JPH0365685U

JPH0365685U -

Info

Publication number: JPH0365685U
Application number: JP12502089U
Authority: JP
Priority date: 1989-10-25
Filing date: 1989-10-25
Publication date: 1991-06-26

Description

[Brief explanation of the drawing]

第１図は本考案の一実施例であるロボツトハン
ド装置を示す断面図、第２図はロボツトハンド装
置を示す分解斜視図、第３図はロボツトハンド装
置の動作を示す動作説明図である。１……空気圧シリンダ部（駆動部）、２……カ
ム部、３ａ……第１のカム係合部、３ｂ……第２
のカム係合部、４ａ……第１のハンド部、４ｂ…
…第２のハンド部、５……ボデイ、６……シリン
ダ室、６ａ……第１のシリンダ室、６ｂ……第２
シリンダ室、７……止め輪、８……エンドカバー
、９……ピストン、１０……ピストンロツド、１
１……ロツド孔、１２……Ｏリング、１３……Ｏ
リングカバー、１４ａ……第１の給排ポート、１
４ｂ……第２の給排ポート、１５……収納室、１
６……ピン、１７ａ……第１のカムローラ、１７
ｂ……第２のカムローラ、１８ａ……第１のテー
パ孔、１８ｂ……第２のテーパ孔、１９ａ，１９
ｂ……第１のテーパ面、１９ｃ，１９ｄ……第２
のテーパ面、２０……プレート、２１……スライ
ド突条部、２２……スライド溝、２３……サイド
カバー、２４……開口部。 FIG. 1 is a sectional view showing a robot hand device which is an embodiment of the present invention, FIG. 2 is an exploded perspective view showing the robot hand device, and FIG. 3 is an explanatory diagram showing the operation of the robot hand device. DESCRIPTION OF SYMBOLS 1... Pneumatic cylinder part (drive part), 2... Cam part, 3a... First cam engagement part, 3b... Second
cam engaging part, 4a...first hand part, 4b...
...Second hand part, 5...Body, 6...Cylinder chamber, 6a...First cylinder chamber, 6b...Second
Cylinder chamber, 7... Retaining ring, 8... End cover, 9... Piston, 10... Piston rod, 1
1...Rod hole, 12...O ring, 13...O
Ring cover, 14a...first supply/discharge port, 1
4b...Second supply/discharge port, 15...Storage chamber, 1
6... Pin, 17a... First cam roller, 17
b... Second cam roller, 18a... First tapered hole, 18b... Second tapered hole, 19a, 19
b...first tapered surface, 19c, 19d...second
20...Plate, 21...Slide protrusion, 22...Slide groove, 23...Side cover, 24...Opening.

Claims

[Claims for Utility Model Registration] 1. A cam part provided in a body so as to be movable in a reciprocating manner, a driving part for imparting reciprocating movement to the cam part,
A pair of hand parts provided on the body and capable of opening and closing in parallel to each other in a direction perpendicular to the direction of reciprocating movement of the cam part, and a pair of hand parts provided on each of these hand parts to engage with the cam part. and a pair of cam engaging portions that convert reciprocating movement of the cam portion into opening/closing movement of the hand portion, each of the pair of cam engaging portions having a tapered hole that engages with the cam portion,
A robot hand device characterized in that the tapered surfaces of these tapered holes are inclined in directions opposite to each other with respect to the direction of reciprocating movement of the cam portion. 2. The robot hand device according to claim 1, wherein the tapered surface of the tapered hole is inclined at an acute angle with respect to the direction of reciprocating movement of the cam portion. 3. The robot hand device according to claim 1, wherein the cam portion engages with both tapered surfaces of the tapered hole.