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1. 发明专利

JP2012171034A Robot hand 有权
标题翻译：机器人手
公开(公告)号：JP2012171034A
公开(公告)日：2012-09-10
申请号：JP2011033643
申请日：2011-02-18
申请人： Toyota Motor Corp , Maruemu Shokai:Kk , Aitotec:Kk , トヨタ自動車株式会社 , 有限会社アイトーテック , 株式会社マルエム商会
发明人： NAKAGAWA HAYATOSHI , KOBAYASHI KATSUHIKO , OKAMOTO MASANORI , TSUKUSHI MOTOHIRO
IPC分类号： B25J15/08
摘要： PROBLEM TO BE SOLVED: To provide a robot hand capable of reducing the weight and size, while varying a grip stroke.SOLUTION: The robot hand 10 for gripping a workpiece includes: a servo motor 21 to be horizontally arranged; multiple pawls 60 to be arranged on the circumference of a virtual circle R in a plane view with a vertical axis P as a center; a first conversion mechanism 30 for converting the rotation of the servo motor 21 around a horizontal axis into the rotation around the vertical axis P; a second conversion mechanism 40 for converting the rotation around the vertical axis P into a linear movement in the direction of the vertical axis P; and a third conversion mechanism 50 for converting the linear movement in the direction of the vertical axis P into the linear movement in the radial direction D of the virtual circle R. The pawls 60 are moved in the radial direction D of the virtual circle R by the third conversion mechanism 50.
摘要翻译：要解决的问题：提供一种能够在改变抓地力的同时减轻重量和尺寸的机器人手。解决方案：用于夹持工件的机器人手10包括：水平布置的伺服电动机21; 多个棘爪60以垂直轴线P为中心布置在虚拟圆R的圆周上的平面图中; 用于将伺服电动机21围绕水平轴的旋转转换成围绕垂直轴P的旋转的第一转换机构30; 第二转换机构40，用于将垂直轴线P的旋转变换为在垂直轴线P的方向上的直线运动; 以及用于将垂直轴线P的直线运动转换成虚拟圆R的径向D的线性运动的第三转换机构50.棘爪60沿虚拟圆R的径向D移动，第三种转换机制50.版权所有（C）2012，JPO＆INPIT

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