| 摘要 |
PROBLEM TO BE SOLVED: To easily reduce the possibility of interference and cost by reducing the number of part items of an actuator used in a handling robot system and a driving mechanism for allowing gripping claws to perform gripping operation by the actuator. SOLUTION: A first kind of gripping claw driven by a servomotor on a hand base 10, and a second kind of gripping claws 12 and 22 having no actuator, are used by being installed in respective holding parts. The gripping claws 12 and 22 can move in the vertical direction to the moving direction of the first kind of gripping claw (unillustrated). External force is impressed by allowing the gripping claw 12 or 22 to abut on an abutting surface 31 or 32 of a stationary stand member 30 by operation of a robot 1, and locking (unlocking) can be performed by a brake mechanism by changing a relative position to the hand base 10. The respective gripping claws can be attached and detached by using a pull bolt and an attaching-detaching mechanism, and the gripping claws can be automatically replaced by robot operation. When the pull bolt is attached in advance to a work, the attaching-detaching mechanism can be diverted to grip the work. Thus, a hand can be miniaturized with a movable gripping claw having no actuator, and an interference area of the hand and the periphery can be reduced. COPYRIGHT: (C)2005,JPO&NCIPI
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