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US 10,589,420 B2Granted
Hand device
AssigneeFanuc Corporation
InventorRyou Matsumoto
Life of this patent
Estimating the term…
Abstract
A hand device includes: a first hand fixed to a robot arm; a second hand that has a workpiece stage on which a workpiece is placed and that is coupled to the first hand; a positioning mechanism that positions the second hand relative to the first hand when the second hand is to be coupled to the first hand; and a coupling mechanism that couples the second hand having been positioned by the positioning mechanism to the first hand, and uncouples the second hand from the first hand, wherein the hand device is configured to clamp the workpiece between the first hand and the second hand by moving at least a part of the first hand toward the second hand.
Claims10
A hand device, comprising:
- a first hand fixed to a robot arm;
- a second hand that is not fixed to the robot arm and that has a workpiece stage on which a workpiece is to be placed and also that is to be coupled to the first hand;
- a positioning mechanism that positions the second hand relative to the first hand when the second hand is coupled to the first hand;
- a coupling mechanism capable of coupling the second hand having been positioned by the positioning mechanism to the first hand, and also capable of uncoupling the second hand from the first hand;
- wherein, due to the coupling, moving the first hand by the robot arm results in simultaneous movement of the workpiece and the second hand;
- wherein the hand device is configured to clamp the workpiece between the first hand and the second hand by moving at least a part of the first hand toward the second hand;
- wherein the coupling by the coupling mechanism restricts a movement of the first hand in a direction away from the second hand;
- and
- wherein the coupling mechanism comprises:
- a first engaging member provided in the first hand;
- a second engaging member provided in the second hand;
- and
- an engaging member driving device that is provided in the first hand and that moves the first engaging member in a predetermined direction to engage the first engaging member with the second engaging member in order to couple the second hand to the first hand in a state where the second hand has been positioned by the positioning mechanism.
10 more elements
A hand device, comprising:
- a first hand fixed to a robot arm;
- a second hand that is not fixed to the robot arm and that has a workpiece stage on which a workpiece is to be placed and also that is to be coupled to the first hand;
- a positioning mechanism that positions the second hand relative to the first hand when the second hand is coupled to the first hand;
- a coupling mechanism capable of coupling the second hand having been positioned by the positioning mechanism to the first hand, and also capable of uncoupling the second hand from the first hand;
- wherein, due to the coupling, moving the first hand by the robot arm results in simultaneous movement of the workpiece and the second hand;
- wherein the hand device is configured to clamp the workpiece between the first hand and the second hand by moving at least a part of the first hand toward the second hand;
- wherein the coupling by the coupling mechanism restricts a movement of the first hand in a direction away from the second hand;
- and
- wherein the hand device further comprises a driving device for clamping, wherein the driving device is provided in the first hand and is configured to clamp the workpiece between the first hand and the second hand by moving a part of the first hand toward the second hand.
6 more elements
A hand device, comprising:
- a first hand fixed to a robot arm;
- a second hand that is not fixed to the robot arm and that has a workpiece stage on which a workpiece is to be placed and also that is to be coupled to the first hand;
- a positioning mechanism that positions the second hand relative to the first hand when the second hand is coupled to the first hand;
- a coupling mechanism capable of coupling the second hand having been positioned by the positioning mechanism to the first hand, and also capable of uncoupling the second hand from the first hand;
- wherein the hand device is configured to clamp the workpiece between the first hand and the second hand by moving at least a part of the first hand toward the second hand;
- and
- wherein the coupling by the coupling mechanism restricts a movement of the first hand in a direction away from the second hand;
- wherein the coupling mechanism comprises:
- a first engaging member provided in the first hand;
- a second engaging member provided in the second hand;
- and
- an engaging member driving device that is provided in the first hand and that moves the first engaging member in a predetermined direction to engage the first engaging member with the second engaging member in order to couple the second hand to the first hand in a state where the second hand has been positioned by the positioning mechanism.
9 more elements
A hand device, comprising:
- a first hand fixed to a robot arm;
- a second hand that is not fixed to the robot arm and that has a workpiece stage on which a workpiece is to be placed and also that is to be coupled to the first hand;
- a positioning mechanism that positions the second hand relative to the first hand when the second hand is coupled to the first hand;
- a coupling mechanism capable of coupling the second hand having been positioned by the positioning mechanism to the first hand, and also capable of uncoupling the second hand from the first hand;
- a driving device for clamping, wherein the driving device is provided in the first hand and is configured to clamp the workpiece between the first hand and the second hand by moving a part of the first hand toward the second hand;
- and
- wherein the coupling by the coupling mechanism restricts a movement of the first hand in a direction away from the second hand.
4 more elements
Dependencies are inferred from the claim text.