WO2022102143A1

WO2022102143A1 - Robot hand

Info

Publication number: WO2022102143A1
Application number: PCT/JP2021/008079
Authority: WO
Inventors: 剛也藤田; 有加山田; 隆行駒谷; 寿幸中村
Original assignee: オムロン株式会社
Priority date: 2020-11-10
Filing date: 2021-03-03
Publication date: 2022-05-19
Also published as: JP2022076937A

Abstract

A robot hand that can grasp objects of different shapes using the same structure is achieved. A robot hand (1) comprises a restraining part (21) that can at least move in a Z direction, which is from the robot hand (1) toward a component (4), and an X direction, which is perpendicular to the Z direction.

Description

Robot hand

The present invention relates to a robot hand used for transporting and assembling parts.

Conventionally, robots with robot hands have been widely used in order to automatically produce some products in factories. The robot uses a robot hand to grasp a part to be incorporated in a product, transport it to a designated place, or incorporate it into another part. As an example of such a robot hand, in Patent Document 1, in a robot hand that performs an operation of gripping an object between a plurality of fingers provided so as to be able to change the distance between each other, between the plurality of fingers. Discloses a robot hand characterized in that a palm portion that can move along a direction connecting the root side of the plurality of fingers and the tip end side of the plurality of fingers is provided.

Japanese Patent Publication "Japanese Patent Laid-Open No. 2012-139808"

The conventional robot hand needs a structure to assist the maintenance of the posture of the parts when transporting the parts and to receive the reaction force received by the parts when assembling the parts. Such a structure is called a holding portion. In the robot hand of Patent Document 1, the palm portion corresponds to the holding portion. Since there are various shapes of parts, it is necessary to prepare a dedicated holding part according to the shape of the target part for the holding part used for transporting or assembling the part. Therefore, as many robot hands as there are types of parts are required. This causes a problem that the design cost, the material cost, and the assembly cost of various robot hands become high.

Furthermore, since the number of robots to which the robot hand is attached increases, there is a problem that the cost and space also increase. In order to save the number of systems, it is possible to devise a device that appropriately switches the robot hand used at a certain point in time, that is, a so-called tool changer. However, when such a device is used, a certain switching time is generated every time the robot hand is switched, so that there is a problem that the production speed of the finished product is lowered.

One aspect of the present invention is to realize a robot hand that can grip objects having different shapes by a common structure.

In order to solve the above-mentioned problems, the robot hand according to one aspect of the present invention is a robot hand that grips an object, and includes a plurality of gripping portions that grip the object, the robot hand, and the object. It is provided with at least one holding portion that is movable at least in a first direction connecting the above and a second direction orthogonal to the first direction and that holds the object held by the plurality of grip portions. There is.

According to one aspect of the present invention, it is possible to realize a robot hand that can grip objects having different shapes by a common structure.

It is a figure which shows the structure of the robot which concerns on one Embodiment of this invention. It is a figure which shows the structure of a robot hand. It is a figure explaining the mechanism for moving a holding part in different directions. It is a figure which shows the gripping of a part by a robot hand. It is a figure which shows the gripping of a part by a robot hand. It is a figure which shows the gripping of a part by a robot hand. It is a figure which shows the example which uses the holding part of a robot hand as a work rod. It is a figure which shows the gripping of a cable by a robot hand. It is a figure explaining the mechanism for moving a holding part in different directions. It is a figure which shows the structure of the robot hand which concerns on Embodiment 2 of this invention.

[Embodiment 1]
Hereinafter, an embodiment according to one aspect of the present invention (hereinafter, also referred to as “the present embodiment”) will be described with reference to the drawings.

§1 Application example An example of a situation in which the present invention is applied will be described with reference to FIG. The robot hand according to the present embodiment is realized as the robot hand 1 shown in FIG.

