Patent ID: 7118147

Claim:
A robot hand mounted on a robot for handling a workpiece, said robot comprising: a base member; a first claw mechanism; and a second claw mechanism, said first claw mechanism comprising: at least one first grasping claw; a first support means for movably supporting said first grasping claw; and an actuator for moving said first grasping claw relative to said base member, said second claw mechanism comprising: at least one second grasping claw; a braking means adapted to be in a release state or an operating state; and a second support means for allowing an external force applied to said second grasping claw to move said second grasping claw with respect to said base member and change a relative position thereof relative to said base member when said braking means is in the release state, while supporting said second grasping claw to hold the relative position when the braking means is in the operating state, said external force being applied to said second grasping claw by operating said robot to move said base member with said second grasping claw in contact with a contact member which is arranged at a predetermined position in an operational range of said robot having said hand mounted thereon; wherein at least one of said first grasping claw and said second grasping claw is configured to be replaceably mounted on one of said first support means and said second support means; and wherein an engaging portion is formed in a rear portion of said replaceable grasping claw, and wherein a retaining mechanism capable of engaging and disengaging said engaging portion with or from said support means of each grasping claw is disposed on said support means of each grasping claw.