Forging robot hand.

摘要

A robot hand of the invention is a forging robot hand for holding one end of a forge workpiece receiving an impulsive load and deforming. A grip hand 3 for holding the workpiece is disposed in a casing 4 forming the outer frame of the robot hand 2. The grip hand 3 and the casing 4 are coupled by two parallel link mechanisms 51 and 52. The casing 4 is provided with position return cylinders 13 and 22 for returning the grip hand 3 to a predetermined initial position and position hold cylinders 25 for holding the moved grip hand 3 to the moved position. When an impulsive load is imposed on the workpiece, the robot hand 3 moves in parallel with the casing 4 to absorb the impulsive force. <IMAGE>