JPS5928487U

JPS5928487U - Robot hand object gripping device

Info

Publication number: JPS5928487U
Application number: JP12258182U
Authority: JP
Inventors: 岡部　克彦
Original assignee: 日本電産コパル株式会社
Priority date: 1982-08-12
Filing date: 1982-08-12
Publication date: 1984-02-22

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Brief explanation of the drawing]

第１図は本箸案に係る物品把持装置の一実施例の平面図
、第２図は第１図のＡ−Ａ矢視方向の断面図、第３図は
第１図からフィンガーレバーのみを抽出して示した平面
図、第４図は第３図の動作後の状態を示す平面図、第５
図はフィンガーレバーの第２の実施例の平面図、第６図
は第５図の動作後の状態を示す平面図、第７図はフィン
ガーレバーの第３の実施例の平面図、第８図は第７図の
動作後の状態を示す平面図、第９図はフィンガーレバー
の第４の実施例の平面図、第１０図は第９図の動作後の
状態を示す平面図、第１１図はフィンガーレバーの第５
の実施例の平面図、第１２図、第１３図は第１１図の各
々異なる場合の動作後の状態を示す平面図である。８・・・ラック板、９・・・バネ、１０・・・ワイヤ、
１４・・・歯車（駆動）、１５・・・ピニオン、１Ｂ、
１９゜２０・・・歯車（従動）、２４，２５，２６，１
２４゜１２５．１２６，２２４，２２５，２２６゜３２
４．３２５，３２６，４２４，４２５゜４２６・・・フ
ィンガーレバー。Fig. 1 is a plan view of an embodiment of an article gripping device according to the present chopsticks proposal, Fig. 2 is a sectional view taken along the arrow A-A in Fig. 1, and Fig. 3 shows only the finger lever from Fig. 1. The extracted plan view, Fig. 4 is a plan view showing the state after the operation of Fig. 3, and Fig. 5 is a plan view showing the state after the operation of Fig. 3.
The figure is a plan view of the second embodiment of the finger lever, FIG. 6 is a plan view showing the state after the operation of FIG. 5, FIG. 7 is a plan view of the third embodiment of the finger lever, and FIG. is a plan view showing the state after the operation of FIG. 7, FIG. 9 is a plan view of the fourth embodiment of the finger lever, FIG. 10 is a plan view showing the state after the operation of FIG. 9, and FIG. is the fifth finger lever
FIGS. 12 and 13 are plan views of the embodiment shown in FIG. 11, respectively, showing states after operation in different cases. 8... Rack plate, 9... Spring, 10... Wire,
14... Gear (drive), 15... Pinion, 1B,
19゜20...gear (driven), 24, 25, 26, 1
24゜125.126,224,225,226゜32
4.325,326,424,425°426...Finger lever.

Claims

[Scope of utility model registration request]

(1) A drive gear that is capable of reciprocating rotation; three driven gears that are arranged in three divided positions, each of which is linked to the rotation of the drive gear; An object gripping device for a robot hand, comprising three finger levers that reciprocate, and grips an object or releases the grip of the object by reciprocating and opening and closing the finger levers. .

(2) A rack plate that meshes with a drive gear, a spring member that biases the rack plate in one direction, and a driving force source that moves the rack plate in the other direction against the spring member. The article gripping device for a robot hand according to claim 1, wherein the drive gear is rotated in a reciprocating manner by the reciprocating movement of the rack plate.

(3) The robot hand gripping an object according to claim 2, wherein the finger lever pivots in the direction of gripping the object by the rotation of the drive gear when the rack plate is moved by a spring member. Device.

(4) An object gripping device for a robot hand according to claim 2 or 3, wherein the rack plate and the driving force source are connected via a wire.