Abstract: The hand of a robot is moved from an instant position P.sub.1 to a first command position P.sub.2 to grip one of the workpiece W.sub.1,W.sub.2,W.sub.3 placed at the first command position and conveys the same to a second command position P.sub.3. A sensor is contacted by the workpiece when the hand takes an intermediate position Px on its way from the instant position P.sub.1 to the first command position P.sub.2, the robot control system stops the hand without delay or after travel of the hand over a predetermined distance and, after the travel of the hand over a predetermined deceleration distance, stops the hand. The hand is then moved from the stopping position to the second command position P.sub.3 neglecting the remaining stroke or movement between the stopping position and the first command position.

Abstract: A hand of a robot is moved from an instant position P.sub.1 to a first command position P.sub.2 to grip one of the workpieces W.sub.1, W.sub.2, W.sub.3 placed at the first command position and conveys the same to a second command position P.sub.3. As a sensor is contacted by the workpiece when the hand takes an intermediate position Px, on its way from the instant position P.sub.1 to the first command position P.sub.2, the robot control system decelerates the hand without delay or after a travel of the hand over a predetermined distance and, after travel of the hand over a predetermined deceleration distance, stops the hand. The hand is then moved from the stopping position to the second command position P.sub.3 neglecting the remaining stroke or movement between the stopping position and the first command position.

Abstract: A robot hand changer for industrial robots, having a changer unit mounted fixedly on the industrial robots and a changer adapter holding a robot hand and being detachably fitted in the change unit. The changer unit has a fluid-operated piston and clamping balls urged toward a clamping position by the fluid-operated piston. The changer adapter is fitted in the changer unit and clamped by the agency of the clamping piston. A plurality of such changer adapters holding different kinds of robot hand are prepared.

Abstract: An industrial robot hand having swing fingers (18a and 18b) for gripping a work pivotally mounted on a hand base member (10) which is attached to the free end of a wrist unit, said swing fingers being members formed of a sheet metal through a pressing process in a U-shaped cross-section, and said swing fingers having a U-shaped cross-section and a hydraulic actuator (24) linked together with chain pin links (32a and 32b).

Abstract: A device for operating a hand of an industrial robot is so constructed that fluid pressure cylinders (43, 44) are provided as a driving mechanism of the hand (4) of the industrial robot, branch passages including a pressure-reducing valve (47) are provided in a fluid supply passage to the fluid pressure cylinders (43, 44), the supply of fluid is switched by solenoid valves (SV.sub.2, SV.sub.3, SV.sub.4), and the switching of the solenoid valves (SV.sub.2, SV.sub.3, SV.sub.4) is carried out in accordance with the selected grasping force which has been selected in the teaching mode of the industrial robot, whereby the grasping force of the hand can be controlled stepwisely.

Abstract: A double hand applicable to an industrial robot comprises two hand units (2, 3) comprising at least two pairs, one each, of fingers (2-1 and 2-2, 3-1 and 3-2) and plate members (2-3, 3-3) of a pressing unit (4) disposed in parallel along the center axis of the fingers. The hand units (2, 3) are connected through a pressing mechanism (4) to constitute a double hand in a manner that the respective gripping center axis of the two hand units are in alignment, the respective plate members (2-3, 3-3) of the pressing unit are disposed opposite to each other and the opening sides of the respective pairs of fingers of the two hand units are directed in opposite directions to each other.

Abstract: A double-hand unit adapted to be secured to the wrist part of an industrial robot and to be used for gripping shaft works or the like is disclosed. The double-hand unit comprises two hand units (2, 3) comprising at least two pairs of fingers (2-1, 2-2 and 3-1, 3-2), respectively, and being disposed in a back-to-back relationship with the respective opening sides of the fingers directed in opposite directions with each other. The driving mechanisms for operating the associated fingers of the hand units (2, 3) are disposed one over the other along a plane including the fingers.

Abstract: A robot hand of an industrial robot used as a manipulating device of a bar-like workpiece having a pair of gripping members attached to a base member and arranged so as to be slid toward and away from one another so that an appropriate distance between the pair of gripping members is established depending on the difference of lengths of workpieces to be gripped by the gripping members of the robot hand.

Abstract: A hand (34) of an industrial robot for gripping a workpiece (14) and the like comprising: a hand base plate member (36) connected to a wrist portion (32); a plurality of pairs of opening and closing gripping fingers (38a and 38b, 38d) arranged on the palm face (36a) of the hand base plate member (36), and; an actuator (48 or 48') being arranged for each pair of the opening and closing fingers (38a and 38b, 38c and 38d) to actuate the fingers. The hand (34) is capable of securely and stably holding a workpiece having a heavy weight and/or an angular shape, or other complicated shape.

Abstract: A robot hand provided for an industrial robot used in association with a machine tool for carrying out a manipulating operation of attaching a workpiece to and detaching a workpiece from a workpiece chucking means of the machine tool, said robot hand being characterized by including means for removing chips and other foreign materials attached to the workpiece holding means during the manipulating operation.

Abstract: An industrial robot with a safeguard mechanism for mechanically preventing occurence of any uncontrolled movement of a movable part of the industrial robot, the safeguard mechanism having mechanical engagement means which provides a disengageable mechanical lock between the movable part of the industrial robot and the stationary part of the industrial robot or another stationary member different from the industrial robot.

Abstract: A manipulator corresponding to the human hand is generally attached to the end of an arm of an industrial robot or remote control apparatus. The improved manipulator herein includes two spaced-apart, rotatable sprockets and a chain which is connected in the form of an endless loop and stretched between the sockets to form two parallel linear segments which move in mutually opposing directions when the chain is rotated. Two fingers for gripping a workpiece are arranged to move in a direction which is parallel to the linear segments by means of guide members, one finger being coupled to one of the linear segments of the chain and the other finger being coupled to the other linear segment. A cylinder is provided for accommodating a piston having piston rods secured to either side thereof. The other ends of the piston rods pass hermetically through both side walls of the cylinder and are secured in blocks located outside the cylinder, the blocks forming the walls of the manipulator.