Robots and methods for adjusting the hand width of a robot's hand

Abstract

Robot (100), comprising: a robot body (2) having a wrist flange (5); a robot hand (1); and a control unit (3) controlling the robot body (2), the robot hand (1) comprising: a pair of movable elements detachable from the wrist flange (5) of the robot body (2) and spaced apart from each other; a holding element (9) provided on each of the pair of movable elements and holding a workpiece;and a width adjustment mechanism (10) which supports the pair of movable elements in such a way that a relative movement of the pair is permitted in a width direction which is a direction in which the pair of movable elements is mounted, and which adjusts the distance between the pair of movable elements by means of the relative movement of the pair of movable elements in the width direction, and the robot body (2) performs an operation to remove the pair of movable elements from the wrist flange (5), and then causes the robot body (2) to perform an operation to move the pair of movable elements relatively in the width direction.

Description

[TECHNICAL FIELD]

[0001] The present invention relates to a robot hand, a robot and a method for adjusting the hand width of the robot hand. [GENERAL STATE OF THE ART]

[0002] Traditionally, an energy source, such as a pneumatic cylinder or an electric actuator, was used to change the hand width of a robot hand (see, for example, patent literature 1 to 3). In patent literature 1 and 2, the energy source is installed within the robot hand. In patent literature 3, a driving force from an energy source independent of the robot hand is used to change the hand width, thereby reducing the robot hand's weight. [List of Counterarguments][Patent Literature] [PTL 1] Japanese unexamined patent application, Publication No. 2008-137107 [PTL 2] Japanese Patent No. 4495509 [PTL 3] Japanese unexamined patent application, Publication No. 2006-272526 [BRIEF DESCRIPTION OF THE INVENTION][TECHNICAL TASK]

[0003] In the cases of patent literature 1 and 2, a disadvantage is that, since the weight of the robot hand is increased by the weight of the energy source, the load-bearing capacity of the robot hand is reduced by the weight of the energy source. Although the invention in the case of patent literature 3 is suitable for reducing the weight of the robot hand, a disadvantage is that the structure becomes more complex, since a component, such as wiring, is required to transmit the driving force from the energy source to the robot hand.

[0004] The present invention was made in view of the circumstances described above, and it is an object of the invention to provide a robot hand, a robot, and a method for adjusting the hand width of the robot hand, in which the hand width can be adjusted, the weight can be reduced, and the structure can be simplified. [SOLUTION TO THE TASK]

[0005] To solve the problem described above, the present invention provides the following solutions.

[0006] A first aspect of the present invention is a robot hand comprising: a pair of movable elements, detachable from a wrist flange of a robot body and spaced apart from one another; a holding element provided on each of the pair of movable elements, which holds a workpiece; and a width adjustment mechanism that supports the pair of movable elements such that relative movement of the pair is permitted in a width direction, which is the direction in which the pair of movable elements is mounted, and which adjusts the distance between the pair of movable elements by means of the relative movement of the pair of movable elements in the width direction. The pair of movable elements is moved relative in the width direction either as a result of control of the width adjustment mechanism by the operation of the robot body or as a result of control of the width adjustment mechanism by a user.

[0007] In this respect, a pair of movable elements are positioned at a distance from each other. This allows a workpiece to be held securely using the holding elements attached to the movable elements. The hand width, which is the distance between the pair of movable elements, can be adjusted using the width adjustment mechanism. Therefore, by adjusting the hand width according to the width of the workpiece, it is possible to hold workpieces of varying dimensions using the holding elements.

[0008] In this case, no energy source is necessary, as the pair of moving elements is moved relative to each other by the robot body or the operator controlling the width adjustment mechanism, instead using an energy source such as a pneumatic cylinder or an electric actuator. This makes it possible to reduce the weight of the robot hand and simplify its structure.

[0009] According to the first preceding aspect, the width adjustment mechanism may include a locking mechanism that fixes the relative positions of the pair of moving elements in the width direction.

