US Patent No. 10,391,639

TRANSFER TOOL AND ROBOT


Patent No. 10,391,639
Issue Date August 27, 2019
Title Transfer Tool And Robot
Inventorship Shun Suyama, Yamanashi (JP)
Assignee Fanuc Corporation, Yamanashi (JP)

Claim of US Patent No. 10,391,639

1. A transfer tool comprising:a substantially strip-shaped frame;
a wrist-side slider to be attached to a wrist of a robot, provided on one side of the frame in a thickness direction in a manner capable of moving along a longitudinal direction of the frame;
a workpiece-side slider provided on another side of the frame in the thickness direction in a manner capable of moving along the longitudinal direction of the frame;
a distal-end swing shaft attached to the workpiece-side slider;
wherein the distal-end swing shaft includes:
a workpiece support section supported by the workpiece-side slider in a manner capable of swinging around an axis line extending in a width direction of the frame, the workpiece support section supporting a workpiece; and
an actuator attached to the workpiece-side slider, the actuator causing the workpiece support section to swing; and
wherein the actuator includes:
a motor fixed to the workpiece-side slider; and
a pair of gears that transmits driving force of the motor to the workpiece support section; and
at least one of the gears is formed into a fan shape where teeth are provided correspondingly with a swing angle range of the workpiece support section around the axis line.