Robot hand, robot system, and method for manufacturing workpiece
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsYuya Yasuda, Shinji Murai, Toshimitsu Irie, Fuminori Kutsukake
Life of this patent
Estimating the term…
Abstract
This robot hand includes a first finger portion and a second finger portion being relatively movable in a direction in which an object to be grasped is grasped and bar-shaped claw members fixed to the first finger portion and the second finger portion. A plurality of claw members are fixed in parallel to at least either the first finger portion or the second finger portion.
Claims16
A robot hand comprising:
- a first finger portion and a second finger portion being relatively movable in a direction in which an object to be grasped is grasped;
- and
- bar-shaped claw members fixed to the first finger portion and the second finger portion,
- wherein a plurality of the claw members are fixed in parallel to at least either the first finger portion or the second finger portion,
- wherein the claw members include taper portions in such a shape that dimensions in diametrical directions gradually increase, and
- wherein the taper portions of the claw members have antislip portions.
A robot hand comprising:
- a first finger portion and a second finger portion being relatively movable in a direction in which an object to be grasped is grasped;
- and
- bar-shaped claw members fixed to the first finger portion and the second finger portion,
- wherein a plurality of the claw members are fixed in parallel to at least either the first finger portion or the second finger portion, and
- wherein the claw members include groove portions having smaller dimensions in diametrical directions.
A robot system comprising:
- a robot;
- a robot hand mounted on the robot;
- and
- a robot controller controlling the robot and the robot hand, wherein
- the robot hand includes a first finger portion and a second finger portion being relatively movable in a direction in which an object to be grasped is grasped and bar-shaped claw members fixed to the first finger portion and the second finger portion, and
- a plurality of the claw members are fixed in parallel to at least either the first finger portion or the second finger portion,
- wherein the claw members include taper portions in such a shape that dimensions in diametrical directions gradually increase, and
- wherein the taper portions of the claw members have antislip portions.
A method for manufacturing a workpiece, that is a method for manufacturing a workpiece employing a robot hand including a first finger portion and a second finger portion being relatively movable in a direction in which an object to be grasped is grasped and bar-shaped claw members fixed to the first finger portion and the second finger portion, wherein a plurality of the claw members are fixed in parallel to at least either the first finger portion or the second finger portion, comprising:
- grasping and taking out the object to be grasped by the claw members fixed to the first finger portion and the second finger portion of the robot hand;
- and
- applying a prescribed treatment to the object to be grasped taken out by the robot hand,
- wherein the claw members include taper portions in such a shape that dimensions in diametrical directions gradually increase, and
- wherein the taper portions of the claw members have antislip portions.
Dependencies are inferred from the claim text.