identified by the sensor 24 is selected, making it possible to carry out automatic control directly.
- FIG. 7 shows an example in which a drive section 33 consisting of a rotary actuator is adopted as the drive section of the hand unit 20, and a shaft section 34 for rotating the hand section, etc. is gear-connected with gears 33a and 33b, and the shaft section 34 is cantilever-supported using a cross roller ring 33c. This improves the support rigidity of the hand portion 21 and enables centralization of piping and wiring.
- FIG. 8 shows an example in which the wiring connector 41 and the piping connector 42 are used to facilitate common wiring connections and piping connections when replacing the hand unit 20, and to facilitate connection replacement. Furthermore, it is also possible to employ a connector such as the multi-connector 43 that allows for one-touch replacement of a plurality of pipes. In this case, a waterproof connector can also be used. This facilitates peripheral replacement and connection of piping, wiring, etc. when replacing the hand unit 20.
- the hand unit mounting structure according to the present invention has a mounting member that can be positioned between the transport device and the hand unit attached thereto, so it can be used in transport devices in various fields.
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Abstract
Description
工作機械の機内外において、ワークを搬送するに用いられる搬送装置に関し、特にワークの種類に応じて取付交換されるハンドユニットの取付構造に関する。 The present invention relates to a transport device used to transport a workpiece inside and outside a machine tool, and particularly relates to a mounting structure for a hand unit that is replaced depending on the type of workpiece.
工作機械等の分野では、機内外にてワークを搬入，搬出及び主軸間での引き渡し等にワークの搬送装置が設けられている。
この種のワークの搬送装置の先端部には、ワークを保持するためにエンドエフェクタ，グリッパ，ハンド等と称されている周辺機器が取り付けられている。
なお、本明細書ではハンドと表現する。
2. Description of the Related Art In the field of machine tools and the like, workpiece transport devices are provided for loading and unloading workpieces inside and outside the machine and transferring workpieces between spindles.
At the tip of this type of workpiece transport device, a peripheral device called an end effector, gripper, hand, etc. is attached for holding the workpiece.
In this specification, it is expressed as a hand.
ワークの形状や大きさ等により、それに適したハンドの大きさや開閉構造が異なることから、これまではそのワークに適したハンド仕様が設計されていたことから、加工するワークに合せてハンドを交換する段取り作業が大変であった。
また、使用するハンド毎に干渉領域，速度，制御パラメータ等のチェックが必要となっていた。
The suitable hand size and opening/closing structure differ depending on the shape and size of the workpiece, so until now, hand specifications were designed to suit the workpiece, so it is now possible to change the hand according to the workpiece to be processed. The preparation work was difficult.
Additionally, it was necessary to check the interference area, speed, control parameters, etc. for each hand used.
例えば、特許文献１にはグリッパの自動交換装置を開示し、ワークを把持する爪を有する本体と、その反対側に設けたピンによりスライダに着脱されるグリッパとなっている。
しかし、このような構造では交換可能なグリッパに制限があり、ワークの把持方向やハンドの大きさが異なったり、配管や配線等の周辺部品の交換が必要なハンドユニットには適用できないものである。
For example, Patent Document 1 discloses an automatic gripper exchange device, which has a main body having claws for gripping a workpiece, and a gripper that is attached to and detached from a slider by a pin provided on the opposite side.
However, such a structure places limitations on the grippers that can be replaced, and cannot be applied to hand units that have different workpiece gripping directions or hand sizes, or that require replacement of peripheral parts such as piping and wiring.
本発明は、搬送装置の先端部に取り付けられるハンドユニットの交換が容易で、多品種のワークに対して対応可能なハンドユニットの取付構造の提供を目的とする。 An object of the present invention is to provide a hand unit mounting structure that allows easy replacement of the hand unit attached to the tip of a conveying device and is compatible with a wide variety of workpieces.
本発明に係る搬送装置のハンドユニット取付構造は、搬送装置に交換可能に取り付けることができるハンドユニット取付構造であって、搬送装置側に設けた第１取付部材と、前記第１取付部材に取り付ける第２取付部材と、前記ハンドユニット側に設けた連結部を有し、前記第１取付部材と第２取付部材との間には相互の位置決め部材を有し、前記第２取付部材と連結部との間にはハンドユニットの取付角度の調整機構を有していることを特徴とする。 A hand unit mounting structure for a transport device according to the present invention is a hand unit mounting structure that can be attached to the transport device in a replaceable manner, and includes a first mounting member provided on the transport device side and a hand unit mounting structure that is attached to the first mounting member. a second attachment member and a connecting portion provided on the hand unit side; a mutual positioning member is provided between the first attachment member and the second attachment member; and a mutual positioning member is provided between the second attachment member and the connecting portion. The hand unit is characterized by having a mechanism for adjusting the mounting angle of the hand unit between the hand unit and the hand unit.