As shown in FIG. 2, the robot hand 1 includes

grip portions

11 and 12, and holding

portions

21 and 22. The

gripping portions

11 and 12 are used to grip the component 4 as an example of the object gripped by the robot hand 1 from the side surface thereof. The

pressing portions

21 and 22 are used to press the component 4 when gripping the component 4. Since the component 4 is pressed by the

pressing portions

21 and 22 when the component 4 is gripped, the robot hand 1 can stably grip the component 4.

The

pressing portions

21 and 22 can move in the Z direction (first direction) connecting the robot hand 1 and the component 4. The Z direction is, for example, a direction perpendicular to the surface of the component 4 facing the robot hand 1 from the robot hand 1. The

pressing portions

21 and 22 can further move in the X direction (second direction) orthogonal to the Z direction and in the Y direction (third direction) orthogonal to both the Z direction and the X direction. As a result, the robot hand 1 can freely move the

pressing portions

21 and 22 to a desired position facing the component 4, so that the

pressing portions

21 and 22 are brought into contact with the appropriate positions on the component 4. Can be done. Therefore, the

pressing portions

21 and 22 can be brought into contact with each component 4 at an appropriate contact position according to its shape. Therefore, the robot hand 1 can individually grip a plurality of parts 4 having different shapes by a common structure.

§2 Configuration example (configuration of robot hand 1)
FIG. 1 is a diagram showing a configuration of a robot 100 according to an embodiment of the present invention. The robot 100 may be an assembly device mainly used for automatic assembly of products in a factory. In the example of FIG. 1, the robot 100 includes a robot body 101, a robot arm 102, and a robot hand 1. One end of the robot arm 102 is connected to a predetermined position of the robot body 101. A robot hand 1 is provided at the other end (tip) of the robot arm 102. The robot 100 grips various parts by using the robot hand 1, transports the gripped parts to a predetermined position, and assembles a product using the gripped parts.

FIG. 2 is a diagram showing the configuration of the robot hand 1. As shown in this figure, the robot hand 1 includes a hand body 10, a grip portion 11, a grip portion 12, a holding portion 21, and a holding portion 22. The

grip portions

11 and 12 and the

pressing portions

21 and 22 are both provided on the surface of the robot hand 1. The surface referred to here means the surface of the robot hand 1 facing the component when the robot hand 1 grips the component 4. The surface does not necessarily have to be flat.

The gripping

portions

11 and 12 constitute a plurality of gripping portions that grip the parts in the robot hand 1. The

grips

11 and 12 are also referred to as mechanical chucks. The

grip portions

11 and 12 have an elongated structure having a long axis parallel to the perpendicular direction (hereinafter, Z direction) of the surface of the robot hand 1. Further, the

grip portions

11 and 12 can freely move in a direction orthogonal to the stretching direction of the

grip portions

11 and 12. Although not particularly shown in FIG. 2, the connection points with the

grip portions

11 and 12 in the robot hand 1 are provided with a function for allowing the

grip portions

11 and 12 to move in the surface direction of the surface of the robot hand 1. ing. The robot hand 1 grips the component 4 by sandwiching the side surface of the component 4 between the

grip portions

11 and 12.

The

pressing portions

21 and 22 are portions that press the parts by pressure in the robot hand 1. Similar to the

grip portions

11 and 12, the

pressing portions

21 and 22 have a structure that extends away from the robot hand 1 along the perpendicular direction of the surface of the robot hand 1. The

pressing portions

21 and 22 are further movable back and forth in the Z direction. That is, the

pressing portions

21 and 22 can move in either the direction of approaching the component or the direction of moving away from the component.

The

pressing portions

21 and 22 can also move in two different directions (hereinafter, X direction and Y direction) in a plane orthogonal to the Z direction. In the figure, the X and Y directions are orthogonal to each other. The X and Y directions are also directions parallel to the plane direction of the hand body 10.

