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Robot hand, robot, and robot system

A robot hand and robot technology, applied in manipulators, program control manipulators, conveyors, etc., can solve problems such as inability to load workpieces to belt conveyors

Active Publication Date: 2021-10-22
KAWASAKI HEAVY IND LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The robot of Patent Document 1 can load workpieces conveyed by a conveyor etc. on a belt conveyor, but cannot load stationary workpieces such as piled workpieces on a belt conveyor

Method used

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  • Robot hand, robot, and robot system
  • Robot hand, robot, and robot system
  • Robot hand, robot, and robot system

Examples

Experimental program
Comparison scheme
Effect test

Deformed example 1

[0103] A robot hand 120A according to Modification 1 of the embodiment will be described. In the robot hand 120A according to Modification 1, the length of the second conveyor 140A is greater than the length of the first conveyor 130 . Hereinafter, Modification 1 will be described focusing on the points different from the embodiment, and the description of the same points as the embodiment will be appropriately omitted.

[0104] Figure 10 It is a side view showing an example of the structure of a robot hand 120A according to Modification 1. FIG. Such as Figure 10 As shown, the length of the second conveyor 140A of the robot hand 120A in the second conveying direction D3b is greater than the length of the first conveyor 130 in the first conveying direction D2b. In addition, the position of the end portion 140Aa of the second conveyor 140A is the same as the position of the end portion 130a of the first conveyor 130 in the first conveying direction D2a and the second convey...

Deformed example 2

[0107] A robot hand 120B according to Modification 2 of the embodiment will be described. The robot hand 120B according to Modification 2 includes a first moving device 180 that moves the second conveyor 140 in the directions D1a and D1b relative to the first conveyor 130 . Hereinafter, Modification 2 will be described focusing on points different from the embodiment and Modification 1, and descriptions of the same points as the Embodiment and Modification 1 will be appropriately omitted.

[0108] Figure 11 It is a side view showing an example of the structure of a robot hand 120B according to Modification 2. Such as Figure 11 As shown, the robot hand 120B is provided with the first moving device 180 on both sides of the first conveyor 130 and the second conveyor 140 instead of the support parts 161 and 162 of the robot hand 120 according to the embodiment. The first moving device 180 constitutes a lifting device that raises and lowers the second conveyor 140 relative to ...

Deformed example 3

[0120] A robot hand 120C according to Modification 3 of the embodiment will be described. The robot hand 120C according to Modification 3 includes a second moving device 190 that moves the second conveyor 140 in the second conveying directions D3 a and D3 b relative to the first conveyor 130 . Hereinafter, Modification 3 will be described focusing on points different from the embodiment and Modifications 1 to 2, and descriptions of the same points as the embodiment and Modifications 1 to 2 will be appropriately omitted.

[0121] Figure 12 It is a side view showing an example of the structure of a robot hand 120C according to Modification 3. Such as Figure 12 As shown, the robot hand 120C includes the second moving device 190 on at least one of the support parts 161 and 162 of the robot hand 120 according to the embodiment. The second moving device 190 makes the second conveyor 140 slide and move in the second conveying directions D3a and D3b relative to the first conveyor...

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PUM

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Abstract

A robot hand (120; 120A; 120B; 120C) for moving articles comprises: a first conveyor (130) that has an endless first conveyance belt (134) forming a first conveyance surface (134a) for conveying an article, and that drives the first conveyance belt; and a drawing-in device (140; 140A) that makes contact with the article and draws the article in to the first conveyance surface. The drawing-in device protrudes outwards of the first conveyor in at least one direction among the direction opposite to the drawing-in direction of the drawing-in device, and the direction opposite to the movement direction of the first conveyance surface when the article is loaded onto the first conveyance surface.

Description

technical field [0001] The present disclosure relates to robotic hands, robots and robotic systems. Background technique [0002] Conventionally, transfer robots that transfer articles are known. For example, Patent Document 1 discloses an industrial robot equipped with a belt conveyor at the end of the hand. The robot of Patent Document 1 transfers a workpiece transferred by a conveyor such as a production line to a belt conveyor at the end of the hand. After the transfer is completed, the robot moves the belt conveyor to the transfer location, and moves the belt conveyor backward while feeding the workpiece through the belt conveyor, thereby transferring the workpiece. [0003] Patent Document 1: Japanese Patent Laid-Open No. 2002-167045 [0004] The robot of Patent Document 1 can load workpieces conveyed by a conveyor or the like on the belt conveyor, but cannot load stationary workpieces such as piled workpieces on the belt conveyor. Contents of the invention [00...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B65G57/112B65G59/02B65G61/00B25J15/00B25J15/08
CPCB25J3/00B65G61/00B25J15/00B65G59/02B65G57/112B25J15/08B65G15/14B65G21/14B65G23/22B65G43/08B25J9/06B25J19/02B25J13/081B65G2814/0305B65G2814/031B65G2201/02
Inventor 东健太郎石崎敬之吉田将崇冈光信镰田智志
Owner KAWASAKI HEAVY IND LTD