Abstract: An element changer includes a plurality of operation pin members (4) inserted in a housing (3). Each of the operation pin members (4) has a wedge surface (12c). When the operation pin members (4) are pushed into the housing (3), each wedge surface (12c) is disengaged from an engaging portion (10a) provided at a leading end portion of a tubular wall portion (10) of a tool plate (2) or of a connection plate (1). This allows a tool (5) functioning as a second element to be detached from a robot arm (8) functioning as a first element.

Abstract: Provided is an attaching/detaching structure that operates reliably with simple operation. The attaching/detaching structure attaches/detaches a second connecting member (4) to/from a first connecting member (3). An operation chamber (8) formed in a base member (5) of the second connecting member (4) is connected to the outside of the base member (5) via an insertion hole (7) opened to a seating surface (6) of the first connecting member (3). Two clamp arms (10) and (11) are provided in the operation chamber (8) so as to be symmetrical around an axial center of the operation chamber (8). An engaging portion (16, 17) is formed at one end (10b, 11 b) in longitudinal direction of each of the clamp arms (10, 11). An engaging member (32) protruding from the second connecting member (4) can be inserted into the insertion hole (7). A lock portion (34) in which the engaging portions (16, 17) can be engaged is formed in the engaging member (32).

Abstract: When an operation portion (38) provided at an axial end portion of a valve member (37) is pushed into a valve case (31) provided to a first block (3), a clamping apparatus transitions from a first state, in which communication between: each of a primary-side pressure fluid supply/discharge port (34) and a secondary-side pressure fluid supply/discharge port (35); and a pressure fluid discharge port (36) is open, to a second state, in which communication between: each of the primary-side pressure fluid supply/discharge port (34) and the secondary-side pressure fluid supply/discharge port (35); and the pressure fluid discharge port (36) is closed.

Abstract: An embodiment of the present invention simplifies the configuration of a suction positioning device. An embodiment of the present invention includes: an output rod (3) having an air discharge passage (11); a sleeve (4) which has a tapered outer circumferential surface (12) and is elastically deformable so as to have a reduced diameter; a transmission member (5) having a tapered inner circumferential surface (13); a plurality of balls (B) which are inserted between the tapered inner circumferential surface (13) and the tapered outer circumferential surface (12); and a suction pad (7) attached to the output rod (3) so as to communicate with the air discharge passage (11).

Abstract: An advancing-retracting member (3) which is tubular is hermetically inserted into a housing (1) so as to be movable in an vertical direction. An advancing-retracting mechanism (13) is provided to the housing (1) so as to move the advancing-retracting member (3) in the vertical direction. A support cylinder (17) is provided in a manner so as to protrude upward from the advancing-retracting member (3) and be insertable into a hole (21) formed in a workpiece (20). A pressing surface (4) formed in a top end portion of the advancing-retracting member (3) is able to push the workpiece (20) up. In a case where the advancing-retracting mechanism (13) moves the advancing-retracting member (3) upward, the advancing-retracting member (3) causes the support cylinder (17) to be inserted into the hole (21) of the workpiece (20) from below, and the advancing-retracting member (3) presses against the workpiece (20) via the pressing surface (4) so as to move the workpiece (20) upward.

Abstract: An advancing-retracting member (3) which is tubular is hermetically inserted into a housing (1) so as to be movable in an vertical direction. An advancing-retracting mechanism (13) is provided to the housing (1) so as to move the advancing-retracting member (3) in the vertical direction. A support cylinder (17) is provided in a manner so as to protrude upward from the advancing-retracting member (3) and be insertable into a hole (21) formed in a workpiece (20). A pressing surface (4) formed in a top end portion of the advancing-retracting member (3) is able to push the workpiece (20) up. In a case where the advancing-retracting mechanism (13) moves the advancing-retracting member (3) upward, the advancing-retracting member (3) causes the support cylinder (17) to be inserted into the hole (21) of the workpiece (20) from below, and the advancing-retracting member (3) presses against the workpiece (20) via the pressing surface (4) so as to move the workpiece (20) upward.

Abstract: An attaching-detaching mechanism (23, 63) of a gripping device includes: a tubular support member (44, 84) provided to a movable member (3, 4) to protrude in the guide hole (24, 64); engagement members (46, 86) respectively inserted in support holes (45, 85) of the support member (44, 84) so as to be radially movable; an operation portion (49, 89) inserted in a guide hole (24, 64); wedge portions (50, 90) provided on an inner peripheral wall of the operation portion (49, 89); a connecting rod (53, 93) provided to protrude from a claw member (22, 62) and configured to be insertable into a tubular hole (51, 91) of the support member (44, 84); and a lock portion (56, 96) provided on an outer peripheral wall of the connecting rod (53, 93).