The

pressing portions

21 and 22 have a role of assisting the posture of the parts being conveyed when the parts gripped by the robot hand 1 are conveyed. The

pressing portions

21 and 22 also have a role of receiving a reaction force applied to the component 4 from the other component when the component 4 is attached to the other component in the product.

FIG. 3 is a diagram illustrating a mechanism for moving the pressing portion 21 in each of the three different directions. FIG. 1010 of FIG. 3 shows the robot hand 1 in a state where the tip of the holding portion 21 or the like is directed toward the upper side in the drawing. 1020 of FIG. 3 shows the detailed structure of the robot hand 1 shown in 1010 of FIG. As shown in this figure, the robot hand 1 further includes a linear guide 31, a timing belt 32, a linear guide 33, a timing belt 34, and a ball screw mechanism 35.

The linear guide 31 and the timing belt 32 are mechanisms for moving the holding portion 21 in the X direction, the linear guide 33 and the timing belt 34 are mechanisms for moving the holding portion 21 in the Y direction, and the ball screw mechanism 35 is the holding portion 21. Is a mechanism for moving the screw in the Z direction. The robot hand 1 moves the pressing portion 21 in the X direction by moving the pressing portion 21 along the linear guide 31 using the timing belt 32. Further, by moving the pressing portion 21 along the linear guide 33 using the timing belt 34, the pressing portion 21 is moved in the Y direction. Further, the holding portion 21 is moved in the Z direction by moving the holding portion 21 along a third linear guide (not shown) using the ball screw mechanism 35.

Although not shown in FIG. 3, the robot hand 1 also has a mechanism for moving the holding portion 22 in three different directions. These mechanisms are similar to the linear guide 31, timing belt 32, linear guide 33, timing belt 34, and ball screw mechanism 35.

(Gripping of part 4)
FIG. 4 is a diagram showing gripping of the component 4 by the robot hand 1. In the example of this figure, the robot 100 uses the robot hand 1 to grip the component 4. The component 4 is one of the components constituting the product (not shown) produced by the robot 100. The component 4 has

surfaces

41 and 42 arranged in the same plane. In component 4, the

surfaces

41 and 42 are located at the same height.

First, the robot 100 grips the component 4 from the side surface using the

grip portions

11 and 12 with the surface 41 and the surface 42 of the component 4 facing the hand body 10. Further, the

pressing portions

21 and 22 are brought into contact with the component 4 by moving them in the X direction, the Y direction, and the Z direction. In the robot 100, for example, the movement amounts of the holding portion 21 in the X direction, the Y direction, and the Z direction when the robot hand 1 grips the component 4 are set in advance. These movement amounts are predetermined values according to the shape of the component 4. The robot 100 moves the pressing portion 21 by a preset amount of movement in each direction to bring the pressing portion 21 into contact with a predetermined position in the component 4. The same applies to the amount of movement of the holding portion 22.

In the example of FIG. 4, the pressing portion 21 is brought into contact with the surface 41 of the component 4, so that the pressing portion 21 presses (up) the component 4 from above. Further, by bringing the pressing portion 22 into contact with the surface 42 of the component 4, another portion of the component 4 is pressed (upper pressed) by the pressing portion 22 from above. This completes the gripping of the component 4. The robot 100 transports the component 4 gripped in this way to a designated place or uses it for assembling a product.

(Gripping part 4A)
FIG. 5 is a diagram showing gripping of the component 4A by the robot hand 1. In the example of this figure, the robot 100 uses the robot hand 1 to hold a part 4A having a shape different from that of the part 4. The component 4A has a surface 41 and a surface 42 similar to the component 4. However, the surface 42 of the component 4A is at a higher position than the surface 41. That is, when the component 4A is gripped by the robot hand 1, the surface 42 is closer to the robot hand 1 than the surface 41. Further, the width of the portion having the surface 42 in the component 4A is larger than the width of the portion having the surface 41 in the robot hand 1.

