| 摘要 |
The present invention relates to a robot hand installed in an end arm of a six-axis articulated robot including: a driving unit installed in the lower part of the arm and proving driving power generated by a servo motor; a driven unit installed in the lower part of the driving unit to be able to rotate, connected to the driving unit by a power transmitting means, and receiving the driving power generated by the servo motor of the driving motor; a first fixing member of which a rear end is fixated to the front part of the driven unit and first grippers facing each other and moving in a vertical direction are formed in a front end; a pair of second fixing members extended downward in a vertical direction from both ends of the driving unit and having second grippers facing each other and moving in a horizontal direction in the lower parts; and a pair of third fixing members formed on the bottom surface of the driven unit to face each other and having third grippers moving in a vertical direction in the front ends. According to this, the present invention is capable of improving the accuracy of assembling components with the robot hand by installing an axis, which is kinematically redundant, in a hand of an existing six-axis articulated robot, improving productivity by reducing a cycle of an assembling process by smoothly performing and simplifying a component assembling work and a component transferring work, and effectively solving problems of the deformation of the components and damage to the components due to gripping power or a change in a component gripping position due to an external force after gripping the components by including a means capable of controlling the gripping power of the grippers when gripping the components. |
