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Hand apparatus for holding article
| Details |
Inventors: Yakou, Takeshi;
Assignee: Canon Kabushiki Kaisha (Tokyo, JP)
Primary Examiner: Focarino; Margaret A.
Assistant Examiner: Kramer; Dean J.
Attorney, Agent or Firm: Fitzpatrick, Cella, Harper & Scinto
An article holding hand apparatus of this invention grips a plurality of types of articles having different gripping modes. The apparatus includes at least two casings with a varying distance therebetween, first driving mechanisms for moving the casings to vary the distance therebetween, and a first holding mechanism attached to each casing and having at least two first finger members. The first holding mechanism opens and closes the first finger members to clamp a first article by movement of the casings through the first driving mechanism. The apparatus also includes a second holding mechanism, attached to each casing, for holding a second article, the second holding mechanism having second finger members slidably guided by the first finger members, with the distal end of each second finger member serving as a holding portion for holding the second article, and second driving mechanisms, housed in the casings, for sliding the second finger members. |
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DETAILED DESCRIPTION The present invention has been made in consideration of the above situation, and has as its main object to provide a gripping apparatus capable of gripping a plurality of articles of different gripping modes without using a plurality of gripping apparatuses.
To attain the above-mentioned main object, according to one aspect of the present invention, there is provided an article holding hand apparatus which grips a plurality of types of articles having different gripping modes.
The apparatus comprises at least two casings with a varying distance therebetween; first driving means for moving the casings to vary the distance therebetween; and first holding means for holding a first article, attached to each of the casings and having at least two first finger members.
The first holding means opens and closes the first finger members to clamp the first article upon movement of the casings through the first driving means.
The apparatus also includes second holding means, attached to each of the casings, for holding a second article, the second holding means having second finger members slidably guided by the first finger members, respectively, and a distal end of each of the second finger members serving as a holding portion for holding the second article; and second driving means, housed in the casings, for sliding the second finger members.
Since a plurality of articles of different gripping modes can be gripped by a single gripping apparatus, a low-cost, space-saving gripping apparatus can be provided for an automatic assembly operation.
It is another object of the present invention to provide a gripping apparatus comprising a plurality of gripping members in accordance with gripping modes of articles to be gripped, and capable of reliably gripping an article in accordance with each gripping mode.
To attain the second object, according to another aspect of the present invention, there is provided an article holding hand apparatus which grips a plurality of types of articles having different gripping modes
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LCD 