First, the robot 100 grips the component 4A from the side surface using the

grip portions

11 and 12 with the surface 41 and the surface 42 of the component 4A facing the hand body 10. Next, by moving the pressing portion 21 in the X direction and the Y direction, the pressing portion 21 is arranged at a desired position facing the surface 41. After that, by moving the pressing portion 21 in the Z direction, the pressing portion 21 is brought into contact with the surface 41 of the component 4A. The robot 100 further moves the pressing portion 22 appropriately in the X direction and the Y direction to arrange the pressing portion 22 at a desired position facing the surface 42. After that, by moving the pressing portion 22 in the Z direction, the pressing portion 22 is brought into contact with the surface 42 of the component 4A. This contact position is different from the contact position of the holding portion 22 when the robot hand 1 grips the component 4. That is, when the robot hand 1 grips the component 4A, the pressing portion 22 is brought into contact with the appropriate contact position according to the shape of the component 4A.

(Role of holding part 21)
FIG. 6 is a diagram showing gripping of the component 4A by the robot hand 1. When the robot hand 1 grips the component 4A, the rotation moment center 51 of the component 4A is generated at a position where the grip portion 11 comes into contact with the component 4A. Further, when the component 4A is transported, an inertial force 52 is generated in the component 4A due to the acceleration or deceleration of the transport. Further, when the component 4A is attached to the component 5, the component 4A receives a reaction force 53 from the component 5 in contact with the component 4A. Due to these inertial force 52 and reaction force 53, a rotational force centered on the rotational moment center 51 acts on the component 4A. Therefore, if no other force acts on the part 4A, the part 4A will rotate at the time of assembling, and there is a possibility that the part 4A cannot be assembled stably.

Therefore, the robot hand 1 applies a force 54 acting in the direction opposite to the reaction force 53 to the component 4A by pressing the component 4A by the pressing portion 22. Since the reaction force 53 can be canceled by this force 54, the rotation of the component 4A at the time of assembling the component 4A can be prevented. As a result, the assembly of the component 4A can be stabilized. Although the description is omitted, the pressing portion 21 can also apply a force for stabilizing the posture of the component 4A to the component 4A, similar to the force 54 by the pressing portion 22.

As shown in FIG. 6, the robot hand 1 needs to bring the pressing portion 22 into contact with the position where the force 54 acting in the direction of canceling the rotational moment acting on the component 4A can be applied to the component 4A. The position depends on the shape of the component 4A. The robot 100 appropriately moves the holding portion 22 in the X and Y directions orthogonal to the Z direction so that the holding portion 22 in the component 4A is brought into contact with the holding portion 22 at an appropriate position according to the shape of the component 4A. can do. The same applies to the holding portion 21.

(Main action effect)
Since the robot 100 according to the present embodiment can move the holding

portions

21 and 22 in any of the Z direction, the X direction, and the Y direction, the parts 4 and 4A having different shapes can be moved by one robot hand 1. Can be accommodated. That is, the robot 100 can individually convey and assemble parts 4 and 4A having different shapes by using a common robot hand 1. As a result, the user of the robot hand 1 does not need to manufacture a dedicated robot hand 1 for each part to be assembled. Therefore, a robot hand other than the robot hand 1 according to the present embodiment becomes unnecessary, and further, peripheral equipment (such as another robot) on which the other robot hand is mounted becomes unnecessary. As a result, the equipment cost required for the factory using the robot hand 1 can be reduced, and the space inside the factory can be saved. Further, unlike the conventional technique using a tool changer, it is not necessary to replace the robot hand 1 with another robot hand 1, so that the cost of the robot hand 1 can be reduced and the production capacity of the product can be improved.

The robot hand 1 is a general-purpose and shared robot hand 1 that supports parts of various shapes including parts 4 and 4A. Therefore, the production process for automatically assembling various small-quantity products by the robot 100 can be integrated into the robot 100 having a common robot hand 1. That is, it is possible to realize a robot 100 capable of mixed production of different products. As a result, the profitability of the investment funds required for introducing the robot 100 into the factory can be ensured.