[0010] By fixing the relative positions of the pair of moving elements using the locking mechanism in situations except when the hand width is being adjusted, it is possible to prevent the pair of moving elements from moving unintentionally and thus prevent the hand width from being changed unintentionally.

[0011] According to the first preceding aspect, the locking mechanism may include a knob screw which has a knob controlled by the robot body or the operator and which fixes the pair of movable elements in relation to each other.

[0012] The robot body or the operator can lock the pair of moving elements relative to each other by turning the knob in the direction that tightens the knob screw (locking direction). The robot body or the operator can release the locking mechanism by turning the knob in the direction that loosens the knob screw (unlocking direction). In this way, the pair of moving elements can be locked and unlocked with a single operation.

[0013] In the first preceding aspect, the locking mechanism may include a button-engaging part that is attached to the wrist flange and engages with the button.

[0014] With this design, it is possible to rotate the button by operating the robot body. Specifically, when the pair of movable elements is removed from the wrist flange, the robot body can rotate the button by engaging the button-hook part attached to the wrist flange and then rotating the wrist flange around the button-hook part.

[0015] According to the first preceding aspect, the width adjustment mechanism can comprise a rack provided on one of the pair of moving elements and a pinion provided on the other of the pair of moving elements, which engages with the rack.

[0016] In this design, the rack moves during the rotation of the pinion only when a force greater than or equal to the predetermined threshold is applied in the lateral direction to the pair of moving elements, thus allowing the pair of moving elements to move relative to each other.

[0017] According to the first preceding aspect, the width adjustment mechanism can include a gear that engages with the pinion and is rotated by the robot body or the operator.

[0018] When the gear rotates, its rotation is transferred to the pinion. The pinion's rotation moves the rack laterally. The rack's movement, in turn, moves the pair of moving elements relative to each other laterally. This means that the robot body or operator can adjust the hand width by rotating the gear. The amount by which the hand width is adjusted can be precisely controlled by the number of gear rotations.

[0019] According to the first preceding aspect, the width adjustment mechanism may include a hook part for the movable element, which is attached to the wrist flange and engages in a section of one of the pair of movable elements.

[0020] With this design, it is possible to move one of the movable elements laterally by operating the robot body in order to adjust the hand width. In particular, when the pair of movable elements is removed from the wrist flange, the robot body can move one of the movable elements laterally by engaging the hook part for the movable element, which is attached to the wrist flange, with a section of that movable element and by moving the wrist flange.

[0021] A second aspect of the present invention is a robot comprising: a robot body having a wrist flange; and the robot hand according to the preceding aspect; and a control unit that controls the robot body. The control unit causes the robot body to perform an operation for the relative movement of the pair of movable elements in the lateral direction.

[0022] According to the second aspect described above, the control unit can cause the robot body to perform an operation to remove the pair of moving elements from the wrist flange, and then cause the robot body to perform an operation to move the pair of moving elements relative to each other in the width direction.

[0023] A third aspect of the present invention is a method for adjusting the hand width of the robot hand according to the preceding aspects, wherein the robot body moves the pair of movable elements relatively in the width direction.

[0024] According to the third aspect, the robot body can remove the pair of movable elements from the wrist flange and then move the pair of movable elements relatively in the lateral direction. [BENEFICIAL EFFECTS OF THE INVENTION]

[0025] The present invention provides an advantage in that it is possible to adjust the hand width, reduce the weight and simplify the structure. List of characters [ Fig. 1] Fig. Figure 1 shows the overall design of a robot according to an embodiment of the present invention. [ Fig. 2] Fig. Figure 2 is a perspective view showing the overall design of a unit on the slave side of a robot hand according to the embodiment of the present invention. [ Fig. 3] Fig. Figure 3 is a representation to explain a method for holding a workpiece with the robot hand in Fig. 1. [ Fig. 4] Fig. Figure 4 is a representation to explain another method for holding the workpiece with the robot hand in Fig. 1. [ Fig. 5] Fig. Figure 5 is a diagram illustrating operating modes for fixing and releasing the pair of frames that are attached to the robot body. Fig. 1 will be carried out. [ Fig. 6] Fig. Figure 6 is a diagram illustrating operating modes for fixing and releasing the pair of frames that are attached to the robot body. Fig. 1 will be carried out. [ Fig. 7] Fig. Figure 7 is a diagram to illustrate a hand-width adjustment operation performed by the robot body in Fig. 1 is carried out. [ Fig. 8] Fig. Figure 8 is a diagram illustrating a hand-width adjustment operation performed by the robot body in Fig. 1 is carried out. [DESCRIPTION OF EXECUTION FORMS]

