| 摘要 |
<p>(Problem) A pair of finger bodies should be able to easily sandwich a workpiece without being interfered by other adjacent workpieces, and should be able to easily and rapidly change a standby open clearance depending on an external diameter of multiple workpieces in various sizes. (Means for solving the problem) A pair of hand piston 8 and 10 connected by a connection rod 12 is inserted in a hand cylinder 2, and an opening 14 and 15 are formed in the hand cylinder 2. A driving rack gear 11 is formed on the connection rod 12, and engages with a driving pinion gear 20 arranged on a penetrating axis 16 rotatably arranged in the hand cylinder 2 to penetrate the hand cylinder 2. The robot hand for an industrial robot has a rack and pinion mechanism 1 enabling a pair of finger body 27 and 28 to slide in an axial direction of the hand cylinder 2 with a driven pinion gear 21 on the external periphery of the lower end of the penetrating axis 16 engaging with a driven rack gear 30 and 31 of the pair of finger body 27 and 28, a stopper mechanism 35 controlling a position at which the finger body 27 stops, and a sensor mechanism 55 having multiple sensors 58 arranged facing an inner portion of a widthwise moving direction of the finger body 27 and 28 to be able to detect the finger body 27.</p> |
