JPH0164331U

JPH0164331U -

Info

Publication number: JPH0164331U
Application number: JP1987159408U
Authority: JP
Priority date: 1987-10-20
Filing date: 1987-10-20
Publication date: 1989-04-25
Also published as: JPH0333391Y2

Description

[Brief explanation of the drawing]

第１図はこの考案に係わるロボツトハンドの一
実施例の構成を示す斜視図；第２図は第１図に示
す押し下げ部材の把持片への取り付け状態を示す
側面図；第３図は各把持片がＣリングの把持して
いる状態を示す正面図；第４Ａ図乃至第４Ｄ図は
鏡胴内におけるＣリングの嵌入動作を順次示す断
面図；第５Ａ図乃至第５Ｃ図は、夫々上述した一
実施例の第１乃至第３の変形例を示す側面図；そ
して、第６図は従来におけるＣリングの嵌入動作
を示す断面図である。図中、１０…ロボツトハンド、１２…Ｃリング
、１４…鏡胴、１６…光学レンズ、１８…ハンド
本体、２０…傘歯車、３２；３４；３６…アング
ル部材、３８；４０；４２…折曲片、４４ａ；４
４ｂ；４６ａ；４６ｂ；４８ａ；４８ｂ…ガイド
ロツド、５０；５２；５４…ねじ棒、５６；５８
；６０…傘歯車、６２；６４；６６…スライドブ
ロツク、６８；７０；７２…把持片、８０…駆動
モータ、８２；８４；８６…押し下げ部材、８８
…長溝、９０…脱落防止用の止め部材、９２；９
４；９６…エアーシリンダ機構、９８；１００；
１０２…シリンダ本体、１０４；１０６；１０８
…ピストン、１１０…嵌合溝である。 Fig. 1 is a perspective view showing the configuration of an embodiment of the robot hand according to this invention; Fig. 2 is a side view showing the state in which the push-down member shown in Fig. 1 is attached to the gripping piece; A front view showing the state in which the piece is gripped by the C ring; FIGS. 4A to 4D are sectional views sequentially showing the insertion operation of the C ring in the lens barrel; FIGS. 5A to 5C are the same as described above, respectively. A side view showing first to third modifications of one embodiment; and FIG. 6 is a sectional view showing a conventional C-ring insertion operation. In the figure, 10... Robot hand, 12... C ring, 14... Lens barrel, 16... Optical lens, 18... Hand body, 20... Bevel gear, 32; 34; 36... Angle member, 38; 40; 42... Bending Piece, 44a; 4
4b; 46a; 46b; 48a; 48b... Guide rod, 50; 52; 54... Threaded rod, 56; 58
60... Bevel gear, 62; 64; 66... Slide block, 68; 70; 72... Grip piece, 80... Drive motor, 82; 84; 86... Push-down member, 88
... Long groove, 90 ... Stopping member for preventing falling off, 92; 9
4;96...Air cylinder mechanism, 98;100;
102...Cylinder body, 104; 106; 108
... Piston, 110 ... Fitting groove.

Claims

[Claims for Utility Model Registration] (1) An inserted object that is approximately arc-shaped and has elasticity in the direction of increasing or decreasing radius, and which has an outer diameter larger than the inner diameter of the cylindrical body in its natural state. A robotic hand for elastic support when transferred into the body includes a hand body that is movable vertically and laterally, and an inserted object that is attached to the hand body so as to be movable in the radial direction and is transferred. a plurality of gripping pieces for gripping an object by coming into contact with the outer peripheral edge thereof and reducing the radius of the object; and an inserted object that is attached to the hand main body so as to be movable along the axial direction and gripped by the gripping pieces. A robot hand characterized by comprising a push-out member that engages with and pushes out an object in the axial direction to remove the inserted object from a gripping piece. (2) The robot hand according to claim 1, wherein the push-out members are arranged to correspond to a plurality of gripping pieces, respectively.