| 摘要 |
PURPOSE:To absorb shock in hammering to protect a robot hand itself and a robot main body by supporting a grip hand for holding one end of a material work by a spherical seat to enable displacement in vertical and lateral directions, enable inclination of the grip hand freely at the spherical part, and also enable movement of the grip hand in the longitudinal direction (axial direction). CONSTITUTION:In a robot hand of a robot to make forging work by holding one end of a forging material in the longitudinal direction, a grip hand 3 to hold the material is provided inside an outer tube 4 of the robot hand 2 to provide double structure and, at impact of forging, the grip hand 3 can be displaced vertically and laterally, its axis can be inclined, and it can be moved in the axial direction. Also the hand is provided with a function capable of displacing freely by external force and re-holding at relatively displaced position between the grip hand 3 and the outer tube 4 of the robot hand 2 and a function to return the displaced grip hand 3 back to the center of the outer tube 4 of the robot hand 2.
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