| 摘要 |
PURPOSE:To surely perform hooking work of a spring even for the tension coil spring, whose hook surfaces in both ends are twisted and not placed in an equal plane, by constituting a hand such that a distance between a pair of fingers while being left as holding a parallel condition can be controlled to an optional value. CONSTITUTION:A hand 61, for hooking work of a spring, has a pair of fingers 64, guided by guide shafts 63 and slidably supported while being left as holding a parallel condition, fingernails 65 and hook retaining pins 73. Further the hand 61, coupling a DC servomotor 70 and an encoder 71 in a line to be connected with a numerical control device and positioning a rotary angle of the servomotor 70 by an instruction of this numerical control device, opens and closes the paired fingers 64 so as to hold a tension coil spring. By this constitution, the hand 61 can surely perform the hooking work even for the tension coil spring in which hook surfaces in both ends are twisted and not placed in an equal plane. |
