| 摘要 |
PURPOSE:To make a robot hand compact so as to enable the same to move in pursuit of pushing-out of a product by fixing a turning shaft rotatably supporting a housing supporting a holding mechanism around Y-Y axis, to a slide block slidable in the direction orthogonal to the direction of pushing-out of products. CONSTITUTION:When a product 10 is pushed out by a push out device after the product is held by a holding lever 11, a positioning pin 36 is extracted, and a hosing 26 is turned around a turning shaft 27 until it abuts against a stopper bolt 33 against compressing force of a compression spring 31. The lever 11 set inside of this housing 26 and the product 10 are parallely moved in the push-out direction. In this case, since turning of a robot main body is circular movement, and there is difference with push-out linear motion, by sliding a slide block 29 with a turning shaft 27 retained at the neutral position by compression springs 42, 43 in the direction vertical to the push-out direction of product 10, this difference is compensated. |
