Robot hand controller, robot system, and robot hand control method
AssigneeFanuc Corporation
InventorMizuki Tago
Life of this patent
Estimating the term…
Abstract
A robot hand controller includes an air supply unit configured to supply air into fingers of a robot hand and configured to discharge air in the fingers, and a controller configured to control the air supply unit, where the air supply unit includes two or more air passages respectively connected to the different fingers, the air passages capable of supplying the air into the fingers and discharging the air in the fingers independently from each other, and the controller controls supply and discharge of the air through each of the two or more air passages in response to a shape of the workpiece and an object in a vicinity of a transport destination of the workpiece.
Claims7
A robot hand controller of a robot hand having a plurality of hollow fingers for holding a workpiece, wherein the plurality of fingers comprises at least a first pair of fingers deformed to an opened state and a closed state in response to an air pressure inside of the first pair of fingers and a second pair of fingers deformed to an opened state and a closed state in response to an air pressure inside of the second pair of fingers, the robot hand controller comprising:
- an air supply unit configured to supply air into the plurality of fingers, and configured to discharge air in the plurality of fingers;
- and
- a controller configured to control the air supply unit, wherein
- the air supply unit includes at least a first air passages and a second air passage, the first air passage configured to make adjustment of the air pressure in the inside of the first pair of fingers and the second air passage configured to make adjustment of the air pressure in the inside of the second pair of fingers, and
- the controller is configured to control the air supply unit to be in a first closed pattern in which the first pair of fingers and the second pair of fingers are made to be in the closed state by the adjustments by the first air passage and the second air passage, and configured to control the air supply unit to be in a second closed pattern in which only the first pair of fingers is made to be in the closed state by the adjustment by the first air passage.
A robot system comprising:
- a robot;
- a robot hand connected to the robot, the robot hand having a plurality of hollow fingers, wherein the plurality of fingers comprises at least a first pair of fingers deformed to an opened state and a closed state in response to an air pressure inside of the first pair of fingers and a second pair of fingers deformed to an opened state and a closed state in response to an air pressure inside of the second pair of fingers;
- and
- a robot hand controller comprising an air supply unit configured to supply air into the plurality of fingers, and configured to discharge air in the plurality of fingers;
- and
- a controller configured to control the air supply unit, wherein
- the air supply unit includes at least a first air passages and a second air passage, the first air passage configured to make adjustment of the air pressure in the inside of the first pair of fingers and the second air passage configured to make adjustment of the air pressure in the inside of the second pair of fingers, and
- the controller is configured to controls the air supply unit to be in a first closed pattern in which the first pair of fingers and the second pair of fingers are made to be in the closed state by the adjustments by the first air passage and the second air passage, and configured to control the air supply unit to be in a second closed pattern in which only the first pair of fingers is made to be in the closed state by the adjustment by the first air passage.
A method of controlling a robot hand having a plurality of hollow fingers for holding a workpiece, wherein the plurality of fingers comprises at least a first pair of fingers deformed to an opened state and a closed state in response to an air pressure in inside of the first pair of fingers and a second pair of fingers deformed to an opened state and a closed state in response to an air pressure inside of the second pair of fingers, wherein the robot hand includes at least a first air passage and a second air passage, the first air passage configured to make adjustment of the air pressure in the inside of the first pair of fingers and the second air passage configured to make adjustment of the air pressure in the inside of the second pair of fingers,
- the method comprising:
- holding the workpiece in a first closed pattern that makes the first pair of fingers and the second pair of fingers be in the closed state by the adjustments by the first air passage and the second air passage;
- and
- holding the workpiece in a second closed pattern that makes only the first pair of fingers be in the closed state by the adjustment by the first air passage.
Dependencies are inferred from the claim text.