JPS6232789U - - Google Patents

Description

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram showing one embodiment of the present invention, and FIG. 2 is an enlarged longitudinal sectional view of the locking device 16 in FIG. 1, 7... Grip claw, 8, 9... Slider engaging portion, 12... Engaging member, 13... Slider, 1
5...Guide bar, 16...Lock device, 21,
22...Sensor.

Claims (1)

[Scope of utility model registration request] In the same direction as one of the grip pawls or in the same direction of movement as the grip pawl opens and closes, a slider engages at two locations on a member that moves integrally with the grip pawl, separated by a distance D that is sufficiently larger than d described later. A slider is provided with a mating part and is slidable in a direction parallel to the direction of movement of the grip claws, and can also be fixed in position, such that the engaging member provided on the slider is between the two slider engaging parts. By arranging the grip pawls to open and close with a delay based on the distance D, a sensor is placed on one of the slider engaging portion installation member and the slider, and an excitation member for the sensor is placed on the other side of the slider engaging portion. The sensor or excitation member installed on the joint installation member is installed in such a way that it is closer to the grip claw than the other by a distance d (however, the "distance" of the above "distance" depends on the closing operation of the grip claw). This is the distance when the slider is engaged in a driven manner, and "d" is approximately equal to the minimum movement distance in the opening direction required for the grip claws to release the gripped workpiece and grip another similar workpiece.) A robot hand further comprising a sensor for confirming workpiece gripping on the workpiece gripping surface of the grip claw.