Bibliographic data: JPSS9102587 (A) — 1984-06-13
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`ROBOT HAND
`
`N 0 documents available for this priority number.
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`Page bookmark
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`3138593012587 {A}
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`-- ROB {If HAN D
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`Inventor(s):
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`IIKURA SHIYOUICHI i (IIKURA SHIYOUICHI)
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`Applicant(s):
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`TOSHIBA KK j: (TOSHIBA KK)
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`Classification:
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`- international: 325 51 5/313; 325,53598; (IPCl—7): 13253 BECK}
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`- cooperative:
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`Application number: JP19820211333 19821203
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`Priority number(s): JP19820211333 19821203
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`CLAIMS
`
`[Claim(s)]
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`(1) In a robot hand which drives on a wire rope or a steel tape, A robot hand performing two
`grip operations by equipping a link mechanism part of one finger with a pulley and a first
`spur wheel, equipping a link mechanism part of a finger of another side with a first spur
`wheel and a meshing second spur wheel, and driving the aforementioned pulley.
`(2) In a robot hand which drives with a wire rope, the 1st and a link mechanism part of a
`second finger are equipped with the 1st and a second pulley, A robot hand of the 1st item
`description of a range of claim for patent making an opposite direction rotate said 1st [ the ]
`and a second pulley with one wire rope, and performing grip operation.
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`DETAILED DESCRIPTION
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`[Detailed Description of the Invention]
`[Field of the Invention]
`
`The present invention relates to a robot hand, especially relates to a grip mechanism.
`[Description of the Prior Art]
`At the conventional robot hand, use a wire rope, a steel tape, or a chain for closed operation
`of a finger, and many depend on the stability of a spring by open operation. However, while
`the excessive power for sagging a spring in such a robot hand at the time of closed operation
`was required, the power of open operation had a limit and there was fault which cannot do
`work which is extended with two fingers.
`[Objects of the Invention]
`The present invention was made in order to improve the above—mentioned fault, and an object
`of the present invention is to provide the robot hand which cannot use a spring but can
`perform grip operation actively.
`[Summary of the Invention]
`This present invention equips a finger drive link with a pulley or a spur wheel, and is attained
`by making ** rotate these to an opposite direction using a wire rope.
`[Effect of the Invention]
`
`When according to the present invention grip operation can be actively performed in the
`robot hand of a wire rope or steel tape drive, for example, it is used for the manipulator of
`remote control, operability improves remarkably.
`
`

`

`[Example]
`The present invention is described in detail with reference to Drawings below. Fig. l is a
`thing in the case of one Example of the present invention being shown, and opening and
`closing a finger with one wire rope. The fingers la and lb are supported movably by the links
`2a—2d, and the links 2a and 2d are fixed to the pulleys 3a and 3d, respectively. Link 2b, 2c,
`and the pulleys 3a and 3b are rotatably supported movably by the hand case 4. The pulleys 5 a
`and 5b are idlers. It applies to a pulley so that the wire rope 6 may be illustrated with such
`composition, for example, and a finger can be closed if a wire rope is driven like the arrow A.
`Conversely, a finger can be opened if a wire rope is driven like the arrow B.
`[Other Examples of invention]
`Only the link mechanism part of one finger is equipped with the pulley 7 by the case where
`Fig. 2 uses the spur wheels 8a and 8b for opposite direction rotation of two link mechanisms.
`This pulley 7 and spur wheel 83 are fixed, by rotating the pulley 7, the gears 83 and 8b rotate
`to an opposite direction, and grip operation is realized by rotation of the links 2a and 2d fixed
`to each gear or pulley.
`
`

`

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