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公开(公告)号：EP2042272B1
公开(公告)日：2012-05-23
申请号：EP08016318.1
申请日：2008-09-16
CPC分类号： B25J9/042 , B25J9/104 , B25J9/1065 , B25J15/0052 , B25J15/028 , B25J15/103 , H01L21/67742 , Y10T74/20305
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公开(公告)号：EP2042272A3
公开(公告)日：2009-08-26
申请号：EP08016318.1
申请日：2008-09-16
CPC分类号： B25J9/042 , B25J9/104 , B25J9/1065 , B25J15/0052 , B25J15/028 , B25J15/103 , H01L21/67742 , Y10T74/20305
摘要： An industrial robot for conveying a conveying object comprising:
a hand (3,4) for mounting the conveying object which comprises a mounting part (41,42,43),
the mounting part comprises:
a holding part (42) which is capable of abutting with the conveying object to hold the conveying object; and
an urging member (43) which urges the holding part;
an articulated arm (5) part which comprises at least two arms (7,8) including a hand holding arm (7) that turnably holds the hand (3,4) on its tip end side and which is extended and folded when the conveying object is conveyed;
a main body part (6) which turnably holds the articulated arm part; and
a cam member (83,84) which is provided in the hand holding arm (7) and which is formed with a cam face (83a-j,84a-j) with which the holding part (42) is abutted and which is relatively turned with respect to the hand around a turning center (C) of the hand with respect to the hand holding arm with an extending and folding operation of the articulated arm part;
wherein the cam face is formed so that the holding part is retreated (Fig.13(A)) from the conveying object before the conveying object is conveyed and, with the extending and folding operation of the articulated arm part when the conveying object is conveyed, the holding part is moved in a direction to hold the conveying object (Fig.13(B)).-
公开(公告)号：EP2042272A2
公开(公告)日：2009-04-01
申请号：EP08016318.1
申请日：2008-09-16
CPC分类号： B25J9/042 , B25J9/104 , B25J9/1065 , B25J15/0052 , B25J15/028 , B25J15/103 , H01L21/67742 , Y10T74/20305
摘要： An industrial robot for conveying a conveying object comprising:
a hand (3,4) for mounting the conveying object which comprises a mounting part (41,42,43),
the mounting part comprises:
a holding part (42) which is capable of abutting with the conveying object to hold the conveying object; and
an urging member (43) which urges the holding part;
an articulated arm (5) part which comprises at least two arms (7,8) including a hand holding arm (7) that turnably holds the hand (3,4) on its tip end side and which is extended and folded when the conveying object is conveyed;
a main body part (6) which turnably holds the articulated arm part; and
a cam member (83,84) which is provided in the hand holding arm (7) and which is formed with a cam face (83a-j,84a-j) with which the holding part (42) is abutted and which is relatively turned with respect to the hand around a turning center (C) of the hand with respect to the hand holding arm with an extending and folding operation of the articulated arm part;
wherein the cam face is formed so that the holding part is retreated ( Fig.13(A) ) from the conveying object before the conveying object is conveyed and, with the extending and folding operation of the articulated arm part when the conveying object is conveyed, the holding part is moved in a direction to hold the conveying object ( Fig.13(B) ).摘要翻译： 1。一种用于输送输送物体的工业机器人，包括：用于安装输送物体的手（3,4），所述输送物体包括安装部分（41,42,43），所述安装部分包括：保持部分（42），其能够 抵靠输送物体以保持输送物体; 和推压所述保持部的推压部件（43） 包括至少两个臂（7,8）的铰接臂（5）部分，所述臂包括手持臂（7），所述手持臂（7）在其末端侧可转动地保持手（3,4），并且当输送时伸展和折叠 对象被传送; 主体部分（6），其可转动地保持关节臂部分; 和设置在手持臂（7）上的凸轮构件（83,84），该凸轮构件形成有与保持部（42）抵接的凸轮面（83a-j，84a-j） 通过铰接臂部分的伸展和折叠操作，相对于手相对于手相对于手持臂的转动中心（C）相对转动; 其中，所述凸轮面形成为使得在输送物体被输送之前所述保持部件从所述输送物体退回（图13（A）），并且在输送所述输送物体时通过所述关节臂部件的伸展和折叠操作 保持部向保持输送物的方向移动（图13（B））。
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