Patent ID: 8043042

Claim:
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: a grasping part structured to contact and grasp the transfer object; and a biasing member structured to bias the grasping part in a direction for grasping the transfer object; and the robot hand supporting arm comprises: a member fixed to the robot hand supporting arm at a position being remote from a turning center of the robot hand in relation to the hand supporting arm, the member contacting the grasping part so as to evacuate the grasping part from the transfer object before starting operation of taking out the transfer object from the storage section; wherein the member moves in comparison with the grasping part according to the expanding/folding motion of the multi-joint arm section for taking out the transfer object from the storage section so as to have the grasping part move in a direction for grasping the transfer object; and 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.