Robot machines

• US 4,505,636 A
• Filed: 11/01/1983
• Issued: 03/19/1985
• Est. Priority Date: 08/15/1980
• Status: Expired due to Fees

• Current Assignee: Yamatake-Honeywell Company Limited
• Original Assignee: Yamatake-Honeywell Company Limited
• Inventors: Sugino, Yoshihide, Yamaki, Kazuyoshi, Tsumura, Takashi, Nakamura, Junnosuke
• Primary Examiner(s): NOT, DEFINED
• Assistant Examiner(s): Siemens, Terrance L.
• Application Number:
  US06/547,462
• Time in Patent Office: 504 Days
• Field of Search: 414/222, 414/225, 414/736, 414/741, 414/732, 414/590, 414/751, 414/753, 414/730, 29/568, 294/87 R, 294/87 SH, 294/87.22, 294/87.24, 294/87.26, 82/2.5, 901/31, 901/36, 901/37, 901/39
• US Class Current: 414/736
• CPC Class Codes: B25J 15/0052 multiple gripper units or multiple end effectors
• CPC Class Codes: B25J 17/0241 One-dimensional joints

Abstract

In a robot machine, a hand is rotatably mounted on one end of an arm. The hand is provided with two sets of grasping units each including a pair of opposed fingers which are used to grasp or release an article, for example, a workpiece to be machined by a machine tool. A piston-cylinder assembly is provided for rotating the hand through a ninety degree angle.

Claims

1. A robot machine for grasping and releasing an article, said robot machine comprising:

an arm;

a hand rotatably mounted to said arm such as to rotate about a predetermined axis around a center of rotation;

two sets of grasping units equally spaced from said predetermined axis, each set of said two sets of said grasping units comprising a pair of opposed fingers, said pair of opposed fingers having a predetermined grasping center;

means for causing said pair of opposed fingers to move towards and away from said predetermined grasping center, said means for causing said pair of opposed fingers to move towards and away from said predetermined grasping center moving in a plane generally perpendicular to said predetermined axis;

each finger of said pair of opposed fingers comprising an elongated member extending from said hand, each finger further being substantially parallel to the other of said pair of opposed fingers; and

means for rotating said hand about said predetermined axis.

2. The robot machine of claim 1 wherein said means for rotating said hand comprises a piston-cylinder assembly pivotably connected to said arm and a link cooperating with said piston-cylinder assembly for rotating said hand about said predetermined axis.

3. The robot machine of claim 1 wherein an angle around said center of rotation included between each said predetermined grasping center of each said pair of opposed fingers is substantially less than one hundred and eighty degrees.

4. The robot machine of claim 1 wherein said means for causing each pair of opposed fingers to move towards and away from said predetermined grasping center comprises a reciprocable drive source, and two elongated link members each having two ends, one of said ends being pivotally fastened to said reciprocable drive source and the other of said ends being pivotally fastened to one of said fingers.

5. A robot machine for grasping and releasing an article, said robot machine comprising:

a robot arm;

a robot hand pivotally fastened to said robot arm such as to pivot about a predetermined axis around a center of rotation;

a first pair of opposed fingers movably mounted to said robot hand;

a first fixed grasping center spaced between said first pair of opposed fingers at a first predetermined distance from said predetermined axis;

a first selectively operable finger movement means for simultaneously moving said first pair of opposed fingers towards said first fixed grasping center for grasping said article and for simultaneously moving said first pair of opposed fingers away from said first fixed grasping center for releasing said article;

a second pair of opposed fingers movably mounted to said robot hand;

a second fixed grasping center spaced between said second pair of opposed fingers at a second predetermined distance from said predetermined axis;

second selectively operable finger movement means independent of said first selectively operable finger movement means for simultaneously moving said second pair of opposed fingers towards and away from said second fixed grasping center, said first and second selectively operable finger movement means moving said first and second pairs of opposed fingers towards and away from said first and second fixed grasping centers respectively moving in a plane generally perpendicular to said predetermined axis;

each finger of said first and second pair of opposed fingers comprising an elongated member extending from said robot hand, each finger further being substantially parallel to each other of said first and second pair of opposed fingers; and

selectively operable drive means for rotating said robot hand about said predetermined axis.

