# US 2013/0154294 A1 · Robot and robot hand > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2013/0154294 A1 - Document ID: US20130154294A1 - Status: Published application - Kind: A1 - Application number: 13/714,762 - Filed: 2012-12-14 - Published: 2013-06-20 - Earliest claimed: 2011-12-16 - Assignees: Seiko Epson Corporation - Inventors: Masahiro SHIOMI - Web page: https://patentgrep.com/patent/US20130154294A1 ## CPC - B25J 15/0014: {having fork, comb or plate shaped means for engaging the lower surface on a object to be transported} - B25J 11/0045: {Manipulators used in the food industry} - B25J 15/0253: {comprising parallel grippers} - B25J 15/0475: {Exchangeable fingers} - B25J 15/12: with flexible finger members - 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 for grasping an object to be grasped includes plural bar-shaped placing sections on which the object to be grasped is placed, plural holding sections which hold lateral sides of the object to be grasped, and a space adjusting section which moves the plural placing sections and the plural holding sections to adjust the space between the plural placing sections. ## Claims ### Claim 1 A robot having a robot hand comprising: a placing section which is formed by a bar in the form of a substantially quadrilateral frame with a first supporting member and where an object to be grasped is placed; a supporting section which is formed by connecting one end of a second supporting member to a center of the first supporting member and retains the placing section; a space adjusting section which moves the supporting section while retaining the second supporting member, and adjusts a space between plural units of the placing section; and a holding section arranged within the frame formed by the first supporting member and the placing section. ### Claim 2 (depends on 1) The robot according to claim 1, wherein a part where the placing section contacts a bottom of the object to be grasped is a substantially linear bar. ### Claim 3 (depends on 1) The robot according to claim 1, wherein a cross-sectional shape of the placing section orthogonal to a longitudinal direction is substantially circular or substantially elliptical. ### Claim 4 (depends on 1) The robot according to claim 1, wherein a cross-sectional shape of the placing section orthogonal to a longitudinal direction is substantially quadrilateral. ### Claim 5 (depends on 1) The robot according to claim 1, wherein the holding section includes a central area including a center and a peripheral area situated on a periphery of the central area, and the central area has a smaller spring constant than a spring constant of the peripheral area. ### Claim 6 (depends on 1) The robot according to claim 1, wherein at least a part of a site contacting the object to be grasped, of the placing section and the holding section, is made of a metal. ### Claim 7 (depends on 1) The robot according to claim 1, wherein the placing section and the holding section are formed as an integrated unit. ### Claim 8 (depends on 1) The robot according to claim 1, wherein at least a part of the holding section is made of an elastic material. ### Claim 9 (depends on 1) The robot according to claim 1, wherein the holding section is attachable to and removable from the placing section. ### Claim 10 (depends on 1) The robot according to claim 1, wherein the holding section is attachable to and removable from the space adjusting section. ### Claim 11 A robot hand comprising: a placing section which is formed by a bar in the form of a substantially quadrilateral frame with a first supporting member and where an object to be grasped is placed; a supporting section which is formed by connecting one end of a second supporting member to a center of the first supporting member and retains the placing section; a space adjusting section which moves the supporting section while retaining the second supporting member, and adjusts a space between plural units of the placing section; and a holding section arranged within the frame formed by the first supporting member and the placing section. ### Claim 12 (depends on 11) The robot hand according to claim 11, wherein apart where the placing section contacts a bottom of the object to be grasped is a substantially linear bar. ### Claim 13 (depends on 11) The robot hand according to claim 11, wherein a cross-sectional shape of the placing section orthogonal to a longitudinal direction is substantially circular or substantially elliptical. ### Claim 14 (depends on 11) The robot hand according to claim 11, wherein a cross-sectional shape of the placing section orthogonal to a longitudinal direction is substantially quadrilateral. ### Claim 15 (depends on 11) The robot hand according to claim 11, wherein the holding section is formed by a spiral bar and includes a central area including a center of the spiral and a peripheral area situated on a periphery of the central area, and the central area has a smaller spring constant than a spring constant of the peripheral area. ### Claim 16 (depends on 11) The robot hand according to claim 11, wherein at least a part of a site contacting the object to be grasped, of the placing section and the holding section, is made of a metal. ### Claim 17 (depends on 11) The robot hand according to claim 11, wherein the placing section and the holding section are formed as an integrated unit. ### Claim 18 (depends on 11) The robot hand according to claim 11, wherein at least a part of the holding section is made of an elastic material. ### Claim 19 (depends on 11) The robot hand according to claim 11, wherein the holding section is attachable to and removable from the placing section. ### Claim 20 (depends on 11) The robot hand according to claim 11, wherein the holding section is attachable to and removable from the space adjusting section.