Abstract: An embodiment of the present invention simplifies the configuration of a suction positioning device. An embodiment of the present invention includes: an output rod (3) having an air discharge passage (11); a sleeve (4) which has a tapered outer circumferential surface (12) and is elastically deformable so as to have a reduced diameter; a transmission member (5) having a tapered inner circumferential surface (13); a plurality of balls (B) which are inserted between the tapered inner circumferential surface (13) and the tapered outer circumferential surface (12); and a suction pad (7) attached to the output rod (3) so as to communicate with the air discharge passage (11).

Abstract: A first rod (21) is inserted into a first guide hole (11) so as to be movable in a vertical direction. A second rod (22) is inserted into a second guide hole (12), which crosses the first guide hole (11), so as to be movable in a horizontal direction. An accommodation groove (31) is disposed in a lower half portion of the first rod (21). The second rod (22) is provided with an insertion portion (32) to be fitted in the accommodation groove (31). A cam groove (38) provided in the insertion portion (32) is fitted over a pin (35) provided in the lower half portion of the first rod (21). A drive transmission (D) connected to the second rod (22) moves the second rod (22) in the horizontal direction.

Abstract: An attaching-detaching mechanism (23, 63) of a gripping device includes: a tubular support member (44, 84) provided to a movable member (3, 4) to protrude in the guide hole (24, 64); engagement members (46, 86) respectively inserted in support holes (45, 85) of the support member (44, 84) so as to be radially movable; an operation portion (49, 89) inserted in a guide hole (24, 64); wedge portions (50, 90) provided on an inner peripheral wall of the operation portion (49, 89); a connecting rod (53, 93) provided to protrude from a claw member (22, 62) and configured to be insertable into a tubular hole (51, 91) of the support member (44, 84); and a lock portion (56, 96) provided on an outer peripheral wall of the connecting rod (53, 93).

Abstract: A force multiplier (5) configured to assist movement of the operating rod (22) in its axial direction is provided. An engagement recess (52) provided on an outer periphery of the operating rod (22) has a cam surface (52a) configured to make engagement with an engagement ball (51). There is provided a support hole (53) configured to allow movement of the engagement ball (51) in a radial direction of operating rod (22) and to restrict movement of the engagement ball (51) in the axial direction of the operating rod (22). A pressing member (54) configured to press the engagement ball (51) is provided, and the pressing member (54) has a force-multiplying surface (54a).

Abstract: A force multiplier (5) configured to assist movement of the operating rod (22) in its axial direction is provided. An engagement recess (52) provided on an outer periphery of the operating rod (22) has a cam surface (52a) configured to make engagement with an engagement ball (51). There is provided a support hole (53) configured to allow movement of the engagement ball (51) in a radial direction of operating rod (22) and to restrict movement of the engagement ball (51) in the axial direction of the operating rod (22). A pressing member (54) configured to press the engagement ball (51) is provided, and the pressing member (54) has a force-multiplying surface (54a).

Abstract: A first rod (21) is inserted into a first guide hole (11) so as to be movable in a vertical direction. A second rod (22) is inserted into a second guide hole (12), which crosses the first guide hole (11), so as to be movable in a horizontal direction. An accommodation groove (31) is disposed in a lower half portion of the first rod (21). The second rod (22) is provided with an insertion portion (32) to be fitted in the accommodation groove (31). A cam groove (38) provided in the insertion portion (32) is fitted over a pin (35) provided in the lower half portion of the first rod (21). A driving means (D) connected to the second rod (22) moves the second rod (22) in the horizontal direction.

Abstract: An output rod (27) is inserted in a housing (4) so as to be movable vertically. A first piston (41) inserted in a lower part of the housing (4) is fixed to the output rod (27). A second piston (42) inserted on an upper side of the first piston (41) is fitted on the output rod (27) so as to be movable vertically. A lock chamber (44) is provided between the first piston (41) and the second piston (42). A first release chamber (51) is provided below the first piston (41). A second release chamber (52) is provided above the second piston (42). During force multiplication driving of the output rod (27), a pressurized fluid in the lock chamber (44) carries out the force multiplication driving with respect to the output rod (27) downward via the second piston (42) and engaging balls (69). A retaining spring (60) which biases the second piston (42) upward is provided in the lock chamber (44) between the first piston (41) and the second piston (42).

