Robotic arm

Abstract

The robot hand has: a first base end side finger portion having a first protruding portion at a front end; a first front end side finger portion connected to the first base end side finger portion in a manner allowing relative rotation and having a first cutout through which the first protruding portion can pass; a second base end side finger portion having a second protruding portion at a front end; a second front end side finger portion connected to the second base end side finger portion in a manner allowing relative rotation and having a second cutout through which the second protruding portion can pass; an opening / closing drive portion that relatively moves the second base end side finger portion with respect to the first base end side finger portion; a first rotation drive portion that relatively rotates the first front end side finger portion with respect to the first base end side finger portion; a second rotation drive portion that relatively rotates the second front end side finger portion with respect to the second base end side finger portion; and a control portion that operates the opening / closing drive portion, the first rotation drive portion, and the second rotation drive portion.

Description

Technical Field

[0001] This invention relates to a robotic arm. Background Technology

[0002] Due to advancements in robotics technology in recent years, the automation of industrial manufacturing sites using robotic systems is progressing. Patent Document 1 discloses an example of a robotic arm constituting a robotic system. This robotic arm uses multiple fingers separately depending on the shape, size, and weight of the object being manufactured.

[0003] Prior art literature

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2011-240422 Summary of the Invention

[0006] One embodiment of the present invention provides a robotic arm comprising: a first base-end side finger having a first protrusion at its front end; a first front-end side finger rotatably connected to the first base-end side finger and having a first slit through which the first protrusion can pass; a second base-end side finger having a second protrusion at its front end; a second front-end side finger rotatably connected to the second base-end side finger and having a second slit through which the second protrusion can pass; an opening / closing drive unit for moving the second base-end side finger relative to the first base-end side finger; a first rotation drive unit for rotating the first front-end side finger relative to the first base-end side finger; a second rotation drive unit for rotating the second front-end side finger relative to the second base-end side finger; and a control unit for operating the opening / closing drive unit, the first rotation drive unit, and the second rotation drive unit. Attached Figure Description

[0007] Figure 1 This is a 3D view and front view of the robotic arm in its first state.

[0008] Figure 2 This is a 3D view and front view of the robotic arm in its second state.

[0009] Figure 3 This is a 3D view and front view of the robotic arm in its third state.

[0010] Figure 4 It is a three-dimensional diagram and front view of a robotic arm holding an object.

[0011] Figure 5 It is a three-dimensional diagram and front view of a robotic arm holding an object.

[0012] Figure 6It is a three-dimensional diagram and front view of a robotic arm holding an object.

[0013] Figure 7 It is a side view and a perspective view of the robotic arm used to illustrate the action of applying stickers.

[0014] Figure 8 It is a side view and a perspective view of the robotic arm used to illustrate the action of applying stickers.

[0015] Figure 9 It is a side view and a perspective view of the robotic arm used to illustrate the action of applying stickers.

[0016] Figure 10 It is a side view and a perspective view of the robotic arm used to illustrate the action of applying stickers.

[0017] Figure 11 It is a side view and a perspective view of the robotic arm used to illustrate the action of applying stickers.

[0018] Figure 12 It is a side view and a perspective view of the robotic arm used to illustrate the action of applying stickers.

[0019] Figure 13 It is a side view and a perspective view of the robotic arm used to illustrate the action of applying stickers.

[0020] Figure 14 This is a flowchart illustrating the movements of the robotic arm and robotic hand during sticker application.

[0021] Explanation of reference numerals in the attached figures:

[0022] 11 First basal lateral finger

[0023] 11A First protrusion

[0024] 11S First basal lateral fingertip

[0025] 12 First frontal lateral finger section

[0026] 12A First cut

[0027] 12S First anterior lateral fingertip

[0028] 13 First Rotary Drive Unit

[0029] 21 Second basal lateral finger

[0030] 21A Second protrusion

[0031] 21S Second basal lateral fingertip

[0032] 22 Second front lateral finger section

[0033] 22A Second Incision

[0034] 22S Second anterior lateral fingertip

[0035] 23 Second Rotary Drive Unit

[0036] 30 Hands

[0037] 30S Palm

[0038] 31 Opening and closing drive unit

[0039] 40 Control Department

[0040] 100 robotic arms

[0041] 101 robotic arms

[0042] 201, 202, 203 Objects

[0043] 204 Stickers

[0044] 204A non-adhesive surface

[0045] 204B adhesive surface

[0046] 205 Labeling Machine

[0047] Cameras 206 and 207

[0048] 208 Applied surface

[0049] Arrows 301, 302, 303, 304, and 305. Detailed Implementation

[0050] The aim of this invention is to provide a robotic arm capable of performing various tasks.