このような構造にすると、第１取付部材を搬送装置側に取り付け、ハンドユニットの連結部に第２取付部材を取り付け、搬送装置側の第１取付部材に取り付けて固定する際に第１取付部材と第２取付部材との間に、例えば平行ピン等の位置決め部材を有しているので、ハンドユニットの交換毎による新たな芯出し作業が不要になる。
また、ハンドユニットのハンド中心の微調整が必要となる場合には、取付角度の調整も可能になる。
With this structure, the first mounting member is attached to the conveying device side, the second mounting member is attached to the connecting portion of the hand unit, and when the first mounting member is attached and fixed to the first mounting member on the conveying device side, a positioning member such as a parallel pin is provided between the first mounting member and the second mounting member, so that new centering work is not required each time the hand unit is replaced.
Furthermore, when fine adjustment of the hand center of the hand unit is required, the attachment angle can also be adjusted.
本発明においては、搬送装置にハンドユニットが取り付けられると、取り付けられた前記ハンドユニットを特定するためのセンサー手段を有しているのが好ましい。
ＮＣ制御された工作機械等においては、ハンドされたワークの動きに対する干渉領域や、移動経路，移動速度等がプログラム上にて制御されている。
したがって、ハンドユニットが交換されると、それに合せてプログラムを選択する必要があるが、このようにハンドユニットを特定するセンサー手段を備えていると、自動的に対応するプログラムが選ばれるので、その都度パラメータ等をチェックする必要がなくなる。
In the present invention, it is preferable that the transport device has a sensor means for identifying the attached hand unit when the hand unit is attached to the conveying device.
In NC-controlled machine tools, the area of interference with the movement of a hand workpiece, the movement path, the movement speed, etc. are controlled by a program.
Therefore, when the hand unit is replaced, it is necessary to select a program accordingly, but if sensor means for identifying the hand unit is provided in this way, the corresponding program will be automatically selected. There is no need to check parameters etc. each time.
本発明においてハンドユニットは、ワークを把持する爪部となるハンドの動きを制御する駆動部や、エアーブロー等の周辺機器を備えていてもよい。
その場合に、ハンドユニットは配線又は／及び配管用のコネクタを有していると取り替えが容易であり、コネクタとして防水コネクタを使用することで、防水性を有するようにすることもできる。
In the present invention, the hand unit may include a drive section that controls the movement of the hand, which serves as a claw section for gripping a workpiece, and peripheral equipment such as an air blower.
In this case, the hand unit can be easily replaced if it has a connector for wiring and/or piping, and it can also be made waterproof by using a waterproof connector as the connector.
本発明において、ハンドユニットはワークを把持するハンド部と前記ハンド部を旋回や開閉操作する駆動部とを有し、前記駆動部はロータリーアクチュエータであり、前記ハンドは前記ロータリーアクチュエータとギア連結されていてもよく、この場合にハンド部は前記駆動部に対してクロスローラリングにより片持ち支持されていてもよい。
本発明において、駆動部としてエアシリンダーを用いてもよく、ロータリーアクチュエータを用い、ギア連結されたハンド部をクロスローラリングにて片持ち支持させると、ハンドの支持剛性が向上するとともに、配管や配線経路を集中して配設することができる。
In the present invention, the hand unit has a hand section that grips a workpiece and a drive section that rotates or opens/closes the hand section, the drive section is a rotary actuator, and the hand is gear-coupled with the rotary actuator. In this case, the hand portion may be cantilevered with respect to the drive portion by a cross roller ring.
In the present invention, an air cylinder may be used as the drive unit, and if a rotary actuator is used and the gear-connected hand unit is cantilever-supported by a cross roller ring, the support rigidity of the hand is improved, and piping and wiring Routes can be centrally arranged.
本発明に係るハンドユニットの取付構造にあっては、ハンドユニットが旋回制御可能に２ヶ所にハンドを有するタイプや、シャフト状のワークを把持するシャフトハンドを有するタイプ等、いろいろなタイプのハンドユニットであっても搬送装置先端部への取付位置が安定し、配管，配線等の周辺機器の共通化が可能になる。
これにより、多品種のワーク搬送に対応が可能で、段取り作業性が向上する。
The mounting structure of the hand unit according to the present invention can be applied to various types of hand units, such as a type in which the hand unit has hands in two places so that the hand unit can be rotated, and a type in which the hand unit has a shaft hand for gripping a shaft-shaped workpiece. However, the mounting position at the tip of the transport device is stable, and peripheral equipment such as piping and wiring can be shared.
This makes it possible to handle a wide variety of workpieces and improves setup work efficiency.
