PURPOSE: To provide a robot hand which is not influenced by the size or thickness of the back and forth width of a metal plate, which can hold the metal plate without gripping the bent side, further which is able to hold the metal plate even if bending is advanced and the gripping tolerance is made small.
CONSTITUTION: This is a top end arm 6 of an articulated robot R, at the top end of the arm formed freely moving back and forth against) a working part of a bending machine PB, supporting frames 1L, 1R, 5L, 5R expanding and contracting to right and left in an almost horizontal attitude in the normal state facing orthogonally crossing to the axis R6 of the top end arm 6 are installed, clamping arms 7L, 7R facing almost orthogonally crossing to the longitudinal direction of the frame are installed at both out end parts of the frame 5L, 5R at the same time, and clamping means 8L, 8R of the metal plate W facing mutually inward are installed at the top end parts of both arms.
WO/2019/183909 | MODULAR MECHANICAL FINGER AND MANIPULATOR COMPRISING THE SAME |
JP2024017973 | Holding device, holding method and program |
OMORI HIROSHI
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