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US 8,894,113 B2Granted
Robot hand and robot
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsToshiyuki Harada, Kenichi Motonaga, Keigo Ishibashi
Life of this patent
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Abstract
A robot hand is provided. The robot hand includes a plurality of holding parts provided to be holdable of a plurality of workpieces, respectively, and a pneumatic drive for protruding one of the holding parts, when the holding part holds one of the workpieces, toward the workpiece with respect to one or more remaining holding parts by pneumatic pressure.
Claims8
A robot hand, comprising:
- a plurality of holding parts provided to be holdable of a plurality of workpieces, respectively;
- and
- a pneumatic drive for protruding one of the holding parts, when the holding part holds one of the workpieces, toward the workpiece with respect to one or more remaining holding parts by pneumatic pressure,
- wherein the pneumatic drive includes:
- air cylinders coupled to the respective holding parts;
- directional control valves coupled to the respective air cylinder and for switching flow directions of the pneumatic pressure supplied to the air cylinders;
- and
- an electromagnetic valve for exclusively protruding the holding part by controlling the switching of the flow directions of the pneumatic pressure by the directional control valves,
- wherein the directional control valve is a shuttle valve having two inlets and one outlet, and the outlet is connected to either one of the two inlets by a difference of the pneumatic pressures inputted from the two inlets.
6 more elements
A robot having a robot hand, the robot hand comprising:
- a plurality of holding parts provided to be holdable of a plurality of workpieces, respectively;
- and
- a pneumatic drive for protruding one of the holding parts, when the holding part holds one of the workpieces, toward the workpiece with respect to one or more remaining holding parts by pneumatic pressure,
- wherein the pneumatic drive includes:
- air cylinders coupled to the respective holding parts;
- directional control valves coupled to the respective air cylinder and for switching flow directions of the pneumatic pressure supplied to the air cylinders;
- and
- an electromagnetic valve for exclusively protruding the holding part by controlling the switching of the flow directions of the pneumatic pressure by the directional control valves,
- wherein the directional control valve is a shuttle valve having two inlets and one outlet, and the outlet is connected to either one of the two inlets by a difference of the pneumatic pressures inputted from the two inlets.
6 more elements
Dependencies are inferred from the claim text.