Abstract: An output rod (27) is inserted in a housing (4) so as to be movable vertically. A first piston (41) inserted in a lower part of the housing (4) is fixed to the output rod (27). A second piston (42) inserted on an upper side of the first piston (41) is fitted on the output rod (27) so as to be movable vertically. A lock chamber (44) is provided between the first piston (41) and the second piston (42). A first release chamber (51) is provided below the first piston (41). A second release chamber (52) is provided above the second piston (42). During force multiplication driving of the output rod (27), a pressurized fluid in the lock chamber (44) carries out the force multiplication driving with respect to the output rod (27) downward via the second piston (42) and engaging balls (69). A retaining spring (60) which biases the second piston (42) upward is provided in the lock chamber (44) between the first piston (41) and the second piston (42).

Abstract: A clamping apparatus has a piston inserted into a housing, a lock chamber located above the piston and a release chamber located below the piston. The clamping apparatus also has a diametrically expandable and contractible tapered sleeve attached to an annular plug portion projected upward from the housing and to be received in a tapered hole provided in a work pallet. An output rod is also inserted into a cylindrical hole of the plug portion and connected to the piston. Lock springs having compression coil springs are inserted into a plurality of spring-attachment holes formed in a recessed manner in an upper wall of the lock chamber, where the spring-attachment holes are communicatively connected to an outer surface of the housing by through holes, and pushing members are hermetically inserted into the through holes. The lock springs urge the sleeve through the pushing members with a predetermined force.

Abstract: A clamp apparatus comprises a guide member with a top wall and a circumferential wall that protrude above a housing and are inserted into a hole of a work. The guide member is inserted into the housing to be movable downward against an advancing unit that pushes the guide member upward, within a locking stroke of downward movement. Through the circumferential wall, a plurality of guide grooves are made at predetermined intervals in circumferential directions. A locking member inserted into each guide groove is biased radially inward by an annular elastic member which is a thin strip. A clamp rod has wedge surfaces engaging with the respective locking members from above, and is clamp-driven downward and unclamp-driven upward by a piston.

Abstract: A plug portion (27) is projected from a first block (1) so as to be inserted into a insertion hole (5) opened in a second block (2). A support surface (9a) is formed on the first block (1) so as to be brought into contact with a supported surface (2a) formed on the second block (2). In the support surface (9a) is opened a fluid flow hole (59). A gap supporting member (K) acting force upon the second block (2) in such a direction as to separate the second block (2) from the first block (1) so as to form a gap (G1) between the supported surface (2a) and the support surface (9a) is provided on the first block (1). A pull member (21) eliminates the gap (G1) by making the second block (2) approach the first block (1) against the force of the gap supporting member (K) in such a condition that an outer peripheral surface of the plug portion (27) is in close contact with an inner peripheral surface of the insertion hole (5) to bring the supported surface (2a) into contact with the support surface (9a).

Abstract: A left end portion of a clamp arm is vertically swingably connected to an upper portion of a rod vertically movably inserted into a housing, and an annular supported member is attached to a support member rotatably around an axis, the support member being provided to an outer periphery of an upper portion of the housing. A pivot portion provided to the supported member and a non-edge portion in a longitudinal direction of the clamp arm are connected by a link member. The support member and the supported member are provided with an element for receiving an upward force acting from the link member on the pivot portion during a clamping operation. The supported member is fixed to the support member at a desired rotation angle position by a lock element.

Abstract: Above and below a piston (15) inserted into a housing (5), there are respectively provided a lock chamber (16) and a release chamber (17) where compressed air is supplied and discharged. A diametrically expandable and contractible tapered sleeve (28) is attached between an annular plug portion (26) projected upward from the housing (5) and a tapered hole (11) provided in a work pallet (2). An output rod (35) inserted into a cylindrical hole (26a) of the plug portion (26) is connected to the piston (15). Lock springs (49) constituted by compression coil springs are respectively inserted into a plurality of spring-attachment holes (48) formed in a recessed manner in an upper wall (16a) of the lock chamber (16). The spring-attachment holes (48) are communicatively connected to an outer surface of the housing (5) by through holes (55), respectively, and pushing members (56) are hermetically inserted into the through holes (55).