(Utilization of the holding part 21 as a work rod)
FIG. 7 is a diagram showing an example in which the holding portion 21 of the robot hand 1 is used as a work rod. In this example, the robot 100 attaches the component 6 to the component 7 constituting the product by using the robot hand 1. The component 7 is formed with an insertion hole 71 extending inward from the surface of the component 7. The robot 100 attaches the component 6 to the component 7 by inserting the component 6 into the insertion hole 71 of the component 7 by using the holding portion 21 of the robot hand 1.

The specific installation procedure is explained below. First, as shown in 1110 of FIG. 7, the robot 100 first holds the robot hand 1 holding the component 6 with which the pressing portion 21 is in contact, so that the component 6 faces the insertion hole 71 of the component 7. Get closer to the surface of. Next, as shown in 1120 of FIG. 7, a part of the component 6 is inserted into the insertion hole 71 by bringing the robot hand 1 closer to the component 7. Finally, as shown in 1130 of FIG. 7, by moving the pressing portion 21 in the Z direction (direction toward the component 7), the component 6 in contact with the pressing portion 21 is moved toward the back of the insertion hole 71. Push in. As a result, the component 6 is completely inserted into the component 7, and the component 6 is attached to the component 7.

In the example of FIG. 7, the pressing portion 21 is used not only for pressing the pressing portion 21 during the mounting work of the pressing portion 21, but also for pushing the component 6 into the component 7. Therefore, the robot 100 can also utilize the holding portion 21 of the robot hand 1 as a work rod (tweezers) for assembly adjustment. Although not shown in particular, the holding portion 22 can also be used as a work rod. The robot 100 may utilize the pressing portion 22 as a work rod instead of the pressing portion 21 or together with the pressing portion 21.

(Gripping of cable 8)
FIG. 8 is a diagram showing gripping of the cable 8 by the robot hand 1. In this example, the robot 100 uses the robot hand 1 to grip the cable 8, which is an example of a component of a product. The robot 100 uses the holding

portions

21 and 22 of the robot hand 1 not for holding the cable 8 but for additionally holding the cable 8.

As shown in FIG. 8, the robot 100 grips the cable 8 by sandwiching the cable 8 on the side surface of the cable 8 by using the

grip portions

11 and 12. The robot 100 further grips the cable 8 by using the holding

portions

21 and 22 so as to sandwich the cable 8 from another side surface different from the gripping position of the cable 8 by the

grip portions

11 and 12. In this way, the robot 100 grips the cable 8 by the

grip portions

11 and 12, and also grips the cable 8 by the holding

portions

21 and 22. As a result, the gripping portion 11 can be strongly gripped with a high gripping force obtained by adding the gripping force of the

gripping portions

11 and 12 and the gripping force of the holding

portions

21 and 22. Therefore, even a part such as a cable 8 which is difficult to be stably gripped by only the

gripping portions

11 and 12 and which is difficult to be gripped by the

pressing portion

21 or 22 can be stably gripped.

(Two-way moving mechanism of holding portions 21 and 22)
FIG. 9 is a diagram illustrating a mechanism for moving the holding portion 21 in two different directions. FIG. 1210 of FIG. 9 shows a detailed structure of the robot hand 1 as viewed from a certain angle. 1220 of FIG. 9 shows the detailed structure of the robot hand 1 when viewed from another angle. The robot hand 1 shown in FIG. 9 further includes a linear guide 81, a lever mechanism 82, and a ball screw mechanism 83.