本発明に係る搬送装置のハンドユニット取付構造の構造例を以下図に基づいて説明するが、本発明はこれに限定されず、いろいろなハンドユニットに適用できる。 A structural example of the hand unit mounting structure of the conveying device according to the present invention will be described below based on the drawings, but the present invention is not limited thereto and can be applied to various hand units.
図１に、搬送装置の先端側を部分的に示し、本体部１０とハンドユニット２０の取付部１１を示す。
搬送装置は、ロボットハンド，工作機械用のローダー等、特に制限はなく、必要に応じてＸ，Ｙ，Ｚ軸方向に移動制御されている。
図１に示したハンドユニット２０は、ワークを把持するハンド部２１とハンド部２１の旋回や開閉を制御する駆動部２３を有する例となっている。
図１の駆動部２３は、シリンダー駆動方式を示すが、後述するようにロータリーアクチュエータ方式等でもよい。
搬送装置の先端部側には、第１取付部材１２をボルト等にて固定してあり、ハンドユニット２０側に設けた連結部２２を第２取付部材１３を介して、第１取付部材１２に連結固定する。
その詳細を図２～図５に基づいて以下説明する。
FIG. 1 partially shows the distal end side of the conveyance device, showing the
The conveying device may be a robot hand, a loader for a machine tool, or the like, and is not particularly limited, and its movement in the X, Y, and Z axis directions is controlled as necessary.
The
Although the drive unit 23 in FIG. 1 shows a cylinder drive system, it may also be a rotary actuator system, etc., as described later.
A
The details will be explained below based on FIGS. 2 to 5.
図２（ａ）は、搬送装置の本体部に固定した第１取付部材１２と、第２取付部材１３及び連結部２２の側面図を示し、図２（ｂ）は連結部２２を下側から見た図である。
図３は、第１取付部材１２，第２取付部材１３及び連結部２２の取付構造を示す部分断面図、図４に説明用の模式図を示す。
図２（ｂ）に示すように、ハンドユニット２０側の連結部２２には、同心円状の４つの長孔２２ｂと、４つの作業穴２２ｃを有している。
第１取付部材１２は、プレート状で図３に示すように、本体部１０側にボルト等で固定してあり、プレート状の第２取付部材１３との間には、相互の位置決めピン（位置決め部材）１２ａ，１２ａを有している。
連結部２２は、円弧状の長孔２２ｂにボルト２２ａを挿入し、第２取付部材１３と固定することになり、第１取付部材１２に第２取付部材１３をボルト１３ａにて固定する際には、連結部２２の作業穴２２ｃを介してドライバー等で行うことができる。
FIG. 2(a) shows a side view of the
FIG. 3 is a partial sectional view showing the mounting structure of the
As shown in FIG. 2(b), the connecting
As shown in FIG. 3, the
The connecting
このような取付構造を採用した理由を図４の模式図で説明する。
搬送装置の本体部１０に、第１取付部材１２を位置決め固定し、ハンドユニット２０の連結部２２を第２取付部材１３に位置決め固定してあると、ハンドユニット２０を取付交換する際には一旦位置決めしてあるために、次の交換時には第１取付部材１２と第２取付部材１３との間が平行ピン等の位置決め部材１２ａ，１２ａにて定まるので、改めて芯出しする必要がなくなる。
また、図５には拡張して表現してあるが、主軸１，２の対向旋盤等の工作機械において、Ｚ軸心を合せるのに連結部２２のボルトの締結孔が長孔２２ｂになっているので、ハンド部２１の軸心のずれを角度調整できる。
この場合も連結部２２と第２取付部材１３との間の取付角度を一旦調整すると、交換する際にその都度の調整は不要になる。
The reason for adopting such a mounting structure will be explained with reference to the schematic diagram of FIG. 4.
