JPH0166932U

JPH0166932U -

Info

Publication number: JPH0166932U
Application number: JP1987160746U
Authority: JP
Priority date: 1987-10-22
Filing date: 1987-10-22
Publication date: 1989-04-28

Description

[Brief explanation of the drawing]

第１図はこの考案に係わるロボツトハンドの一
実施例の構成を示す側断面図；第２図は第１図に
示すロボツトハンドの要部を取り出して示す斜視
図；第３図は第１の把持片に把持された光学レン
ズと第２の把持片に把持される前の鏡胴との互い
の中心軸が、ずれた状態を示す正面図；第４図は
第１の把持片に把持された光学レンズと第２の把
持片に把持された鏡胴との互いの中心軸が、補正
されて同軸に整合された状態を示す正面図；そし
て、第５図は光学レンズが鏡胴内に挿入された状
態を示す正面図である。図中、１０……ロボツトハンド、１２……光学
レンズ、１４……鏡胴、１６……ハンド本体、１
８……第１の傘歯車、２０……第２の傘歯車、２
２；２４；２６；２８；３０；３２……アングル
部材、２２ａ；２４ａ；２６ａ；２８ａ；３０ａ
；３２ａ……折曲片、３４ａ；３４ｂ；３６ａ；
３６ｂ；３８ａ；３８ｂ；４０ａ；４０ｂ；４２
ａ；４２ｂ；４４ａ；４４ｂ……ガイドロツド、
４６；４８；５０；５２；５４；５６……ねじ棒
、５８；６０；６２；６４；６６；６８……傘歯
車、７０；７２；７４；７６；７８；８０……ス
ライドブロツク、８２；８４；８６……第１の把
持片、８８；９０；９２……第２の把持片、９４
；９６；９８……取付部材、９４ａ；９６ａ；９
８ａ……立ち下がり片、１００；１０２；１０４
……長溝、１０６；１０８；１１０……ガイドピ
ン、１１２；１１４；１１６……支持ピン、１１
８；１２０；１２２……コイルスプリング、１２
４……第１の駆動モータ、１２４ａ……駆動軸、
１２６……第１の取付用ステイ、１２８……第１
のカツプリング、１３０……第２の駆動モータ、
１３０ａ……駆動軸、１３２……第２の取付用ス
テイ、１３４……第２のカツプリング、１３６…
…載置台である。 Fig. 1 is a side sectional view showing the structure of one embodiment of the robot hand according to this invention; Fig. 2 is a perspective view showing the main parts of the robot hand shown in Fig. 1; A front view showing a state in which the central axes of the optical lens gripped by the gripping piece and the lens barrel before being gripped by the second gripping piece are shifted from each other; FIG. A front view showing a state in which the central axes of the optical lens held by the second gripping piece and the lens barrel held by the second gripping piece have been corrected and aligned coaxially; FIG. FIG. 3 is a front view showing the inserted state. In the figure, 10... Robot hand, 12... Optical lens, 14... Lens barrel, 16... Hand body, 1
8...First bevel gear, 20...Second bevel gear, 2
2; 24; 26; 28; 30; 32...Angle member, 22a; 24a; 26a; 28a; 30a
; 32a... bending piece, 34a; 34b; 36a;
36b; 38a; 38b; 40a; 40b; 42
a; 42b; 44a; 44b... guide rod;
46; 48; 50; 52; 54; 56... Threaded rod, 58; 60; 62; 64; 66; 68... Bevel gear, 70; 72; 74; 84; 86...first gripping piece, 88;90;92...second gripping piece, 94
;96;98...Mounting member, 94a;96a;9
8a... Falling piece, 100; 102; 104
... Long groove, 106; 108; 110 ... Guide pin, 112; 114; 116 ... Support pin, 11
8;120;122...Coil spring, 12
4...first drive motor, 124a...drive shaft,
126...first mounting stay, 128...first
coupling ring, 130... second drive motor,
130a... Drive shaft, 132... Second mounting stay, 134... Second coupling, 136...
...It is a mounting table.

Claims

[Claims for Utility Model Registration] (1) A robot hand for fitting and attaching a first article to a second article by moving it in the axial direction, capable of vertical and lateral movement. a hand body provided on the hand body; and a circumferentially movable hand body mounted on the hand body so as to be movable along the radial direction, for gripping the first article coaxially aligned with the central axis of the hand body. a plurality of first gripping pieces, and a circumferential gripping piece that is movably attached to the hand body in a radial direction and grips a second article coaxially with the central axis of the hand body. A robot hand characterized by comprising a plurality of second gripping pieces arranged along the direction and movably connected to the hand body along the axial direction. (2) The second gripping piece is disposed on a side further away from the hand body in the axial direction than the first gripping piece, as set forth in claim 1 of the utility model registration claim. robot hand. (3) The second gripping piece is connected to a second slide block, which is provided to be movable in the radial direction with respect to the hand body, so as to be movable in the axial direction via a connecting means. The robot hand according to claim 2 of the utility model registration claim, characterized in that: (4) The connecting means supports the second gripping piece movably in the vertical direction and urges the second gripping piece in the direction of separating from the first gripping piece in the axial direction. The robot hand according to claim 3 of the utility model registration claim, characterized in that: (5) The first gripping piece is driven to move in the radial direction by a first driving source, and the second gripping piece is driven to move in the radial direction by a second driving source. A robot hand according to claim 1 of the utility model registration claim, characterized in that: