Patent ID: 9079314
Filing Date: 2015-07-14
Classification: B25J,Y10S

Abstract:
1. A robot hand configured to grip an inner or outer peripheral portion of a cylindrical object and rotate the object about a center axis of the object while gripping the object, the robot hand comprising: a hand base attached to a front end of a robot arm; N number of fingers movably attached to the hand base, wherein each finger extends parallel to the center axis of the object gripped by the fingers and is positioned at each vertex of a N-sided polygon in a plane perpendicular to the center axis; a first drive part which moves the N number of fingers relative to the hand base so that a circumcircle of the N-sided polygon is arranged in a concentric pattern about the center axis; N number of first rollers respectively attached to the N number of fingers, wherein each first roller is rotatable about an axis parallel to the center axis and is configured to contact the inner or outer peripheral portion of the object by movement of the finger relative to the hand base; and a second drive part which rotates at least one of the N number of first rollers, wherein N is a natural number of three or more; and further including: N number of linear moving parts respectively attached to the N number of fingers and configured to linearly move in the extending direction of the finger; a third drive part which linearly drive the linear moving parts relative to the respective fingers; second rollers attached to the respective linear moving parts so that the second roller is rotatable about an axis along a radial direction of the circumcircle; and third rollers arranged on portions of the respective N number of fingers farther than the respective second rollers from the hand ease in relation to the center axis wherein the third rollers have rotation axes parallel to rotation axes of the respective second rollers.