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Robot hand and robot

A robot hand and robot arm technology, applied in the field of robotics, can solve the problems of time-consuming and unsatisfactory workability when changing production, and achieve the effect of easy production changing and adjustment.

Inactive Publication Date: 2013-03-27
YASKAWA DENKI KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, it takes a lot of time to change production a

Method used

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  • Robot hand and robot
  • Robot hand and robot
  • Robot hand and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0024] Hereinafter, one embodiment will be described with reference to the drawings.

[0025] like figure 1 As shown, the robot 1 of the present embodiment is an articulated robot that transports a thin-plate-shaped liquid crystal glass substrate W (object) stored in a cassette (not shown) to a predetermined area. The robot 1 has: a walking trolley 2 capable of walking in a predetermined direction; a fixed base portion 3 mounted on the walking trolley 2; a lifting arm 4; a horizontal base portion 5; and a symmetrical structure with the horizontal base portion 5 Connected left arm 6L and right arm 6R. In addition, the traveling trolley 2 is not necessarily required, and the robot may be fixed on a stand or the like.

[0026] The lifting arm 4 has: the first lifting link 4a whose end is connected to the fixed base part 3; and the second lifting link 4b whose end is connected to the horizontal base part 5. The second elevating link 4b rotates around the second rotating shaft 8...

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PUM

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Abstract

The invention provides a robot hand and a robot, which are easy to replace and adjust. Each of a left hand (9L) and a right hand (9R) that are arranged on a left arm (6L) and a right arm (6R) comprises three forks (12), capable of carrying a liquid crystal glass substrate (W); a pair of fixing components (15), which are disposed separately in the long-side direction of the forks (12); and a pair of guiding components (13), which are configured between the pair of fixing components (15) to limit the movement of the liquid crystal glass substrate (W) on the forks (12) in the long-side direction. At least one of the pair of guiding components (13) is configured selectively at multiple positions in the long-side direction of the forks (12).

Description

technical field [0001] Embodiments disclosed in the present invention relate to a robot hand for conveying an object and a robot having the robot hand. Background technique [0002] Conventionally, a robot hand for transporting an object is known (for example, refer to Patent Document 1). This conventional robot hand (substrate transfer hand) is attached to a hand attachment portion of a robot (automatic transfer device) via a hand attachment plate. Furthermore, this robot hand has an arm disposed outside the peripheral portion of the object (substrate), and a substrate gripping portion attached to the arm to grip the peripheral portion of the object. [0003] The substrate gripping member of the substrate gripping unit is composed of a guide member (grip base material), a guide that moves and guides the guide member, and support pins that support the back surface of the object. The guide member is movable in the longitudinal direction of the arm along the guide fixed to t...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J15/00B65G49/06
CPCB25J9/02B25J15/0014B65G49/061Y10S294/901
Inventor 今里康宏
Owner YASKAWA DENKI KK