JPS6310086U - - Google Patents
Info
- Publication number
- JPS6310086U JPS6310086U JP10212486U JP10212486U JPS6310086U JP S6310086 U JPS6310086 U JP S6310086U JP 10212486 U JP10212486 U JP 10212486U JP 10212486 U JP10212486 U JP 10212486U JP S6310086 U JPS6310086 U JP S6310086U
- Authority
- JP
- Japan
- Prior art keywords
- link
- frame
- rotation
- center
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Description
第１図〜第３図は本考案の第１の実施例にかか
り、第１図はその縦断面図、第２図はその一部を
省略した横断面図、第３図はその指が閉じる状態
の縦断面図である。さらに、第４図〜第６図は本
考案の第２の実施例にかかり、第４図はその縦断
面図であり、右半分が指を開いた状態、左半分が
指を閉じた状態を表わしている。また、第５図は
その一部を省略した横断面図、第６図はそのフレ
ーム部分の横断面図である。
図面中、１１はフレーム、１２はウオーム、１
４は減速機構、１５は駆動モータ、１６は指、１
９は第１のリンク、１９ａはウオームホイール、
１９ｄは歯車、２１は第２のリンク、２１ａは歯
車、２２は固定歯車、２６はねじ軸、２７は移動
部材、２７ａはラツクである。
Figures 1 to 3 show the first embodiment of the present invention; Figure 1 is a longitudinal sectional view thereof, Figure 2 is a partially omitted cross-sectional view, and Figure 3 is a closed finger. It is a longitudinal cross-sectional view of the state. Furthermore, FIGS. 4 to 6 show a second embodiment of the present invention, and FIG. 4 is a longitudinal cross-sectional view thereof, with the right half showing the state in which the fingers are open and the left half showing the state in which the fingers are closed. It represents. Further, FIG. 5 is a partially omitted cross-sectional view, and FIG. 6 is a cross-sectional view of the frame portion. In the drawing, 11 is a frame, 12 is a worm, 1
4 is a reduction mechanism, 15 is a drive motor, 16 is a finger, 1
9 is the first link, 19a is the worm wheel,
19d is a gear, 21 is a second link, 21a is a gear, 22 is a fixed gear, 26 is a screw shaft, 27 is a moving member, and 27a is a rack.
Claims (1)
指は少なくとも、前記フレームに回動自在に支持
されて駆動源により駆動される第１のリンクと、
前記フレームに固定された前記第１のリンクの回
動中心と同心の固定歯車と、前記第１のリンクに
回動自在に取付けられると共にその回動中心と同
心に前記固定歯車と噛み合う歯車が一体的に設け
られた第２のリンクとを具えたことを特徴とする
ロボツトハンド。 a plurality of fingers attached to a frame, each finger having at least a first link rotatably supported by the frame and driven by a drive source;
A fixed gear fixed to the frame and concentric with the center of rotation of the first link; and a gear rotatably attached to the first link and meshing with the fixed gear concentrically with the center of rotation are integrated. A robot hand characterized in that it is provided with a second link that is provided in a central position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10212486U JPS6310086U (en) | 1986-07-04 | 1986-07-04 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10212486U JPS6310086U (en) | 1986-07-04 | 1986-07-04 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6310086U true JPS6310086U (en) | 1988-01-22 |
Family
ID=30973484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10212486U Pending JPS6310086U (en) | 1986-07-04 | 1986-07-04 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6310086U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008049456A (en) * | 2006-08-28 | 2008-03-06 | Kyushu Institute Of Technology | Robot hand |
-
1986
- 1986-07-04 JP JP10212486U patent/JPS6310086U/ja active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008049456A (en) * | 2006-08-28 | 2008-03-06 | Kyushu Institute Of Technology | Robot hand |
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