If the
Furthermore, although it is shown in an expanded form in FIG. 5, in a machine tool such as a lathe where the main spindles 1 and 2 are opposed, the bolt fastening hole of the connecting
In this case as well, once the attachment angle between the connecting
図６は、ハンドユニット２０を搬送装置の取付部１１に取り付けると、そのハンドユニット２０の仕様を特定するセンサー２４を設けた例を示す。
このようにすると、センサー２４により特定されたハンドユニット２０に対応したＮＣ制御上のプログラムが選択されるので、そのまま自動制御可能になる。
FIG. 6 shows an example in which a sensor 24 is provided that identifies the specifications of the
In this way, an NC program corresponding to the
図７は、ハンドユニット２０の駆動部として、ロータリーアクチュエータからなる駆動部３３を採用し、ハンド部の旋回等の軸部３４とギア３３ａ，３３ｂによるギア連結するとともに、軸部３４はクロスローラリング３３ｃを用いて片持ち支持した例を示す。
これにより、ハンド部２１の支持剛性が向上し、配管，配線の集中化が可能になる。
FIG. 7 shows an example in which a drive section 33 consisting of a rotary actuator is adopted as the drive section of the
This improves the support rigidity of the
図８は、配線コネクタ４１，配管コネクタ４２を用いることで、ハンドユニット２０の交換の際の配線接続や配管接続の共通化と、接続交換を容易にした例を示す。
また、マルチコネクタ４３等の複数の配管をワンタッチ交換できるコネクタを採用することも可能である。
この場合に、防水コネクタを採用することもできる。
これにより、ハンドユニット２０の交換の際に、配管，配線等の周辺交換接続も容易になる。
FIG. 8 shows an example in which the wiring connector 41 and the piping connector 42 are used to facilitate common wiring connections and piping connections when replacing the
Furthermore, it is also possible to employ a connector such as the multi-connector 43 that allows for one-touch replacement of a plurality of pipes.
In this case, a waterproof connector can also be used.
This facilitates peripheral replacement and connection of piping, wiring, etc. when replacing the
本発明に係るハンドユニットの取付構造は、搬送装置とこれに取り付けるハンドユニットとの間に相互に位置決め可能な取付部材を設けたので、いろいろな分野の搬送装置に利用できる。 The hand unit mounting structure according to the present invention has a mounting member that can be positioned between the transport device and the hand unit attached thereto, so it can be used in transport devices in various fields.
１ 主軸
２ 主軸
１０ 本体部
１１ 取付部
１２ 第１取付部材
１３ 第２取付部材
２０ ハンドユニット
２１ ハンド部
２２ 連結部
２３ 駆動部
２４ センサー
３３ 駆動部
４１ 配線コネクタ
４２ 配管コネクタ
４３ マルチコネクタ
1 Main shaft 2
Claims (5)
搬送装置側に設けた第１取付部材と、前記第１取付部材に取り付ける第２取付部材と、前記ハンドユニット側に設けた連結部を有し、前記第１取付部材と第２取付部材との間には相互の位置決め部材を有し、前記第２取付部材と連結部との間にはハンドユニットの取付角度の調整機構を有していることを特徴とする搬送装置のハンドユニット取付構造。 A hand unit mounting structure that can be replaceably attached to a conveyance device,
A first mounting member provided on the transfer device side, a second mounting member attached to the first mounting member, and a connecting portion provided on the hand unit side, and the first mounting member and the second mounting member are connected to each other. 1. A hand unit mounting structure for a conveyance device, characterized in that a mutual positioning member is provided therebetween, and a mechanism for adjusting the mounting angle of the hand unit is provided between the second mounting member and the connecting portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2024548220A JPWO2024062983A1 (en) | 2022-09-22 | 2023-09-13 |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2022150782 | 2022-09-22 | ||
| JP2022-150782 | 2022-09-22 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2024062983A1 true WO2024062983A1 (en) | 2024-03-28 |
Family
ID=90454353
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/JP2023/033317 Ceased WO2024062983A1 (en) | 2022-09-22 | 2023-09-13 | Hand unit attachment structure for conveyance device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JPWO2024062983A1 (en) |
| TW (1) | TW202421335A (en) |
| WO (1) | WO2024062983A1 (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0520236B2 (en) * | 1984-11-05 | 1993-03-18 | Furukawa Electric Co Ltd | |
| JPH07246584A (en) * | 1994-03-10 | 1995-09-26 | Nitta Ind Corp | Automatic tool change device |
| JP2707716B2 (en) * | 1989-04-26 | 1998-02-04 | 株式会社デンソー | Dual head device with one axis drive source |
| JP2017196720A (en) * | 2016-04-28 | 2017-11-02 | ファナック株式会社 | Joint structure of robot |
-
2023
- 2023-09-13 JP JP2024548220A patent/JPWO2024062983A1/ja active Pending
- 2023-09-13 WO PCT/JP2023/033317 patent/WO2024062983A1/en not_active Ceased
- 2023-09-18 TW TW112135443A patent/TW202421335A/en unknown
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0520236B2 (en) * | 1984-11-05 | 1993-03-18 | Furukawa Electric Co Ltd | |
| JP2707716B2 (en) * | 1989-04-26 | 1998-02-04 | 株式会社デンソー | Dual head device with one axis drive source |
| JPH07246584A (en) * | 1994-03-10 | 1995-09-26 | Nitta Ind Corp | Automatic tool change device |
| JP2017196720A (en) * | 2016-04-28 | 2017-11-02 | ファナック株式会社 | Joint structure of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| TW202421335A (en) | 2024-06-01 |
| JPWO2024062983A1 (en) | 2024-03-28 |
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