Title:
ROBOT SYSTEM, HAND, AND HAND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2021/111498
Kind Code:
A1
Abstract:
[Problem] To reduce the weight of a hand equipped with a brake device. [Solution] A robot system 1 has: a hand 7 that has two fingers 23, 24 provided so as to be openable and closable; a robot 3 that moves the hand 7; and a controller 5 that controls the robot 3 and the hand 7. The hand 7 has: a motor 31 that opens and closes the fingers 23, 24; and a brake device 37 that holds the respective positions of the fingers 23, 24. The controller 5 has: a first control unit 79 that controls the motor 31 so that a workpiece W is gripped by the fingers 23, 24 with a predetermined gripping force; and a second control unit 81 that operates the brake device 37 while the workpiece W is gripped with a predetermined gripping force so as to hold the respective positions of the fingers 23, 24.
Inventors:
MISU KEIJIRO (JP)
HINO TADASHI (JP)
NAGAO ATSUSHI (JP)
HINO TADASHI (JP)
NAGAO ATSUSHI (JP)
Application Number:
PCT/JP2019/047027
Publication Date:
June 10, 2021
Filing Date:
December 02, 2019
Export Citation:
Assignee:
YASKAWA ELECTRIC CORP (JP)
International Classes:
B25J19/00; B25J15/08
Foreign References:
| JP2017109271A | 2017-06-22 | |||
| JP2017080819A | 2017-05-18 |
Attorney, Agent or Firm:
MASUDA Hirofumi et al. (JP)
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