| 摘要 |
PROBLEM TO BE SOLVED: To provide a work hand prepared for overload resistant by arranging the overload release part having shear pins rupturing by tensile force on the tip of a wrist flange, and forming the tip gripping part by connecting claw brackets operating by actuators to the overload release part. SOLUTION: An overload release part 3 is installed on a wrist flange 2 of a sixth shaft on the tip of a fifth shaft 1. The overload release part 3 has, for example, four shear pins 3b for connecting a plate at a right angle to the wrist flange 2 and a plate of the overload release part 3. The shear pins 3b have a partially constricted shape (a V-groove work side surface shape) in the shaft direction, and rupture by tensile force not less than a constant value. The actuator mounting part 8 is installed on the tip of the overload release part 3, and claw brackets 9a, b of claws 9 are mutually approached/separated by driving of piston rods of two actuators 8a, b to thereby protect an arm by properly releasing excessive external force by a hand.
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