[0051] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0052] Figure 1 These are perspective views and front views of the robotic arm 100 according to an embodiment of the present invention. Figure 1 The image on the left is a 3D view of the robotic arm 100 in its first state. Figure 1 The image on the right is a front view of the robot 100 in its first state.

[0053] The robotic arm 100 includes a first base-side finger portion 11, a first front-side finger portion 12, a first rotation drive portion 13, a second base-side finger portion 21, a second front-side finger portion 22, a second rotation drive portion 23, a hand portion 30, an opening / closing drive portion 31, and a control portion 40.

[0054] The first base-end side finger portion 11 is mounted on the hand portion 30 via an opening and closing drive portion 31 composed of a motor and shaft, etc.

[0055] The first front-end side finger 12 is mounted on the front end side of the first base-end side finger 11 in a manner that allows it to rotate relative to the first base-end side finger 11. The first base-end side finger 11 and the first front-end side finger 12 constitute a finger, and a first rotation drive unit 13, composed of a motor or the like, is disposed within this finger. By operating the first rotation drive unit 13, the first front-end side finger 12 rotates relative to the first base-end side finger 11. The rotational axis of the first front-end side finger 12, driven by the first rotation drive unit 13, is parallel to the first base-end side finger pad surface 11S, which will be described later.

[0056] The first base-side finger 11 has a first protrusion 11A at its front end. The first front-side finger 12 has a first cut 12A at its end on the side connected to the first base-side finger 11. The size of the first cut 12A is such that the first protrusion 11A can pass through when the first front-side finger 12 rotates relative to the first base-side finger 11. That is, the width of the first protrusion 11A is smaller than the width of the first front-side finger 12 (i.e., the width of the first front-side fingertip surface 12S, which will be described later).

[0057] The second base-end lateral finger portion 21 is fixed to the hand portion 30.

[0058] The second front-end side finger 22 is mounted on the front end side of the second base-end side finger 21 in a manner that allows it to rotatably relative to the second base-end side finger 21. The second base-end side finger 21 and the second front-end side finger 22 constitute a finger, and a second rotation drive unit 23, composed of a motor or the like, is disposed within this finger. By operating the second rotation drive unit 23, the second front-end side finger 22 rotates relative to the second base-end side finger 21. The rotation center axis of the rotational action of the second front-end side finger 22 via the second rotation drive unit 23 is parallel to the rotation center axis of the rotational action of the first front-end side finger 12 via the first rotation drive unit 13.

[0059] The second base-end side finger 21 has a second protrusion 21A at its front end. The second front-end side finger 22 has a second cut 22A at its end on the side connected to the second base-end side finger 21. The size of the second cut 22A is such that the second protrusion 21A can pass through when the second front-end side finger 22 rotates relative to the second base-end side finger 21. That is, the width of the second protrusion 21A is smaller than the width of the second front-end side finger 22 (i.e., the width of the second front-end side finger pad surface 22S, which will be described later).

[0060] By operating the opening and closing drive unit 31, the fingers composed of the first base-side finger portion 11 and the first front-side finger portion 12 move relative to the hand portion 30 and further relative to the fingers composed of the second base-side finger portion 21 and the second front-side finger portion 22.

[0061] The first base-end side finger portion 11 has a first base-end side finger pad surface 11S on the side opposite to the second base-end side finger portion 21. In this embodiment, the first base-end side finger pad surface 11S is a plane. The second base-end side finger portion 21 has a second base-end side finger pad surface 21S on the side opposite to the first base-end side finger portion 11. In this embodiment, the second base-end side finger pad surface 21S is a plane parallel to the first base-end side finger pad surface 11S. The opening / closing drive unit 31 moves the first base-end side finger portion 11 relative to the second base-end side finger portion 21 in a direction orthogonal to the first base-end side finger pad surface 11S while maintaining the first base-end side finger pad surface 11S and the second base-end side finger pad surface 21S parallel to each other. It should be noted that the shapes of the first base-end side finger pad surface 11S and the second base-end side finger pad surface 21S can be appropriately changed according to the object being held, and they do not necessarily have to be planes.

