Title:
ROBOT HAND WITH SURFACE ALIGNMENT FUNCTION AND ROBOT
Document Type and Number:
Japanese Patent JP2017164866
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a robot hand with a mechanism capable of aligning a surface of an electromagnet with a work-piece surface to be attracted appropriately according to a posture of the surface to be attracted, and a robot with the robot hand.SOLUTION: A robot hand 10 comprises: a hand base 24 connected with a wrist shaft 14; a holder 26 attached to the hand base 24; a spherical bearing 28 disposed in the holder 26, with a rotation center thereof arranged to be on a hand center axis line; a connection member 32 attached to the holder through the spherical bearing 28 in a posture changeable manner with respect to the holder 26 as well as having a projection part 30 from the holder 26 on the opposite side of the hand base 24 with respect to the holder 26; a holder base 36 fixed to an attachment surface 34 on the opposite side of an attracting surface 22 of the electromagnet 20; and a posture restoration member 38 for restoring a posture of the holder base 36 to a neutral posture with a center axis line of the projection part 30 of the connection member 32 aligned with a hand center axis line.SELECTED DRAWING: Figure 2
Inventors:
MATSUMOTO REI
Application Number:
JP2016054152A
Publication Date:
September 21, 2017
Filing Date:
March 17, 2016
Export Citation:
Assignee:
FANUC LTD
International Classes:
B25J15/06
Domestic Patent References:
| JP2002160187A | 2002-06-04 | |||
| JPS59173591U | 1984-11-20 | |||
| JPH0435887A | 1992-02-06 | |||
| JPH0639775A | 1994-02-15 | |||
| JP2004079308A | 2004-03-11 | |||
| JPS5893492U | 1983-06-24 | |||
| JPH06155353A | 1994-06-03 | |||
| JPH06190771A | 1994-07-12 | |||
| JP2002087343A | 2002-03-27 | |||
| JP2002127070A | 2002-05-08 | |||
| JP2010058213A | 2010-03-18 |
Attorney, Agent or Firm:
Atsushi Aoki
Tetsuro Shimada
Shinji Mitsuhashi
Hirose Shigeki
Kazuo Maejima
Tetsuro Shimada
Shinji Mitsuhashi
Hirose Shigeki
Kazuo Maejima