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US 8,616,599 B2Granted
Hand and robot
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsKenichi Motonaga, Takashi Baba, Toshiyuki Harada, Yoichiro Dan, Yoshiaki Kubota, Jun Tijiwa
Life of this patent
Estimating the term…
Abstract
A hand according to an embodiment includes a pair of supporting units, a pair of capturing claws, an opening-and-closing mechanism, and a reciprocating mechanism. The pair of capturing claws are supported on the inner surfaces of the pair of respective supporting units and capture a part. The opening-and-closing mechanism opens and closes the pair of supporting units along a reciprocating axis intersecting with longitudinal directions of the supporting units. The reciprocating mechanism causes the pair of capturing claws to rotate about the reciprocating axis to change the direction of each tip of the capturing claws.
Claims18
A hand comprising:
- a pair of supporting units;
- a pair of capturing claws that are supported on inner surfaces of the pair of respective supporting units and capture a part;
- an opening-and-closing mechanism that includes an opening-and-closing servo motor to open and close the pair of supporting units along a reciprocating axis intersecting with longitudinal directions of the supporting units;
- and
- a reciprocating mechanism that includes a reciprocating servo motor to make the pair of capturing claws rotate about the reciprocating axis to change a direction of each tip of the capturing claws,
- wherein the opening-and-closing servo motor and the reciprocating servo motor face opposite directions to each other with a longitudinal direction of the opening-and-closing servo motor and a longitudinal direction of the reciprocating servo motor being arranged substantially in parallel with the reciprocating axis, and are disposed at a base end of the hand.
3 more elements
A hand comprising:
- a pair of supporting units;
- a pair of capturing claws that are supported on inner surfaces of the pair of respective supporting units and capture a part;
- an opening-and-closing mechanism that opens and closes the pair of supporting units along a reciprocating axis intersecting with longitudinal directions of the supporting units;
- and
- a reciprocating mechanism that causes the pair of capturing claws to rotate about the reciprocating axis to change a direction of each tip of the capturing claws,
- wherein the pair of supporting units comprises tool holders that hold a tool for adjusting an arrangement of a plurality of parts so as to allow the pair of capturing claws to capture each of the parts.
3 more elements
A robot comprising:
- a hand that captures a part, wherein the hand comprises:
- a pair of supporting units;
- a pair of capturing claws that are supported on inner surfaces of the pair of respective supporting units and capture a part;
- an opening-and-closing mechanism that includes an opening-and-closing servo motor to open and close the pair of supporting units along a reciprocating axis intersecting with longitudinal directions of the supporting units;
- and
- a reciprocating mechanism that includes a reciprocating servo motor to make the pair of capturing claws rotate about the reciprocating axis to change a direction of each tip of the capturing claws,
- wherein the opening-and-closing servo motor and the reciprocating servo motor face opposite directions to each other with a longitudinal direction of the opening-and-closing servo motor and a longitudinal direction of the reciprocating servo motor being arranged substantially in parallel with the reciprocating axis, and are disposed at a base end of the hand.
4 more elements
A hand comprising:
- a pair of supporting means;
- a pair of capturing means that are supported by the pair of respective supporting means and capture a part;
- an opening-and-closing means that includes an opening-and-closing driving means to open and close the pair of supporting means along an axis intersecting with longitudinal directions of the supporting means;
- and
- a changing means that includes a reciprocating driving means to change a direction of each tip of the pair of capturing means about the axis,
- wherein the opening-and-closing driving means and the reciprocating driving means face opposite directions to each other with a longitudinal direction of the opening-and-closing driving means and a longitudinal direction of the reciprocating driving means being arranged substantially in parallel with the reciprocating axis, and are disposed at a base end of the hand.
3 more elements
Dependencies are inferred from the claim text.