| 摘要 |
PROBLEM TO BE SOLVED: To provide a hand device of industrial robot that does not require a motor for each finger and that can maintain a grip of a workpiece without dropping it even when the power supply to the hand device is shut down due to an emergency stop when abnormality is detected by the system. SOLUTION: The hand device includes: a block 4 being guided slidably along an inner periphery of the frame in the axis direction of a ball screw 2, and a spring 9 (elastic body is also available) disposed between the undersurface of a small-diameter cutting part 15 of a nut 16 and the undersurface of a small-diameter of a block 17; wherein when a servomotor 3 is activated, the other end of each finger 5 performs an opening-closing movement, and after the other end of each finger 5 hits a workpiece 10, the servomotor 3 is further activated until the spring 9 deforms in a prescribed amount, and then the workpiece 10 is gripped when a brake 13 of the servomotor 3 is activated. COPYRIGHT: (C)2009,JPO&INPIT
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