| 摘要 |
PURPOSE:To obtain a general purpose grasping apparatus, by providing a stopper for controlling, when a pair of paws are extended, the width of their extension to be a predetermined width. CONSTITUTION:When a work W is small, a signal is transmitted to a motor 8 to rotate the same and a nut 10 is shifted toward the bottom of a body 1, and a stroke of a piston 12 is determined according to the work W. The piston 12 is applied against the nut 10 by the force applied by a spring 15, and a pair of paws 18 are extended sufficiently to grasp the work W by means of parallel links 16a and 16b, 17a and 17b. The body 1 is moved to the position where the work W is located by means of a robot arm or guide rail so that a pair of paws 18 are positioned on both sides of the work W. Working fluid is supplied into a chamber B so as to shift the piston toward the bottom of the body 1. Consequently, as the other ends of the parallel links 16b and 17b approach each other, a pair of paws 18 also approach each other and grasp the work W with their flat faces 18c and 18d. |