6. The robot machine of claim 5 wherein said selectively operable drive means for rotating said robot hand comprises reciprocal drive means pivotally connected to the end of said robot arm opposite said robot hand, and a link interposed said reciprocal drive means and said hand for selectively pivoting said hand in response to reciprocation of said reciprocal drive means.

7. The robot machine of claim 5 wherein an angle formed by said first fixed grasping center, said center of rotation and said second fixed grasping center is substantially less than one hundred and eighty degrees and wherein said first predetermined distance between said first fixed grasping center and said predetermined axis is equal to said second predetermined distance between said second fixed grasping center and said predetermined axis.

8. The robot machine of claim 5 wherein at least one of said selectively operable finger movement means comprises a reciprocal drive source and two elongated link members each having two ends, one of said ends being pivotally fastened to said reciprocal drive source and the other of said ends being pivotally fastened to one of said fingers.

9. A robot machine for grasping and releasing an article, said robot machine comprising:

a robot arm;

a robot hand pivotally fastened to said robot arm such as to pivot about a predetermined axis around a center of rotation;

first and second selectively operable reciprocation means mounted to said robot arm on opposite sides of said predetermined axis;

a first pair of opposed fingers movably mounted to said robot hand and a second pair of opposed fingers movably mounted to said robot hand, said first pair of opposed fingers having a first predetermined grasping center located at a first predetermined linear distance from said predetermined axis, said second pair of opposed fingers having a second predetermined grasping center located at a second predetermined linear distance from said predetermined axis;

first and second linkage means interposed said first and second selectively operable reciprocation means and said first pair and said second pair of opposed fingers, respectively, each of said first and second lingkage means being selectively operable to move said first pair of opposed fingers towards and away from said first predetermined grasping center so as to grasp and release said article and to move said second pair of opposed fingers towards and away from said second predetermined grasping center so as to grasp and release said article, said movement of said first and second pairs of opposed fingers by said first and second linkage means occurring in a plane generally perpendicular to said predetermined axis;

each finger of said first and second pair of opposed fingers comprising an elongated member extending from said robot hand, each finger further beind substantially parallel to each other of said first and second pair of opposed fingers;

third selectively operable reciprocation means mounted parallel to said robot arm; and

a link interposed said third selectively operable reciprocation means and said robot hand for rotating said robot hand about said predetermined axis in response to reciprocation of said third selectively operable reciprocation means.

10. A robot machine for grasping and releasing an article, said robot machine comprising:

a robot arm;

a robot hand pivotally fastened to said robot arm such as to pivot about a predetermined axis around a center of rotation;

a first pair of opposed fingers movably mounted to said robot hand and a second pair of opposed fingers movably mounted to said robot hand, said first pair of opposed fingers having a first predetermined grasping center located at a first predetermined linear distance from said predetermined axis, said second pair of opposed fingers having a second predetermined grasping center located at a second predetermined linear distance from said predetermined axis, said first predetermined linear distance being equal to said second predetermined linear distance;

each finger of said first and second pair of opposed fingers comprising an elongated member extending from said robot hand, each finger further being substantially parallel to each other of said first and second pair of opposed fingers;

a predetermined angular distance about said center of rotation between said first predetermined grasping center and said second predetermined grasping center, said predetermined angular distance being theoretically less than one hundred and eighty degrees;

selectively operable reciprocation means mounted parallel to said robot arm, said selectively operable reciprocation means being selectively operable to rotate said robot hand through said predetermined angular distance; and

a link interposed said selectively operable reciprocation means and said robot hand for rotating said robot hand about said predetermined axis in response to reciprocation of said selectively operable reciprocation means.

11. The robot machine of claim 10 wherein said predetermined angular distance is approximately ninety degrees.