Patent ID: 9149928
Filing Date: 2015-10-06
Classification: B23P,B25J,Y10S

Abstract:
1. A robot comprising: a first finger that has a first concave; a second finger; a main body to which the first and second fingers are attached; a camera taking a picture of an object, the camera being attached to the main body; and a control device that controls the first and second fingers, wherein each of the first and second fingers includes: the control device controls the first and second fingers to move in a direction parallel to the mounting surface on which the object is mounted while the control device controls the first and second fingers to move from a first position in which the object is located outside of an area between the first and second fingers to a second position in which that object is located between the first and second fingers, the control device controls the first and second fingers to grip a curved surface of the object by at least a three-point contact by the first concave of the first finger and the second finger in a plan view, and the control device detects a position of the object based on the picture taken by the camera and controls the first and second fingers to move toward the object.