In the example of FIG. 9, the robot hand 1 can move the

pressing portions

21 and 22 in two directions, the X direction and the Z direction. The linear guide 81 and the lever mechanism 82 are mechanisms for moving the pressing portion 21 in the X direction, and the ball screw mechanism 83 is a mechanism for moving the pressing portion 21 in the Z direction. The robot hand 1 moves the pressing portion 21 in the X direction by moving the pressing portion 21 along the linear guide 81 by using the lever mechanism 82. Further, the holding portion 21 is moved in the Z direction by moving the holding portion 21 along the second linear guide (not shown) using the ball screw mechanism 83. Since the robot hand 1 does not have a mechanism for moving the holding portion 21 in the Y direction, the holding portion 21 cannot be moved in the Y direction.

Although details are omitted, the robot hand 1 in FIG. 9 also has a mechanism for moving the holding portion 22 in two different directions. These mechanisms are similar to the linear guide 81, the lever mechanism 82, and the ball screw mechanism 83.

[Embodiment 2]
§2 Configuration example FIG. 10 is a diagram showing the configuration of the robot hand 1A according to the second embodiment of the present invention. As shown in this figure, the robot hand 1A according to the present embodiment similarly includes each member provided in the robot hand 1 of the first embodiment. In addition to these, the robot hand 1A further includes a suction nozzle 91 (suction portion). The suction nozzle 91 is also called a vacuum chuck. The robot hand 1A of the present embodiment is mainly used for gripping a low-rigidity thin plate 9. The thin plate 9 is a thin-shaped component made of a low-rigidity material. Even if the thin plate 9 is gripped from the side surface by the

grip portions

11 and 12 of the robot hand 1A, the thin plate 9 is easily bent, so that it is difficult to stably grip the thin plate 9. Therefore, the robot 100 including the robot hand 1A of the present embodiment grips the thin plate 9 by using the suction nozzle 91 of the robot hand 1A.

1320 of FIG. 10 shows a cross section of a suction nozzle 91 provided in the robot hand 1A according to the second embodiment of the present invention. The suction nozzle 91 is an example of an elongated member, and a cavity 92 penetrating the stretching direction of the suction nozzle 91 is formed inside the suction nozzle 91. The robot 100 sucks air from the cavity 92 of the suction nozzle 91 by using a suction machine (not shown) connected to the suction nozzle 91. As a result, the thin plate 9 can be attracted to the tip of the suction nozzle 91.

In the example of FIG. 10, the suction nozzle 91 is arranged at a substantially center position on the surface of the hand body 10 in the robot hand 1A. When the robot 100 tries to grip the thin plate 9 by the robot hand 1A, the robot 100 brings the tip of the suction nozzle 91 into contact with the surface of the thin plate 9. Then, air is sucked from the cavity 92 of the suction nozzle 91 to form a vacuum in the cavity 92, so that the thin plate 9 is attracted to the tip of the suction nozzle 91. Further, by appropriately moving the

pressing portions

21 and 22 in three different directions, the

pressing portions

21 and 22 are brought into contact with the surface of the thin plate 9, respectively. As described above, the robot hand 1 can stably grip the thin plate 9 by using the robot hand 1A by the suction force of the suction nozzle 91 and the pressing force of the

pressing portions

21 and 22. Therefore, even a thin plate 9 that is difficult to grip in the

grip portions

11 and 12 can be transported to a designated place or used for assembling a product.

[Modification example]
The robot hand 1 may be configured to include only the pressing portion 21 or only the pressing portion 22 instead of both the

pressing portions

21 and 22. That is, the robot hand 1 may include at least one holding portion corresponding to the holding

portion

21 or 22. Therefore, the robot hand 1 may be provided with three or more different pressing portions. If the number of pressing portions is two or more, different locations of the component 4 can be pressed, so that the robot hand 1 can grip the component 4 more stably.

