# US 11,110,615 B2 · Robot hand, robot, and method for adjusting hand width of robot hand > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,110,615 B2 - Document ID: US11110615B2 - Status: Granted - Kind: B2 - Application number: 16/262,456 - Filed: 2019-01-30 - Published: 2019-08-29 - Granted: 2021-09-07 - Earliest claimed: 2018-02-26 - Assignees: Fanuc Corporation - Applicants: Fanuc Corporation - Inventors: Takanori Hagiwara; Yoshio Motowaki - Web page: https://patentgrep.com/patent/US11110615B2 ## CPC - B25J 15/0061: {mounted on a modular gripping structure} - B25J 15/10: with three or more finger members {(B25J15/0009 takes precedence)} - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 15/0014: {having fork, comb or plate shaped means for engaging the lower surface on a object to be transported} - B25J 15/0253: {comprising parallel grippers} - B25J 15/0616: {with vacuum} - B25J 17/0241: {One-dimensional joints} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A robot hand includes a pair of movable members that is detachable from a wrist flange of a robot body and that are arranged at a distance from each other; holding parts that are provided on the movable members and that hold a workpiece; and a width adjusting mechanism that supports the pair of movable members so as to allow relative movement thereof in a width direction and that adjusts a distance B between the pair of movable members by means of the relative movement of the pair of movable members in the width direction (A). The pair of movable members are relatively moved in the width direction as a result of the width adjusting mechanism. ## Claims ### Claim 1 A robot hand comprising: a pair of movable members that is detachable from a wrist flange of a robot body and that are arranged at a distance from each other; a holding part that is provided on each of the pair of movable members and that holds a workpiece; a width adjusting mechanism that supports the pair of movable members so as to allow relative movement thereof in a width direction, which is a direction in which the pair of movable members are arranged, and that adjusts the distance between the pair of movable members via the relative movement of the pair of movable members in the width direction; wherein the pair of movable members are relatively moved in the width direction as a result of the width adjusting mechanism being controlled by the operation of the robot body or as a result of the width adjusting mechanism being controlled by an operator; and wherein the width adjusting mechanism comprises a lock mechanism that includes a knob screw that has a knob controlled by the robot body or the operator and that fixes the pair of movable members with respect to each other. ### Claim 2 (depends on 1) The robot hand according to claim 1, wherein the lock mechanism fixes relative positions of the pair of movable members in the width direction. ### Claim 3 (depends on 2) The robot hand according to claim 2, wherein the width adjusting mechanism includes a rack provided on one of the pair of movable members and a pinion that is provided on the other of the pair of movable members and that meshes with the rack. ### Claim 4 (depends on 3) The robot hand according to claim 3, wherein the width adjusting mechanism includes a gear that meshes with the pinion and that is rotated by the robot body or the operator. ### Claim 5 (depends on 1) The robot hand according to claim 1, wherein the lock mechanism includes a knob hooking part that is attached to the wrist flange and that is engaged with the knob. ### Claim 6 (depends on 1) The robot hand according to claim 1, wherein the width adjusting mechanism includes a movable-member hooking part that is attached to the wrist flange and that meshes with a portion of one of the pair of movable members. ### Claim 7 (depends on 1) A robot comprising: a robot body having a wrist flange; and the robot hand according to claim 1; and a control unit that controls the robot body, wherein the control unit causes the robot body to perform an operation of relatively moving the pair of movable members in the width direction. ### Claim 8 (depends on 7) The robot according to claim 7, wherein the control unit causes the robot body to perform an operation of removing the pair of movable members from the wrist flange and then causes the robot body to perform an operation of relatively moving the pair of movable members in the width direction. ### Claim 9 (depends on 1) A method for adjusting the hand width of the robot hand according to claim 1, wherein the robot body relatively moves the pair of movable members in the width direction. ### Claim 10 (depends on 9) The method according to claim 9, wherein the robot body removes the pair of movable members from the wrist flange and then relatively moves the pair of movable members in the width direction. ### Claim 11 A robot hand comprising: a pair of movable members that is detachable from a wrist flange of a robot body and that are arranged at a distance from each other; a holding part that is provided on each of the pair of movable members and that holds a workpiece; a width adjusting mechanism that supports the pair of movable members so as to allow relative movement thereof in a width direction, which is a direction in which the pair of movable members are arranged, and that adjusts the distance between the pair of movable members via the relative movement of the pair of movable members in the width direction; wherein the pair of movable members are relatively moved in the width direction as a result of the width adjusting mechanism being controlled by the operation of the robot body or as a result of the width adjusting mechanism being controlled by an operator; and wherein the width adjusting mechanism comprises a movable-member hooking part that is attached to the wrist flange and that meshes with a portion of one of the pair of movable members. ### Claim 12 (depends on 11) The robot hand according to claim 11, wherein the width adjusting mechanism comprises a lock mechanism that fixes relative positions of the pair of movable members in the width direction. ### Claim 13 (depends on 12) The robot hand according to claim 12, wherein the lock mechanism comprises a knob screw that has a knob controlled by the robot body or the operator and that fixes the pair of movable members with respect to each other. ### Claim 14 (depends on 13) The robot hand according to claim 13, wherein the lock mechanism comprises a knob hooking part that is attached to the wrist flange and that is engaged with the knob. ### Claim 15 (depends on 12) The robot hand according to claim 12, wherein the width adjusting mechanism comprises a rack provided on one of the pair of movable members and a pinion that is provided on the other of the pair of movable members and that meshes with the rack. ### Claim 16 (depends on 15) The robot hand according to claim 15, wherein the width adjusting mechanism comprises a gear that meshes with the pinion and that is rotated by the robot body or the operator. ### Claim 17 A robot comprising: a robot body having a wrist flange; a robot hand, the robot hand comprising: a pair of movable members that is detachable from a wrist flange of a robot body and that are arranged at a distance from each other; a holding part that is provided on each of the pair of movable members and that holds a workpiece; a width adjusting mechanism that supports the pair of movable members so as to allow relative movement thereof in a width direction, which is a direction in which the pair of movable members are arranged, and that adjusts the distance between the pair of movable members via the relative movement of the pair of movable members in the width direction; and wherein the pair of movable members are relatively moved in the width direction as a result of the width adjusting mechanism being controlled by the operation of the robot body or as a result of the width adjusting mechanism being controlled by an operator; a control unit that controls the robot body; and wherein the control unit causes the robot body to perform an operation of removing the pair of movable members from the wrist flange and causes the robot body to perform an operation of relatively moving the pair of movable members in the width direction.