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US 8,720,965 B2Granted
Robot hand and robot
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsKazunori Hino, Ryuji Ando, Katsuhiko Shimada
Life of this patent
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Abstract
A robot hand and a robot according to an embodiment include supporting units. The supporting units are arranged on a base and contact the peripheral border of a board to grip the board. At least one of the supporting units rotates while abutting on the peripheral border of the board.
Claims19
A robot hand that supports and grips a board comprising:
- a base;
- two rotary supporting units arranged on the base to be rotatable with respect to the base about a rotational axis, each of the rotary supporting units comprising:
- a cylindrical roller rotatable with respect to the base about the rotational axis;
- and
- a first receiving seat projecting outward from a lower part of the cylindrical roller and including an upper plane;
- a second receiving seat arranged on the base at a position opposite to the first receiving seats, an upper plane of the second receiving seat being on a same plane as the upper plane of the first receiving seats to support the board together with the first receiving seats from a lower side of the board;
- a movable supporting unit arranged on the base at a position opposite to the rotary supporting units to press the board toward the rotary supporting units to grip the board together with the cylindrical rollers;
- and
- wherein the base further includes:
- two supporting pins that are provided through the base to correspond to the respective rotary supporting units;
- and two bearings that are attached to an inside of the base to correspond to the respective supporting pins, and wherein each of the supporting pins is borne by the corresponding bearing, cylindrical roller, and the first receiving seat.
8 more elements
Dependencies are inferred from the claim text.