In the example of FIG. 2, the robot hand 1 holds the component 4 in a state where the component 4 is arranged below the robot hand 1. However, it should be noted that FIG. 2 merely illustrates an example of the relative positional relationship between the robot hand 1 and the component 4 gripped by the robot hand 1. The robot 100 can also grip the component 4 in a state where the component 4 is arranged at an arbitrary position away from the robot hand 1. For example, the robot hand 1 can also grip the component 4 arranged above the robot hand 1 with the grip portion 11, the holding portion 21, and the like facing upward of the robot hand 1.

The robot hand 1 may include a mechanism for detecting the contact of the pressing portion 21 with the component 4. In this example, when the robot hand 1 detects that the pressing portion 21 has come into contact with the component 4, the robot hand 1 stops the movement of the pressing portion 21 along the Z direction. As a result, the holding portion 21 can be brought into contact with the component 4 at an appropriate position. Further, it is not necessary to set in advance the amount of movement of the pressing portion 21 in the Z direction according to the shape of the component 4 in the robot 100.

〔summary〕
The robot hand according to one aspect of the present invention is a robot hand that grips an object, and has a plurality of gripping portions that grip the object, a first direction connecting the robot hand and the object, and the above. It is provided with at least one holding portion that is movable at least in a second direction orthogonal to the first direction and that holds the object gripped by the plurality of grip portions.

According to the above configuration, the robot hand can move the holding portion in the first direction toward the object and also in the second direction orthogonal to the first direction. Therefore, the contact position of the pressing portion in the object can be appropriately changed by appropriately moving the pressing portion in the second direction before moving the pressing portion in the first direction to bring it into contact with the object. As a result, the holding portion can be brought into contact with an appropriate position according to the shape of the object, so that a plurality of objects having different shapes can be stably and individually gripped by a common structure.

In one embodiment, the holding portion is further movable in a third direction orthogonal to both the first direction and the second direction.

According to the above configuration, since the holding portion can be moved three-dimensionally, the range of positions where the holding portion is brought into contact with the object can be further expanded. Therefore, the shape of the object supported by the robot hand can be expanded to a wider range.

In one embodiment, the robot hand includes a plurality of different holding portions.

According to the above configuration, since the holding portion can be brought into contact with a plurality of different positions on the object, the object can be gripped more stably.

In one embodiment, the robot hand grips the object by the plurality of gripping portions and the plurality of holding portions.

According to the above configuration, the object can be gripped from four different directions, so that the object can be gripped more stably.

In one embodiment, the robot hand further includes a suction portion for sucking the object.

According to the above configuration, since the object can be adsorbed to the suction portion, even an object (for example, a thin plate) that is difficult to grip with a plurality of grip portions can be stably gripped.

In one embodiment, the robot hand further moves the holding portion in the first direction while the holding portion is in contact with the object.

According to the above configuration, the holding portion can be used as a work rod for pushing an object into the hole, for example.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention.

1,

1A Robot hand

4, 4A, 5, 6, 7 Parts 8 Cable 9 Thin plate 10 Hand body 11

Grip

31, 32, 81

Linear guide

33, 82

Mechanism

41, 42 Surface 51 Rotational moment center 52 Inertial force 53 Reaction force 71 Insertion hole 91 Suction nozzle 92 Cavity 100 Robot 101 Robot body 102 Robot arm

Claims

A robot hand that grips an object
A plurality of gripping portions for gripping the object,
At least one that is movable at least in a first direction connecting the robot hand and the object and a second direction orthogonal to the first direction, and that holds the object held by the plurality of grips. A robot hand equipped with two holding parts.
The robot hand according to claim 1, wherein the holding portion can be further moved in a third direction orthogonal to both the first direction and the second direction.
The robot hand according to claim 1 or 2, further comprising a plurality of different holding portions.
The robot hand according to claim 3, wherein the object is gripped by the plurality of gripping portions and the plurality of holding portions.
The robot hand according to any one of claims 1 to 4, further comprising a suction portion for sucking the object.
The robot hand according to any one of claims 1 to 5, wherein the holding portion is further moved in the first direction while the holding portion is in contact with the object.