| 摘要 |
PURPOSE: A robot hand assembly having a three-point gripping structure is provided to prevent damage to cutting tools by uniformly distributing the gripping power of three fingers to the cutting tools. CONSTITUTION: A robot hand assembly(1) having a three-point gripping structure comprises a hand bracket, upper and lower finger bracket(5,6), two upper fingers, a lower finger, a U-shaped push member(4), a cylinder for operating a lower finger. The hand bracket is coupled to the end of a robot arm(20) of a tool change robot. The upper and lower finger brackets are coupled to the hand bracket. The upper fingers are fixed to the front of the upper finger bracket. The lower finger is fixed to the front of the lower finger bracket. The push member is moved forward and backward in a line with the longitudinal direction of the upper fingers. The cylinder is installed on the hand bracket to be adjacent to the lower finger bracket and upward moves the lower finger bracket.
|
