JPH03107197U

JPH03107197U -

Info

Publication number: JPH03107197U
Application number: JP1379790U
Authority: JP
Priority date: 1990-02-16
Filing date: 1990-02-16
Publication date: 1991-11-05
Anticipated expiration: 2005-02-16
Also published as: JPH08151Y2

Description

[Brief explanation of the drawing]

第１図は本考案に係る多関節指の一実施例を示
す正面図、第２図ａ，ｂおよびｃはこの多関節指
に用いる関節体ユニツトトツプの側面図、正面図
および平面図、第３図ａ，ｂおよびｃはこの多関
節指に用いる関節体ユニツトの側面図、正面図お
よび平面図、第４図ａおよびｂはこの多関節指に
用いる関節体ユニツトエンドの正面図および側面
図、第５図ａおよびｂはこの多関節指に用いる関
節体ユニツトフインガの側面図および正面図、第
６図はこの多関節指の分解図、第７図はこの多関
節指に用いる関節体ユニツトピストンの一部破断
側面図、第８図はこの多関節指の関節体ユニツト
エンドと関節体ユニツトフインガと関節体ユニツ
トとの組み付け状況を示す一部破断正面断面図、
第９図はこの多関節指の動作状況を示す正面図、
第１０図はこの多関節指に対しての圧縮空気の供
給部を示す概略的なブロツク構成図、第１１図お
よび第１２図はその基本となる２対の多関節指を
合体させたうえ補強を行つた状況を例示する平面
図および正面図である。１……関節体ユニツトトツプ、２−１，２−２
……関節体ユニツト、３……関節体ユニツトエン
ド、３−５……流体漏出通路、４……関節体ユニ
ツトフインガ、５……ストツプバルブ、６−１，
６−２，６−１′，６−２′……関節体ユニツト
ピストン、８……ゴムマツト、９−１〜９−４…
…ピン、１０……多関節指。 FIG. 1 is a front view showing an embodiment of a multi-jointed finger according to the present invention, FIGS. Figures a, b and c are side views, front views and plan views of the joint body unit used in this multi-joint finger; Figures 4 a and b are front views and side views of the joint body unit end used in this multi-joint finger; Figures 5a and b are side and front views of the articulated unit finger used in this multi-jointed finger, Figure 6 is an exploded view of this articulated finger, and Figure 7 is the articulated unit piston used in this articulated finger. FIG. 8 is a partially cutaway side view, and FIG. 8 is a partially cutaway front sectional view showing how the joint end of the multi-jointed finger, the joint finger, and the joint unit are assembled;
Figure 9 is a front view showing the operating status of this multi-jointed finger;
Figure 10 is a schematic block configuration diagram showing the compressed air supply section for this multi-jointed finger, and Figures 11 and 12 are the basic two pairs of multi-jointed fingers combined and reinforced. FIG. 4 is a plan view and a front view illustrating a situation in which this is performed. 1... Joint body unit top, 2-1, 2-2
...Joint body unit, 3...Joint body unit end, 3-5...Fluid leak passage, 4...Joint body unit finger, 5...Stop valve, 6-1,
6-2, 6-1', 6-2'... Joint unit piston, 8... Rubber mat, 9-1 to 9-4...
...Pin, 10...Multi-jointed fingers.

Claims

[Claims for Utility Model Registration] (1) A first joint body having a fluid passage, and a state in which the fluid passage passage also has a fluid passage and is communicated with the fluid passage passage of the first joint body. a second joint body rotatably supported by the first joint body, and whose rotation is regulated by contacting the first joint body; and a second joint body whose rotation is regulated by contacting the first joint body; a fluid supply means for feeding fluid into the passage; and a fluid leakage passage, the fluid leakage passage being rotatably supported on the second joint body with the fluid leakage passage communicating with the fluid passing passage of the second joint body. and said first
and a third joint body that rotates under the pressure of the fluid applied through the fluid passage of the second joint body and comes into contact with the second joint body; A multi-jointed finger comprising a claw body that comes into contact with an object and retreats to close the outlet of the fluid leakage passage. (2) The multi-joint according to claim 1, further comprising return means for returning the joint body rotated as a result of sending fluid into the fluid passageway of the first joint body to its original position. finger. (3) The multi-jointed finger according to claim 1, wherein at least the second joint body has a pressure-receiving surface in the fluid passageway in the direction of rotating the joint body.