| 摘要 |
PURPOSE:To arrange this hand so as to keep balance as a whole, by disposing a centroid of a robot hand so that the centroid be positioned on the grip center line of a work. CONSTITUTION:This device is arranged in such a manner that a pair of gears 15, 16 are axially supported to a center portion of a base 14 formed in an approx. C character-like shape in a revolution-free form under a condition that the gears mutually engage while cylinders 17, 18 are each mounted to both end portions of the base 14, and the locations of the cylinders can be adjusted by bolts 20 through long holes 19 drilled to the base 14 side. Fingers 22 are fixed to the noses of the rods 21 of each cylinder, and the one ends of arms 23 are axially supported to the base portions of these fingers through pins 24 in a revolution-free shape. The noses of the arms 23 are fitted to each rotary shaft 25 of the gears 15, 16 and pins 26 eccentrically studded through long holes 23a in a sliding-free form. This consitution can obtain a well-balanced and no-eccentricity robot hand. |
