ROBOT HAND FOR HANDLING CARGO

摘要

PROBLEM TO BE SOLVED: To perform efficient grasping of a cargo by a simple device and to perform grasping even when displacement in a position of a cargo occurs. SOLUTION: This robot hand comprises a device body 2 with which a robot arm is rotatably provided; a grasping device 1 situated at the device body 2 and mounting and demounting a cargo 6; and a detecting means 7 mounted on the device body 2 at the side of the grasping device 1 and detecting the upper surface of the cargo 6. The detecting means 7 comprises a first sensor device 10 having an inside sensor 8 near the grasping device 1 and an outside sensor 9 spaced away from the grasping device 1: and a second sensor device 13 having the same constitution as that of the first sensor device 10 and situated in a direction in a 90 deg. arc based on the first sensor device 10. Both the inside sensors 8 and 11 of the two sensor devices 10 and 13 detect the cargo 6 and when both the outside sensors 9 and 12 of the two sensor devices 10 and 13 do not detect the cargo 6, grasping is practicable and the cargo 6 is grasped by the grasping device 1.