[0062] The first front-end side finger portion 12 has a first front-end side finger pad surface 12S that is a plane. The second front-end side finger portion 22 has a second front-end side finger pad surface 22S that is a plane. Figure 1 In the shown state, the first front-end fingertip surface 12S and the second front-end fingertip surface 22S face outwards from the robot 100. In this state, the first protrusion 11A disposed on the front end side of the first base-end finger 11 is located at the front end of a finger formed by the first base-end finger 11 and the first front-end finger 12. Additionally, the second protrusion 21A disposed on the front end side of the second base-end finger 21 is located at the front end of a finger formed by the second base-end finger 21 and the second front-end finger 22. It should be noted that the shapes of the first front-end fingertip surface 12S and the second front-end fingertip surface 22S can be appropriately changed depending on the object being held, and they do not necessarily have to be planar.

[0063] The control unit 40 is, for example, a CPU (Central Processing Unit), which controls the movement of the robot arm 100 by controlling the first rotary drive unit 13, the second rotary drive unit 23 and the opening and closing drive unit 31.

[0064] Figure 2 The robotic arm 100 of the present invention is related to... Figure 1 The diagram shows 3D views and front views under different states. Figure 2 The image on the left is a 3D view of the robotic arm 100 in its second state. Figure 2 The image on the right is a front view of the robot 100 in its second state.

[0065] Figure 2 The illustrated state is such that the first front-end finger portion 12 and the second front-end finger portion 22 are configured to extend linearly along the front ends of the first base-end finger portion 11 and the second base-end finger portion 21, respectively, through the operation of the first rotation drive unit 13 and the second rotation drive unit 23. In this state, the first front-end fingertip surface 12S and the first base-end fingertip surface 11S form the same plane. The second front-end fingertip surface 22S and the second base-end fingertip surface 21S form the same plane. Furthermore, in this state, the first protrusion 11A is located in the first cut 12A, and the second protrusion 21A is located in the second cut 22A.

[0066] Figure 3 The robotic arm 100 of the present invention is related to... Figure 1 and Figure 2 The diagram shows 3D views and front views under different states. Figure 3 The image on the left is a 3D view of the robotic arm 100 in its third state. Figure 3 The image on the right is a front view of the robot 100 in its third state.

[0067] Figure 3 The illustrated state is such that the first front-end finger 12 and the second front-end finger 22 are configured to bend and extend toward the front ends of the first base-end finger 11 and the second base-end finger 21, respectively, by means of the operation of the first rotation drive unit 13 and the second rotation drive unit 23. In this state, the first front-end finger pad surface 12S intersects with the first base-end finger pad surface 11S. The second front-end finger pad surface 22S intersects with the second base-end finger pad surface 21S. Furthermore, in this state, the first front-end finger 12 and the second front-end finger 22 are located between the first base-end finger pad surface 11S and the second base-end finger pad surface 21S.

[0068] The robotic arm 100 configured as described above can perform actions as explained below.

[0069] Figure 4 It is in the robotic arm 100 Figure 1 The figures shown are perspective views and front views of the robotic arm 100 holding the object 201. Figure 4 The image on the left is a 3D model of the robotic arm 100. Figure 4 The image on the right is the front view of the robotic arm 100.

[0070] By setting the robotic arm 100 Figure 4In the indicated state, the robotic arm 100 can precisely grasp a relatively small object 201, or move or operate in a confined space while grasping the object 201. At this time, the robotic arm 100 is in the following state: the back of the first base-side finger 11 contacts the back of the first front-side finger 12, and the back of the second base-side finger 21 contacts the back of the second front-side finger 22, thereby causing the first protrusion 11A and the second protrusion 21A to protrude. Therefore, by activating the opening / closing drive unit 31, the object 201 can be grasped between the first protrusion 11A (i.e., the first base-side finger pad surface 11S) and the second protrusion 21A (i.e., the second base-side finger pad surface 21S).

[0071] Figure 5 It is the robotic arm 100 in Figure 2 The above view shows a perspective view and a front view of the robotic arm 100 holding the object 202 in the state shown. Figure 5 The image on the left is a 3D model of the robotic arm 100. Figure 5 The image on the right is the front view of the robotic arm 100.

