| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand using a fluid pressure as a driving source, which performs two-dimensional positioning so as to stop two surfaces of a workpiece always at constant positions. SOLUTION: The robot hand includes: four levers for opening/closing in a state of protruding from a casing; four pistons mounted in the casing so as to reciprocate; and four link members for converting the reciprocation of the pistons to an operation of opening/closing the levers. The operation of opening/closing the levers is set to be vertical to the reciprocation of the pistons. One lever synchronously working with the reciprocation of the pistons has such a structure as to work asynchronously with other levers. The four levers are provided so as to be at the right angle with one another. One piston is structured to have larger cylinder thrust force than the other facing piston among the four pistons, and a mechanism for adjusting a cylinder stroke of the piston is provided. COPYRIGHT: (C)2008,JPO&INPIT
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