# US 8,770,640 B2 · Robot hand

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- Number: US 8,770,640 B2
- Document ID: US8770640B2
- Status: Granted
- Kind: B2
- Application number: 13/798,850
- Filed: 2013-03-13
- Published: 2013-09-26
- Granted: 2014-07-08
- Earliest claimed: 2012-03-26
- Assignees: Disco Corporation
- Applicants: Disco Corporation
- Inventors: Yasutomo Kimura
- Web page: https://patentgrep.com/patent/US8770640B2

## CPC

- B25J 15/0066: {with different types of end effectors, e.g. gripper and welding gun (B25J15/0057 and B25J15/0061 take precedence)}
- B25J 15/0014: {having fork, comb or plate shaped means for engaging the lower surface on a object to be transported}
- B25J 15/0616: {with vacuum}
- Y10S 901/31: Gripping jaw
- Y10S 901/40: Vacuum or mangetic
- 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})
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

A robot hand having a suction holding unit on one face side holds a plate-shaped work by suction. An outer circumferential edge of the plate-shaped work is held, without contact with a surface of the plate-shaped work, by an outer circumference holding unit provided on the other face side. The robot hand can be used to hold the plate-shaped work yet to be worked by the suction holding unit, and to hold the plate-shaped work having been worked by the outer circumference holding unit. This prevents working debris from being deposited on the plate-shaped work yet to be worked and prevents defective working from occurring. In addition, since the plate-shaped work having been worked is held by the outer circumference holding unit, the robot hand does not make contact with surfaces of the worked plate-shaped work, and, accordingly, no contact marks are formed on the surfaces of the work.

## Claims

### Claim 1

A robot hand for holding a plate-shaped work, comprising:
suction holding means for holding a plate-shaped-shaped work on one face side of the robot hand by suction; and
outer circumference holding means for holding an outer circumferential edge of a plate-shaped work on an other face side of the robot hand,
wherein the outer circumference holding means includes an abutment section adapted to make contact with the outer circumferential edge of the plate-shaped work, a pressing unit having moving means disposed at a position opposite to the abutment section and adapted to move a pressing member toward and away from the abutment section, and a tentative receiving section disposed between the abutment section and the pressing unit and adapted to tentatively receive an outer circumferential portion of the plate-shaped work, and
the pressing member is moved toward the abutment section by the moving means, whereby the plate-shaped work tentatively received by the tentative receiving section is moved toward the abutment section, and the outer circumferential edge of the plate-shaped work is clamped and held by the abutment section and the pressing unit.

### Claim 2 (depends on 1)

The robot hand according to claim 1, wherein the suction holding means includes a plurality of suction holes configured and arranged to face a planar surface of the plate-shaped work.