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US 8,910,984 B2Granted
Robot hand and robot
AssigneeKabushiki Kaisha Yaskawa Denki
InventorHiromitsu Akae
Life of this patent
Estimating the term…
Abstract
An object is to provide a robot hand and a robot that are compact and lightweight and can reliably hold various types of workpieces. To achieve this object, the robot hand and the robot include: a plurality of joint portions that rotates about respective rotation axes parallel with each other; a plurality of links that is connected via each of the joint portions in sequence from a distal end; a linking member that links rotations of the joint portions adjacent to each other; and a single drive source that drives only the joint portion at a proximal end to rotate the joint portion.
Claims13
A robot hand comprising:
- a plurality of joint portions that rotates about respective rotation axes parallel with each other;
- a plurality of links that is connected via the joint portions;
- a linking member that links rotations of the joint portions adjacent to each other;
- a single drive source that drives and rotates one of the plurality of joint portions which is located at a proximal end to rotate the joint portions;
- and
- an urging member that has a predetermined urging force adjusted in advance based on weights and lengths of the plurality of links so that the joint portions rotate in sequence from the proximal end to a distal end, the urging member urging one of the plurality of links, which is moved by the joint portion at the proximal end, in a gripping direction with the predetermined urging force,
- wherein, when one link of the plurality of links is restricted in movement in the gripping direction as a result of contact thereof with a workpiece as an object to be held while the workpiece is being held, one of the joint portions, which is connected to a distal end of the one link, rotates relative to the one link for moving another link adjacent to the one link among the plurality of links.
4 more elements
A robot comprising a robot hand,
- the robot hand comprising:
- a plurality of joint portions that rotates about respective rotation axes parallel with each other;
- a plurality of links that is connected via the joint portions;
- a linking member that links rotations of the joint portions adjacent to each other;
- a single drive source that drives and rotates one of the joint portions which is located at a proximal end of the joint portions;
- and
- an urging member that has a predetermined urging force adjusted in advance based on weights and lengths of the plurality of links so that the joint portions rotate in sequence from the proximal end to a distal end, the urging member urging one of the plurality of links, which is moved by the joint portion at the proximal end, in a gripping direction with the predetermined urging force,
- wherein, when one link of the plurality of links is restricted in movement in the gripping direction as a result of contact thereof with a workpiece as an object to be held while the workpiece is being held, one of the joint portions, which is connected to a distal end of the one link, rotates relative to the one link for moving another link adjacent to the one link among the plurality of links.
5 more elements
A robot hand comprising:
- a plurality of joint portions that rotates about respective rotation axes parallel with each other;
- a plurality of links that is connected via the joint portions;
- means for linking rotations of the joint portions adjacent to each other;
- means for driving and rotating one of the plurality of joint portions at a proximal end of the joint portions;
- and
- means for urging one of the plurality of links, which is moved by the joint portion at the proximal end, in a gripping direction with a predetermined urging force, the predetermined urging force being adjusted in advance based on weights and lengths of the plurality of links so that the joint portions rotate in sequence from the proximal end to the distal end,
- wherein, when one link of the plurality of links is restricted in movement in the gripping direction as a result of contact thereof with a workpiece as an object to be held while the workpiece is being held, one of the joint portions, which is connected to a distal end of the one link, rotates relative to the one link for moving another link adjacent to the one link among the plurality of links.
4 more elements
A robot hand comprising:
- a plurality of joint portions that rotates about respective rotation axes parallel with each other;
- a plurality of links that is connected via the joint portions;
- a linking member that links rotations of the joint portions adjacent to each other;
- and
- a single drive source that drives and rotates one of the plurality of joint portions which is located a joint portion at a proximal end of the joint portions, wherein
- each of the joint portions has a pulley at one end of the rotation axis, and
- the pulley placed on one of the joint portions which is located at the distal end of the joint portions has an effective diameter which becomes larger as an angle of rotation of the joint portion at the distal end becomes larger.
4 more elements
Dependencies are inferred from the claim text.