| 摘要 |
[PROBLEMS] To clamp a work easily with a pair of finger bodies without being interfered with an other adjoining work, and to alter the interval between waiting openings easily and quickly depending on the outside diameter of a plurality of works of different sizes to be clamped. [MEANS FOR SOLVING PROBLEMS] A pair of hand pistons (8) connected by a connecting rod (12) is inserted into a hand cylinder (2) and introduction outlets (14, 15) are opened, a main driving rack gear (11) is formed in the connecting rod (12) and is made to engage with a main driving pinion gear (20) provided on a through shaft (16) disposed to penetrate the hand cylinder (2) rotatably. The robot hand comprises a rack and pinion mechanism (1) for making the driven rack gears (30, 31) of a pair of finger bodies (27, 28) engage with a driven pinion gear (21) on the outer circumference at the lower end of the through shaft (16) and allowing the finger bodies (27, 28) to slide in the axial direction of the hand cylinder (2), a stopper mechanism (35) for regulating the operation stop position of the finger body (27), and a sensor mechanism (55) where a plurality of sensors (58) for detecting the finger body (27) are arranged on the inside of the finger bodies (27, 28) in the moving width direction.
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