US Patent No. 9,079,314

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


Patent No. 9,079,314
Issue Date July 14, 2015
Title Robot Hand For Gripping Cylindrical Object And Robot Having The Robot Hand
Inventorship Ryoji Kitamura, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 9,079,314

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; and
further including:
N number of linear moving parts respectively attached to the N number of fingers and configured to linearly move in the extending
direction of the finger;

a third drive part which linearly drive the linear moving parts relative to the respective fingers;
second rollers attached to the respective linear moving parts so that the second roller is rotatable about an axis along a
radial direction of the circumcircle; and

third rollers arranged on portions of the respective N number of fingers farther than the respective second rollers from the
hand ease in relation to the center axis wherein the third rollers have rotation axes parallel to rotation axes of the respective
second rollers.