Hand and robot

A hand comprising:

• a pair of supporters;
• first and second gripping claws which are rotatably supported by the pair of supporters, respectively, about an oscillatory axis that crosses a longitudinal direction of the pair of the supporters;
• an oscillating mechanism configured to oscillate the first and second gripping claws on the oscillatory axis;
• and
• a drive roller rotatably provided on one of the first and second gripping claws and configured to rotate about a rotation axis substantially parallel to a longitudinal direction of the one of the first and second gripping claws,
• wherein the oscillating mechanism includes:
• an oscillating servo motor;
• a splined shaft to be rotated by the oscillating servo motor;
• a pair of first splined nuts which are rotated on the rotational axis of the splined shaft together with the splined shaft and freely moved in the direction of the rotational axis of the splined shaft;
• and
• a pair of second splined nuts which are fixed to the pair of supporters, respectively, moved along the rotational axis of the splined shaft together with the first splined nuts, and freely rotated relatively to the first splined nuts on the rotational axes of the first splined nuts, respectively, and
• the first and second gripping claws are driven by the pair of first splined nuts, respectively, to be thus oscillated.

A robot comprising:

• a hand for gripping a bolt, the hand comprising:
• a pair of supporters;
• first and second gripping claws which are rotatably supported by the pair of supporters, respectively, about an oscillatory axis that crosses a longitudinal direction of the pair of the supporters;
• an oscillating mechanism configured to oscillate the first and second gripping claws on the oscillatory axis;
• and
• a drive roller rotatably provided on one of the first and second gripping claws and configured to rotate about a rotation axis substantially parallel to a longitudinal direction of the one of the first and second gripping claws,
• wherein the hand further comprises an opening and closing motor configured to open the pair of supporters by moving the pair of supporters away from each other and close the pair of supporters by moving the pair of supporters towards each other.

A robot comprising:

• a hand for gripping a bolt, the hand comprising:
• a pair of supporters;
• first and second gripping claws which are rotatably supported by the pair of supporters, respectively, about an oscillatory axis that crosses a longitudinal direction of the pair of the supporters;
• an oscillating mechanism configured to oscillate the first and second gripping claws on the oscillatory axis;
• and
• a drive roller rotatably provided on one of the first and second gripping claws and configured to rotate about a rotation axis substantially parallel to a longitudinal direction of the one of the first and second gripping claws, wherein
• the drive roller is rotatably provided on the first gripping claw;
• a rotation motor disposed inside of the supporter supporting the first gripping claw;
• a rotation transmitter is provided that is configured to transmit the rotation of the rotation motor;
• the drive roller is disposed inside of a tip of the first gripping claw and driven by the rotation motor via the rotation transmitter;
• a first driven roller is disposed inside of a tip of the second gripping claw and rotatably supported on an axis substantially parallel to the longitudinal direction of the pair of supporters;
• and
• a second driven roller which is disposed inside of the tip of one of the first and second gripping claws and rotatably supported on an axis substantially parallel to the longitudinal direction of the pair of supporters.