US 11,123,877 B2Granted

Robot hand

AssigneeFanuc Corporation

InventorRyou Matsumoto

Life of this patent

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Abstract

Provided is a robot hand including: gripping portions disposed with spacings between each other in a circumferential direction about an axis, and that grip a workpiece; driving portions, each of which is provided so as to correspond to one of the gripping portions, cause the corresponding gripping portions to be linearly moved in closing directions in which the gripping portions are brought close to the axis and opening directions in which the gripping portions are moved away from the axis; and a center-of-gravity detecting unit detects a center-of-gravity position of the workpiece being gripped by the gripping portions. Each of the driving portions adjust, based on the center-of-gravity position of the workpiece, the position of the corresponding gripping portion in a direction in which the center-of-gravity position is brought closer to the axis.

Claims4

Dependent claims

A robot hand comprising:

a plurality of gripping portions that are disposed, with spacings between each other, in a circumferential direction about a predetermined axis extending in a vertical direction, and that are configured to be linearly moved independently of each other in directions in which the plurality of gripping portions are brought close to the predetermined axis and directions in which the plurality of gripping portions are moved away from the predetermined axis to grip a workpiece;
a controller that is configured to cause each of the plurality of gripping portions to grip the workpiece and that is configured to detect a center-of-gravity position of the gripped workpiece;
and
wherein the controller is configured to cause each of the plurality of gripping portions to be linearly moved to change a relative position between each of the plurality of gripping portions and the predetermined axis on the basis of the detected center-of-gravity position so that a position of the predetermined axis in a horizontal direction is brought closer to the detected center-of-gravity position.

1 more element

Dependencies are inferred from the claim text.

Facts

Application: 16/538,047Filed 12 Aug 2019
Priority: JP JP2018-16229931 Aug 2018
Published: US 2020/0070353 A15 Mar 2020
Granted: 21 Sep 2021
Term ends: Not estimatedThe source records don’t support an estimate.

Classification12 codes

B25J 13/02
Controls for manipulators: hand grip control means
B25J 9/1612
Program controls: characterised by the hand, wrist, grip control
B25J 9/1661
Characterised by programming, planning systems for manipulators: characterised by task planning, object-oriented languages
B25J 13/085
By means of sensing devices, e.g. viewing or touching devices: force or torque sensors