Hand, robot system, and control method of hand
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsYohei Murase, Takeshi Matsuura, Tamami Oryu, Hisao Wada, Hiroaki Fukuda
Life of this patent
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Abstract
A second hand H2 that couples a first workpiece to a second workpiece, where the first and second workpieces are to be coupled to each other by insertion coupling, includes: a second gripper 5 that grips the first workpiece; a straight-moving actuator 6 that moves the second gripper 5 straight in the direction of a predetermined axis E; and a rotation actuator 7 that rotates the second gripper 5 about the axis E. The second gripper 5 includes three second fingers 51 that grip the first workpiece, and a linkage 52 that opens and closes the three second fingers 51.
Claims17
A hand that grips a first workpiece and couples the first workpiece to a second workpiece, the first workpiece and the second workpiece being to be coupled to each other by insertion, the hand comprising:
- a gripper that grips the first workpiece;
- a straight-moving actuator that causes the gripper to move straight in a direction of a predetermined axis;
- and
- a rotation actuator that rotates the gripper about the axis, wherein
- the gripper includes at least two fingers that grip the first workpiece and a linkage that opens and closes the at least two fingers.
A robot system that couples a first workpiece to a second workpiece, the first workpiece and the second workpiece being to be coupled to each other by insertion, the robot system comprising:
- a hand;
- and
- a controller that controls the hand, wherein
- the hand includes
- a gripper that grips the first workpiece,
- a straight-moving actuator that moves the gripper straight in a direction of a predetermined axis, and
- a rotation actuator that rotates the gripper about the axis,
- the gripper includes at least two fingers that grip the first workpiece and a linkage that opens and closes the at least two fingers, and
- the controller moves the gripper gripping the first workpiece straight in the direction of the axis by the straight-moving actuator while rotating the gripper about the axis by the rotation actuator, thereby performing rotational coupling of coupling the first workpiece to the second workpiece.
A control method of a hand including at least two fingers that grip a workpiece and a linkage that opens and closes the at least two fingers, the control method comprising:
- gripping a first workpiece by the hand, the first workpiece being to be coupled to a second workpiece by insertion coupling;
- rotating the hand gripping the first workpiece about a predetermined axis;
- and
- moving the hand rotating about the axis straight in the direction of the axis, thereby performing rotational coupling of coupling the first workpiece to the second workpiece.
Dependencies are inferred from the claim text.