JPS6438280U - - Google Patents
Info
- Publication number
- JPS6438280U JPS6438280U JP13279587U JP13279587U JPS6438280U JP S6438280 U JPS6438280 U JP S6438280U JP 13279587 U JP13279587 U JP 13279587U JP 13279587 U JP13279587 U JP 13279587U JP S6438280 U JPS6438280 U JP S6438280U
- Authority
- JP
- Japan
- Prior art keywords
- finger
- pin
- proximal end
- hand
- manipulator
- 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.)
- Granted
Links
- 238000010586 diagram Methods 0.000 description 1
Description
第１図〜第３図は本考案によるマニプレータハ
ンドの実施例に係り、第１図は正面断面図、第２
図は第二フインガーの断面図、第３図は小さい対
象物を掴む場合の説明図、第４図〜第６図は従来
のマニプレータハンドに係り、第４図は外観図、
第５図は正面断面図、第６図は側面断面図である
。
２ａ…第一フインガー、２ｂ…第二フインガー
、２ｃ…補助フインガー、２ｄ…第一ピン、２ｅ
…第二ピン、２ｆ…第三ピン、２ｇ…第四ピン、
２ｓ…長孔、２ｔ…穴、２ｕ…バネ、２，３，４
，５…フインガー、６…ハンド本体。
1 to 3 relate to an embodiment of the manipulator hand according to the present invention, and FIG. 1 is a front sectional view, and FIG.
The figure is a sectional view of the second finger, Figure 3 is an explanatory diagram when grasping a small object, Figures 4 to 6 relate to a conventional manipulator hand, and Figure 4 is an external view.
FIG. 5 is a front sectional view, and FIG. 6 is a side sectional view. 2a...first finger, 2b...second finger, 2c...auxiliary finger, 2d...first pin, 2e
...Second pin, 2f...Third pin, 2g...Fourth pin,
2s...long hole, 2t...hole, 2u...spring, 2, 3, 4
, 5...Finger, 6...Hand body.
Claims (1)
ハンド本体に対向的に２以上の把持手段を設け、
当該把持手段は、ハンド本体の外側に第一ピンを
介して回動自在に基端部を結合するとともに基端
部に駆動手段を連動連結した第一フインガーと、
第一フインガーの先端部に第二ピンを介して回動
自在に中間部を結合した第二フインガーと、ハン
ド本体の中央側に第三ピンを介して回動自在に基
端部を結合するとともに先端部を第二フインガー
の基端部に第四ピンを介して回動自在に結合した
補助フインガーとで構成したマニプレータハンド
において、 第二フインガーの中央部に第二フインガーの長
さ方向へ伸びる長孔を形成するとともに長孔に第
二ピンを移動自在に嵌め込み、第二フインガーの
基端部へ向かつて第二ピンを付勢するバネを第二
フインガーと第二ピンとの間に設けたことを特徴
とするマニプレータハンド。[Claims for Utility Model Registration] Two or more gripping means are provided oppositely on the hand body attached to the tip of the arm of the manipulator,
The gripping means includes a first finger whose proximal end is rotatably coupled to the outside of the hand body via a first pin, and a driving means is interlockingly connected to the proximal end;
A second finger has an intermediate portion rotatably connected to the tip of the first finger via a second pin, and a base end is rotatably connected to the center side of the hand body via a third pin. In a manipulator hand consisting of an auxiliary finger whose distal end is rotatably connected to the proximal end of the second finger via a fourth pin, a length extending in the length direction of the second finger is provided at the center of the second finger. A hole is formed, a second pin is movably fitted into the elongated hole, and a spring is provided between the second finger and the second pin to bias the second pin toward the proximal end of the second finger. Features a manipulator hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13279587U JPH0511994Y2 (en) | 1987-08-31 | 1987-08-31 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13279587U JPH0511994Y2 (en) | 1987-08-31 | 1987-08-31 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6438280U true JPS6438280U (en) | 1989-03-07 |
| JPH0511994Y2 JPH0511994Y2 (en) | 1993-03-25 |
Family
ID=31390087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13279587U Expired - Lifetime JPH0511994Y2 (en) | 1987-08-31 | 1987-08-31 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0511994Y2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007090490A (en) * | 2005-09-29 | 2007-04-12 | Kawada Kogyo Kk | Robot joint mechanism |
| JP2011104752A (en) * | 2009-11-20 | 2011-06-02 | Thk Co Ltd | Robot's joint structure, robot finger, and robot hand |
-
1987
- 1987-08-31 JP JP13279587U patent/JPH0511994Y2/ja not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007090490A (en) * | 2005-09-29 | 2007-04-12 | Kawada Kogyo Kk | Robot joint mechanism |
| JP2011104752A (en) * | 2009-11-20 | 2011-06-02 | Thk Co Ltd | Robot's joint structure, robot finger, and robot hand |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0511994Y2 (en) | 1993-03-25 |
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