[0072] By setting the robotic arm 100 Figure 5 In the shown state, a relatively large object 202 can be stably held. At this time, the state of the robot arm 100 is as follows: the first front-end side finger 12, which is wider than the first protrusion 11A, is located on the front end side of the first base-end side finger 11, which is wider than the first protrusion 11A; and the second front-end side finger 22, which is wider than the second protrusion 21A, is located on the front end side of the second base-end side finger 21, which is wider than the second protrusion 21A. Therefore, by operating the opening and closing drive unit 31, the object 202 can be stably held over a large area between the first front-end side finger 12 (that is, the first front-end side finger pad surface 12S) and the second front-end side finger 22 (that is, the second front-end side finger pad surface 22S). Furthermore, depending on the size and shape of the object, the object can be held more stably with a larger area between the first front-end side finger 12 and the first base-end side finger 11 (that is, the first front-end side finger pad surface 12S and the first base-end side finger pad surface 11S) and the second front-end side finger 22 and the second base-end side finger 21 (that is, the second front-end side finger pad surface 22S and the second base-end side finger pad surface 21S).

[0073] Figure 6 It is the robotic arm 100 in Figure 3 The figures shown are perspective views and front views of the robotic arm 100 holding the object 203. Figure 6 The image on the left is a 3D model of the robotic arm 100. Figure 6 The image on the right is the front view of the robotic arm 100.

[0074] By setting the robotic arm 100 Figure 6 The state shown allows for the stable holding of objects 203 that are difficult to grasp using two planes due to their complex shape or weight. At this time, the robot arm 100 is in the following state: the first front-end finger 12 and the second front-end finger 22 are located between the first base-end finger surface 11S and the second base-end finger surface 21S. Therefore, by operating the opening / closing drive unit 31, the object 203 is clamped between the first base-end finger 11S and the second base-end finger 21S, thereby positioning the first front-end finger 12S and the second front-end finger 22 below the object 203. In other words, the object 203 can be supported from below by the first front-end finger 12S and the second front-end finger 22S. Therefore, it is possible to stably hold objects 203 that are difficult to grasp using two planes. Furthermore, as... Figure 6 As shown, when the object 203 is relatively large, by making the object 203 contact the first base-side fingertip surface 11S, the first front-side fingertip surface 12S, the second base-side fingertip surface 21S, the second front-side fingertip surface 22S and the palm surface 30S (pressing towards the palm surface 30S to hold the object 203), the object 203 can be held more stably.

[0075] As explained above, the robotic arm 100 of this embodiment can switch between the combination of the first protrusion 11A and the second protrusion 21A, and between the first front-end side finger 12 and the second front-end side finger 22. Therefore, by switching the above combinations according to the object being held and the working environment, various objects can be held.

[0076] Furthermore, the first front-end side finger 12 and the second front-end side finger 22 can not only hold objects, but also press objects held by the first protrusion 11A and the second protrusion 21A towards other objects. By performing this action, actions such as applying stickers can be performed. Hereinafter, the action of applying a sticker (the object) to the surface of another object will be used as an example. Figures 7 to 14 The action of pressing one object against another is described.

[0077] Figures 7 to 13 These are side views and perspective views of the robotic arm 100, used to illustrate its actions during sticker application. In each image, the left image is a side view of the robotic arm 100, and the right image is a perspective view of the robotic arm 100. Figures 7 to 13 As shown, when applying stickers, the robotic arm 100 is mounted on the front end of the robotic arm 101. Figure 14 This describes the motion flow of the robotic arm 100 and robotic hand 101, illustrating the control algorithm based on the control unit 40. That is, the control unit 40 controls not only the robotic arm 100 but also the robotic hand 101.

[0078] First, the first rotation drive unit 13 is activated so that the back surface of the first front-end side finger 12 (the surface opposite to the first front-end side finger pad surface 12S) contacts the back surface of the first base-end side finger 11 (the surface opposite to the first base-end side finger pad surface 11S). Then, the second rotation drive unit 23 is activated so that the back surface of the second front-end side finger 22 (the surface opposite to the second front-end side finger pad surface 22S) contacts the back surface of the second base-end side finger 21 (the surface opposite to the second base-end side finger pad surface 21S). That is, the first front-end side finger 12 and the second front-end side finger 22 are rotated outwards respectively, causing the first protrusion 11A and the second protrusion 21A to protrude towards the front end. Figure 14 (S31).

