| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand that holds a workpiece without dropping the workpiece when a driving source stops in an emergency. SOLUTION: The hand includes a pair of anti-drop mechanisms 40L and 40R. The pair of anti-drop mechanisms 40L and 40R includes a grip cam 41 which contacts to the workpiece 100 when gripping the workpiece 100, and a rotation fulcrum pin 42 which turnably supports the grip cam 41. Each of the grip cams 41 and 41 is pressed to the workpiece 100, by bringing a pair of drive fingers 30L and 30R close to the workpiece 100, when gripping the workpiece 100. While gripping the workpiece 100, each of the grip cams 41 and 41 is applied with a turning force in B1 and B2 directions where the cams approach to the workpiece 100 under own weight of the workpiece 100. The application of the turning force in B1 and B2 directions where the cams approach to the workpiece 100 to the grip cam 41 leads to increase a pressure to the workpiece 100 due to the grip cam 41. COPYRIGHT: (C)2011,JPO&INPIT
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