ROBOT HAND FOR GRIPPING CYLINDRICAL OBJECT AND ROBOT HAVING THE ROBOT HAND

摘要

An inexpensive and compact robot hand and a robot having the robot hand, wherein the robot hand is configured to rotate a cylindrical object gripped by the robot hand and does not negatively affect a cable, etc., connected to the robot hand. N number of fingers are moved by a first drive part so that a circumcircle of a N-sided polygon constituted by the fingers is arranged in a concentric pattern about the center axis of the object. Each first roller is rotatable about an axis parallel to the center axis of the object, and is configured to contact the inner peripheral portion of the object by movement of the finger relative to a hand base. By rotationally driving at least one first roller while a radially outward force is applied to the object, the object may be rotated relative to the hand base.

主权项

1. A robot hand configured to grip an inner or outer peripheral portion of a cylindrical object and rotate the object about a center axis of the object while gripping the object, the robot hand comprising:
a hand base attached to a front end of a robot arm; N number of fingers movably attached to the hand base, wherein each finger extends parallel to the center axis of the object gripped by the fingers and is positioned at each vertex of a N-sided polygon in a plane perpendicular to the center axis; a first drive part which moves the N number of fingers relative to the hand base so that a circumcircle of the N-sided polygon is arranged in a concentric pattern about the center axis; N number of first rollers respectively attached to the N number of fingers, wherein each first roller is rotatable about an axis parallel to the center axis and is configured to contact the inner or outer peripheral portion of the object by movement of the finger relative to the hand base; and a second drive part which rotates at least one of the N number of first rollers, wherein N is a natural number of three or more.