Patent CA-3087626-A1 (CA)
Inventor: UEMIZO YOSHIAKI
IPC: B25J15/00
Filed: 2019-04-16
Abstract: The issue to be solved by the present invention is to provide a robot hand that places all thin materials in a thin bundle such as a bundle of bills at a prescribed position. A robot hand 100 of the present invention includes a first finger portion 110, a second finger portion 120, a finger portion moving mechanism 130, a pressing portion 140, and a pressing portion reciprocating mechanism 150. The second finger portion is disposed to be opposite to the first finger portion.  The finger portion moving mechanism moves at least one of the first finger portion and the second finger portion along an opposite direction of the first finger portion and the second finger portion.  The pressing portion reciprocating mechanism reciprocates the pressing portion along a direction parallel to a depth direction of the first finger portion.   10/111. A robot hand for conveying a bundle of bills supported by a support member from a bill container having the support member formed with a slit, the robot hand comprising: a first finger portion; a second finger portion provided to be opposite to the first finger portion; a finger portion moving mechanism that moves at least one of the first finger portion and the second finger portion along an opposite direction of the first finger portion and the second finger portion; a sliding receptor disposed adjacent to at least one side of at least one of the first finger portion and the second finger portion, the sliding receptor being slidable along a direction parallel to a depth direction of the at least one of the first finger portion and the second finger portion; a biasing member that biases the sliding receptor towards a distal end of the at least one of the first finger portion and the second finger portion; a pressing portion; and a pressing portion reciprocating mechanism that reciprocates the pressing portion along the direction parallel to the depth direction of the first finger portion; wherein the first finger portion or the second finger portion is insertable into the slit, and the sliding receptor abuts the support member while the first finger portion or the second finger portion is inserted into the slit. 2. The robot hand according to claim 1, wherein the sliding receptor is behind or level with the distal end of the at least one of the first finger portion and the second finger portion, and the biasing member is contractable towards a proximal end of the at least one of the first finger portion and the second finger portion. 3. A conveying device comprising: a robot hand having a first finger portion, a second finger portion provided to be opposite to the first finger portion, a finger portion moving mechanism that moves at least one of the first finger portion and the second finger portion along an opposite direction of the first finger portion and the second finger portion, a pressing portion, and a pressing portion reciprocating mechanism that reciprocates the pressing portion along a direction parallel to a depth direction of the first Date recue/date received 2021-10-27 finger portion; an arm connected to the robot hand; and a controller that controls operation of the finger portion moving mechanism and the pressing portion reciprocating mechanism of the robot hand and operation of the arm, and wherein the controller controls the finger portion moving mechanism to separate the first finger portion and the second finger portion from each other while controlling the pressing portion reciprocating mechanism to push the pressing portion forward, and then controls the arm to move the robot hand backward. 4. A conveying device comprising: a robot hand having a first finger portion, a second finger portion provided to be opposite to the first finger portion, a finger portion moving mechanism that moves at least one of the first finger portion and the second finger portion along an opposite direction of the first finger portion and the second finger portion, a pressing portion, and a pressing portion reciprocating mechanism that reciprocates the pressing portion along a direction parallel to a depth direction of the first finger portion; an arm connected to the robot hand; and a controller that controls operation of the finger portion moving mechanism and the pressing portion reciprocating mechanism of the robot hand and operation of the arm, and wherein the controller controls the finger portion moving mechanism to separate the first finger portion and the second finger portion from each other, and then controls the pressing portion reciprocating mechanism to push the pressing portion forward, and controls the arm to move the robot hand backward. Date recue/date received 2021-10-27 FIG. 4 **I 11111110001Ato Rs lb klto MT 240                    Rt411 Date recue/date received 2021-10-27 FIG. 5 *11.11                                             orly 04Ik 300                                          Oak 310 100 *0, 110L-)                                                              00:1 P\      -.A  ..      MT _______________ 320               = I 0:17                                      140 Date recue/date received 2021-10-27 FIG. 6 (10 :III 100 414P4S,41:7 4.  401 }11 4                           µ,"- =  -41*                        i=        , ,t, 0        _ , tit 0 = ,...---Date recue/date received 2021-10-27 FIG. 7 200                                                       iigi. 414441111111e.  t,=_-, 4111h, =   v 24                             olo-......110160 ...,.. 0.:   Date recue/date received 2021-10-27 CA 3,087,626 Marked up document showing changes to the claims Our Ref. P180078CA1. A robot hand for conveying a bundle of bills supported by a support member from a bill container having the support member formed with a slit, the robot hand comprising: a first finger portion; a second finger portion provided to be opposite to the first finger portion; a finger portion moving mechanism that moves at least one of the first finger portion and the second finger portion along an opposite direction of the first finger portion and the second finger portion; a sliding receptor disposed adjacent to at least one side of at least one of the first finger portion and the second finger portion, the sliding receptor being slidable along a direction parallel to a depth direction of the at least one of the first finger portion and the second finger portion;  a biasing member that biases the sliding receptor towards a distal end of the at least one of the first finger portion and the second finger portion;  a pressing portion; and a pressing portion reciprocating mechanism that reciprocates the pressing portion along theft direction parallel to a-the depth direction of the first finger portioni wherein the first finger portion or the second finger portion is insertable into the slit, and the sliding receptor abuts the support member while the first finger portion or the second finger portion is inserted into the slit. 2. The robot hand according to claim 1, wherein the pressing portion and the pressing portion reciprocating mechanism arc disposed in a side opposite to a facing side in which a finger portion of at least one of the first finger por ion and the second finger portion faces the other finger portionsliding receptor is behind or level with the distal end of the at least one of the first finger portion and the second finger portion, and the biasing member is contractable towards a proximal end of the at least one of the first finger portion and the second finger portion. 3. A conveying device comprising:   Date recue/date received 2021-10-27 CA 3,087,626 Marked up document showing changes to the claims Our Ref. P180078CA the robot hand according to claim 1 or 2;a robot hand having a first finger portion, a second finger portion provided to be opposite to the first finger portion, a finger portion moving mechanism that moves at least one of the first finger portion and the second finger portion along an opposite direction of the first finger portion and the second finger portion, a pressing portion, and a pressing portion reciprocating mechanism that reciprocates the pressing portion along a direction parallel to a depth direction of the first finger portion;  an arm connected to the robot hand; and a controller that controls operation of the finger portion moving mechanism and the pressing portion reciprocating mechanism of the robot hand and operation of the arm, and wherein the controller controls the finger portion moving mechanism to separate the first finger portion and the second finger portion from each other while controlling the pressing portion reciprocating mechanism to push the pressing portion forward, and then controls the arm to move the robot hand backward. 4. A conveying device comprising: the robot hand according to claim 1 or 2;a robot hand having a first finger portion, a second finger portion provided to be opposite to the first finger portion, a finger portion moving mechanism that moves at least one of the first finger portion and the second finger portion along an opposite direction of the first finger portion and the second finger portion, a pressing portion, and a pressing portion reciprocating mechanism that reciprocates the pressing portion along a direction parallel to a depth direction of the first finger portion;  an arm connected to the robot hand; and a controller that controls operation of the finger portion moving mechanism and the pressing portion reciprocating mechanism of the robot hand and operation of the arm, and wherein the controller controls the finger portion moving mechanism to separate the first finger portion and the second finger portion from each other, and then controls the pressing portion reciprocating mechanism to push the pressing portion forward, and controls the arm to move the robot hand backward.   Date recue/date received 2021-10-27