Patent ID: 8942845
Filing Date: 2015-01-27
Classification: B25J,Y10S,Y10T

Abstract:
1. A robot comprising: a gripping section having a pair of finger sections and a main body section to which the pair of finger sections are attached, having one end sections of the pair of finger sections rotatably connected to each other around a first rotating shaft disposed at a position separate from the main body section, and adapted to open and close the pair of finger sections by swinging the other side of the pair of finger sections on a plane parallel to a mounting surface on which an object is mounted centered on the first rotating shaft to thereby grip the object; a moving device adapted to relatively move the object and the gripping section; and a control device adapted to control the moving device to move the gripping section relatively toward the object, and dispose the pair of finger sections in a periphery of the object, and then control the gripping section to open and close the pair of finger sections in a plane parallel to the mounting surface, pinch the object between the pair of finger sections from a lateral side of the object, and grip the object with the gripping section at at least three contact points; wherein at least one of the pair of finger sections has a guard adapted to prevent the object from jumping out in an upward direction perpendicular to the mounting surface, the guard being disposed on an opposite side to the mounting surface across the object.