[0079] Next, by moving the robotic arm 101, the robotic hand 100 is moved so that the front end of the robotic hand 100 is near the labeling machine 205 that supplies the sticker 204, which is the object to be held and attached (S32).

[0080] Next, for example, a camera 206 positioned near the labeler 205 is used to photograph the sticker 204 and the robot arm 100, and the image is analyzed to detect the relative position of the robot arm 100 with respect to the labeler 205 (S33).

[0081] Next, by moving the robotic arm 101, the robotic hand 100 is moved to a position where it can hold the sticker 204 (S34).

[0082] Next, the opening / closing drive unit 31 is activated, and the sticker 204 is held by the first protrusion 11A and the second protrusion 21A (S35). The state of holding the sticker 204 is as follows: Figure 7 As shown. At this time, the robotic arm 100 holds the sticker 204 so that the non-adhesive surface 204A of the sticker 204 contacts the first protrusion 11A and the adhesive surface 204B contacts the second protrusion 21A.

[0083] Then, by moving the robotic arm 101, the robotic arm 100 is moved such that the sticker 204 is opposite the attachment surface 208, which is the surface on which the sticker 204 is attached, and the posture of the robotic arm 100 is adjusted such that the sticker 204 is tilted relative to the attachment surface 208 (S36). At this time, as Figure 8 As shown, the adhesive surface 204B is opposite to the attachment surface 208, and the robot arm 100 is in an inclined position relative to the attachment surface 208.

[0084] From this state, the robotic arm 101 is moved to bring the robotic hand 100 closer to the attachment surface 208 (S37). At this time, as... Figure 9As shown, the robotic arm 101 is moved in a direction perpendicular to the attachment surface 208 until the front end of the sticker 204 contacts the attachment surface 208. Figure 9 Arrow 301 in the diagram illustrates the movement of the robotic arm 100.

[0085] At this point, for example, a camera 207 positioned near the attachment surface 208 is used to photograph the sticker 204 and the attachment surface 208, and the image is analyzed to detect contact between the sticker 204 and the attachment surface 208 (S38). If no contact is detected (no in S38), the robot arm 100 continues to move in a manner close to the attachment surface 208 (S37).

[0086] When contact is detected (yes in S38), the first rotation drive unit 13 is activated, causing the first front end side finger 12 to move towards the front end side of the first base end side finger 11, thereby bringing the first front end side finger 12 into contact with the sticker 204 and pressing the sticker 204 onto the attachment surface 208 (S39). The state at this time is as follows: Figure 10 As shown. Figure 10 Arrow 302 in the figure shows the movement of the first front-end side finger 12.

[0087] The pressing amount (pressing force) when the sticker 204 is pressed onto the adhesive surface 208 is obtained by calculating the load based on the current value of the motor of the first rotary drive unit 13 (S40). It should be noted that the load can of course be obtained based on parameters other than the current value of the motor, such as the detection value of the pressure sensor.

[0088] If no predetermined load is detected (no in S40), the operation of the first rotary drive unit 13 and the pressing of the first front end side finger 12 on the sticker 204 continue (S39).

[0089] When a predetermined load is detected (Yes in S40), the first front-end finger 12 presses the sticker 204 onto the attachment surface 208 with an appropriate pressing amount (pressing force). At this time, by activating the opening / closing drive unit 31, the first base-end finger 11 moves a small amount (a distance greater than the thickness of the sticker 204) away from the second base-end finger 21, and the gripper 100 releases the sticker 204 (S41). The state at this time is as follows. Figure 11 As shown. Figure 11 Arrow 303 in the figure shows the relative movement of the first base-side finger 11 and the second base-side finger 21 relative to each other.

[0090] By moving the first base-end side finger 11 away from the second base-end side finger 21, there is a possibility that the first front-end side finger 12 may leave the sticker 204, or that the force pressing the sticker 204 against the attachment surface 208 may weaken. Therefore, after moving the first base-end side finger 11, by activating the first rotation drive unit 13 again, the first front-end side finger 12 comes into contact with the sticker 204, and the sticker 204 is pressed against the attachment surface 208 (S42). The state at this time is as follows: Figure 12 As shown. Figure 12 Arrow 304 in the figure shows the movement of the first front-end side finger 12.

