Patent ID: 8043042
Filing Date: 2011-10-25
Classification: B25J,H01L

Abstract:
1. An industrial robot, for taking out a transfer object from a storage section where the transfer object is stored and bringing the transfer object into the storage section, the industrial robot comprising: a robot hand structured to mount the transfer object; a multi-joint arm section having at least two arms including a robot hand supporting arm structured to support the robot hand to be rotatable at a top side, the multi-joint arm section expanding/folding at the time of taking out and bringing in the transfer object from/to the storage section; a main section structured to support the multi-joint arm section to be rotatable; wherein the robot hand comprises: the robot hand supporting arm comprises: the member fixed to the robot hand supporting arm for contacting the grasping part is an eccentric member positioned eccentrically away from the turning center of the robot hand; the grasping part comprises a cylindrical cam part including a cam surface for contacting the eccentric member wherein at least a portion of the cam surface extends linearly and at an angle to the grasping and evacuating directions of the grasping part; the eccentric member comprises a cylindrical part whose cylindrical surface is essentially adapted to contact the cam surface, so as to enable the grasping part to move smoothly along a sine curve; and the grasping part starts grasping the transfer object with a biasing force of the biasing member at the time of one of constant-speed operation and deceleration in the expanding/folding motion of the multi-joint arm section for taking out the transfer object from the storage section.