Title:
WORKPIECE GRIPPING DETERMINATION MECHANISM FOR ROBOT HAND
Document Type and Number:
WIPO Patent Application WO/2023/002565
Kind Code:
A1
Abstract:
Provided is a workpiece gripping determination mechanism for a robot hand whereby the presence or absence of a workpiece is determined, the mechanism comprising: a plurality of master jaws that slide in the radial direction and have attached thereto a chuck claw for gripping a workpiece; a detection device that detects a position at an outer-diameter-side sliding end or an inner-diameter-side sliding end of the master jaws according to the movement thereof; and a control device that determines, on the basis of a detection signal from the detection device, the presence or absence of the workpiece gripped by the chuck claw. For example, the detection device is constituted by: a determination flow path that is formed in the master jaws, communicates with an air supply flow path of a robot body section in a state in which the master jaws are positioned at the outer-diameter-side sliding end or the inner-diameter-side sliding end, and releases air into the atmosphere; and a sensor that measures the air pressure in the air supply flow path.
Inventors:
KODERA TSUKURU (JP)
YASUSHI SUENAMI (JP)
YASUSHI SUENAMI (JP)
Application Number:
PCT/JP2021/027125
Publication Date:
January 26, 2023
Filing Date:
July 20, 2021
Export Citation:
Assignee:
FUJI CORP (JP)
International Classes:
B25J15/08
Foreign References:
| JPH0742678U | 1995-08-11 | |||
| JP2009160672A | 2009-07-23 |
Attorney, Agent or Firm:
HIROTA Akihiro (JP)
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