[0091] The pressing amount (pressing force) when the sticker 204 is pressed onto the adhesive surface 208 is obtained by calculating the load based on the current value of the motor of the first rotary drive unit 13 (S43).

[0092] If no predetermined load is detected (no in S43), the operation of the first rotary drive unit 13 and the pressing of the first front end side finger 12 on the sticker 204 continue (S42).

[0093] When a predetermined load is detected (yes in S43), the first front end finger 12 presses the sticker 204 onto the attachment surface 208 with an appropriate amount of pressure.

[0094] From this state, by moving the robotic arm 101, the robotic hand 100 moves parallel to the attachment surface 208 (S44). The state at this time is as follows: Figure 13 As shown. Figure 13 Arrow 305 in the diagram illustrates the movement of the robotic arm 100.

[0095] Through the above process, the first front-end side finger 12 can be pressed onto the sticker 204 while the sticker 204 is attached to the attachment surface 208.

[0096] It should be noted that the technical scope of the present invention is not limited to the above-described embodiments. Various modifications made without departing from the spirit of the present invention are also included in the technical scope of the present invention.

[0097] For example, the control unit 40 can operate the first rotary drive unit 13 while the object is clamped between the first protrusion 11A and the second protrusion 21A by operating the opening / closing drive unit 31. This causes the first front-end fingertip surface 12S to contact the object, and the object is pressed by the first front-end fingertip 12. Through this action, if the object is a linear or sheet-like component, it can be bent. Furthermore, if the object is a plastic component, it can be deformed and shaped. Alternatively, the second front-end fingertip surface 22S can be brought into contact with the object by further operating the second rotary drive unit 23. That is, the first front-end fingertip 12 and the second front-end fingertip 22 can also contact the object clamped between the first protrusion 11A and the second protrusion 21A, thereby applying pressure from both sides to deform and shape the object.

[0098] According to the present invention, it is possible to provide a robotic arm capable of performing various tasks.

[0099] Industrial availability

[0100] The robotic arm of this invention can grasp objects of various sizes and perform various actions such as sticker application. Therefore, it is useful as a general-purpose robotic arm in a robot system that automates product assembly processes in factories.

Claims

1. A robotic arm, comprising: The first base-end lateral finger has a first protrusion at its front end; The first front end side finger is connected to the first base end side finger in a rotatable manner, and has a first cut through which the first protrusion can pass; The second base-end lateral finger has a second protrusion at its front end; The second front end side finger is connected to the second base end side finger in a rotatable manner, and has a second cut through which the second protrusion can pass; An opening and closing drive unit that causes the second base-end side finger to move relative to the first base-end side finger; A first rotation drive unit causes the first front end side finger to rotate relative to the first base end side finger; The second rotation drive unit causes the second front end side finger to rotate relative to the second base end side finger; and The control unit enables the opening / closing drive unit, the first rotary drive unit, and the second rotary drive unit to operate.

2. The robotic arm according to claim 1, wherein, The first basal-end side finger portion has a first basal-end side fingertip surface, which is a plane opposite to the second basal-end side finger portion. The second base-end side finger portion has a second base-end side fingertip surface, which is a plane opposite to and parallel to the first base-end side finger portion. The opening and closing drive unit moves the first base-side finger relative to the second base-side finger in a direction orthogonal to the first base-side finger surface while keeping the first base-side finger surface parallel to the second base-side finger surface.

3. The robotic arm according to claim 2, wherein, The first front-end side finger has a first front-end side fingertip surface, which is a plane that forms the same plane as the first base-end side fingertip surface when the first protrusion is located in the first incision. The second front-end side finger has a second front-end side finger pad surface, which is a plane that forms the same plane as the second base-end side finger pad surface when the second protrusion is located in the second incision.

4. The robotic arm according to claim 3, wherein, When the control unit operates the object between the first protrusion and the second protrusion by operating the opening and closing drive unit, it operates the first rotation drive unit, thereby causing the first front-end side fingertip to contact the object and pressing the object toward other objects through the first front-end side fingertip.

5. The robotic arm according to claim 3, wherein, When the control unit operates the object between the first protrusion and the second protrusion by operating the opening and closing drive unit, it operates the first rotation drive unit, thereby causing the first front-end side fingertip to contact the object and press the object by the first front-end side fingertip.

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