Claims
- 1. A hand apparatus, comprising:
- a hand body supporting three shafts, with said shafts having a longitudinal axis and being spaced a predetermined distance from each other;
- three motors, each for rotating one of said shafts, with each said motor being aligned along the longitudinal axis of said respective shaft;
- a first arm connected to each said shaft and being supported in a direction perpendicular to the longitudinal axes of said respective shaft and rotated by one of said respective motors, with said first arms having a length l;
- a second arm connected to each said first arm and elongated in a direction parallel with the longitudinal axis of each said respective shaft, said second arms each comprising a hollow portion;
- a third arm disposed in each hollow portion of said second arms;
- means for axially moving said third arms; and
- means for detecting rotational movement of said first arms, wherein the length l of one of said first arms is less than the individual lengths l of said two other first arms and wherein each first arm can independently rotate 360.degree. about its respective shaft.
- 2. A hand apparatus, comprising:
- a hand body;
- three shafts supported on said hand body;
- means for rotating said shafts;
- three first arms connected on said shafts, said first arms each having a finger for gripping an article and being positioned in a home position prior to gripping the article; and
- a control unit for controlling rotation of said first arms to grip the article by said fingers, said control unit having teaching means which detects whether said first arms re in their home positions, moves said first arms to the home positions if they are not in the home positions, detects the rotational direction of said shafts, detects an operation time of the rotation and controls the rotation so that a gripping force of said finger falls within a predetermined level.
- 3. A gripping apparatus for gripping an article having holes, comprising:
- a hand body having a plurality of rotation shafts;
- a motor for rotating said rotation shafts;
- first arms connected to said rotation shafts and extending in a direction perpendicular to longitudinal axes of said rotation shafts;
- a first finger member having a longitudinal axial direction and being provided on each said first arm and elongated in the direction parallel to the longitudinal axes of said rotation shafts;
- a second finger member supported at a terminal end of each said first finger member, with said second finger member being capable of telescoping linear movement in the longitudinal axial direction of said first finger member;
- means for driving said first finger member to a position near the holes of the article by rotating said motor;
- means for driving said second finger member into the holes of the article; and
- means for gripping the article by rotating said first arms after said second finger members are driven into the holes of the article.
Priority Claims (1)
Number |
Date |
Country |
Kind |
63-207359 |
Aug 1988 |
JPX |
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Parent Case Info
This application is a continuation of application Ser. No. 396,989 filed Aug. 22, 1989, now abandoned.
US Referenced Citations (16)
Foreign Referenced Citations (4)
Number |
Date |
Country |
57-1686 |
Jan 1982 |
JPX |
60-74986 |
May 1985 |
JPX |
61-33883 |
Feb 1986 |
JPX |
1328193 |
Aug 1987 |
SUX |
Continuations (1)
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Number |
Date |
Country |
Parent |
396989 |
Aug 1989 |
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