| 摘要 |
PROBLEM TO BE SOLVED: To reduce the size of a hand device, to simplify the constitution of a work fallout preventing means, and to improve the reliability of a fallout preventing function. SOLUTION: A robot hand 10 is composed of a hand base part 20, a pair of finger-like bodies 21 projected from the hand base part 20 to freely hold or release a work from both sides, and a movable core 25 provided on a cylinder body 24 to be freely expanded and contracted by an air pump 17. A link means 40 is composed of a lever-like body projected from the base end part of the finger-like body 21 and a connecting piece 43 connecting the lever-like body and the movable core 25. A work fallout preventing means is composed of: a projecting rod 50; a support rail 51 supporting the projecting rod 50 to be slid between the projecting part Q1 and the retreat position Q2; a coil spring for projecting the projecting rod 5o to the projecting position Q1; and an air cylinder 53 for backward movement, which is adapted to hold the projecting rod 50 at the retreat position Q2 in the ordinary state and release such holding when the air pump 17 is stopped. COPYRIGHT: (C)2005,JPO&NCIPI
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