[0026] The following describes a robot hand 1 , a robot 100 and a method for adjusting the hand width of the robot hand according to an embodiment of the present invention is described with reference to the drawings.

[0027] The robot 100 According to this embodiment, it comprises a robot body 2 , the robot hand 1 , which are attached to the robot body 2 is attached, and a control unit 3 to control the robot body 2 .

[0028] The robot body 2is a robot that is typically used to handle workpieces W to transport. Fig. Figure 1 shows, as an example, the six-axis articulated robot body. 2 , which the joint axes J1 until J6 exhibits. The robot body 2 It can be of a different type, such as a SCARA robot or a parallel-link robot. The robot body 2 shows one arm 4 up. The arm 4 Its distal end is connected to a wrist flange. 5 equipped with the robot hand 1 can be attached. The robot body 2 can the wrist flange 5 by moving the arm 4 move in three dimensions.

[0029] As in Fig. 1 to Fig. As shown in section 4, the robot hand includes 1 Tool changer 6; a pair of frames (movable elements) 7A and 7B, mounted at a distance from each other; suction cups (holding parts) 8 and rollers (holding parts) 9 , which are for each of the pair of frames 7A and 7B are provided, and which hold the workpiece W; and a width adjustment mechanism 10 , which is the pair of frames 7A and 7B supports, in order to counteract its relative movement in the latitudinal direction A to allow. The latitude A is a direction in which the pair of frames 7A and 7B are appropriate.

[0030] The tool changer 6 includes a master disc 6A , which are attached to the wrist flange 5 of the robot body 2 is attached, and a slave plate 6B , which are from the master record 6A is removable. The robot body 2 can the slave drive 6Bby transmitting compressed air or an electrical signal to the master plate 6A via an air circuit or an electrical circuit (not shown) on the master plate 6A attach or remove.

[0031] As in Fig. 2 to Fig. 4 shown are the pair of frames 7A and 7B linear and parallel to each other. A frame 7A is a rigid frame that spans a fixed base plate 12 on the slave board 6B is fixed. The fixed plate 12 is on the slave board 6B and the fixed framework 7A fixed. The other frame 7B is a movable frame 7B , which uses the width adjustment mechanism 10 is supported in order to be lateral A in relation to the slave board 6B and the fixed framework 7A to be flexible.

[0032] In a state where the pair of frames 7A and 7B about the master disc 6A and the slave drive 6B of the tool changer 6 at the wrist flange 5 When attached, the lateral direction A is perpendicular to the central axis (sixth axis). J6 ) of the wrist flange 5 . Usually, during the transport of a workpiece W the wrist flange 5 aligned downwards and the pair of frames 7A and 7B It is arranged horizontally. Below is the side that corresponds to the slave board. 6B adjacent to the top side of the frame 7A and 7B defined, and the side that the slave disk 6B The opposite is the bottom side of the frame. 7A and 7B defined.

[0033] The movable frame 7B features a width adjustment guide 13on, which protrudes from the upper surface. The width adjustment guide. 13 It can be a plate-shaped element, as shown in the drawings, or an element that has any other shape.

[0034] The suction cups 8 are attached to the fixed frame 7A They are provided in a multitude of positions, located longitudinally away from each other. The suction cups are similarly designed. 8 on the movable frame 7B They are designed for a variety of positions, oriented lengthwise away from each other. The suction cups 8 are provided in positions that are located on the lower sides of the frames 7A and 7B are shifted downwards, and adhere, as in Fig. 3 shown, on the upper surface of workpiece W, which is under the frame 7A and 7B is arranged.

[0035] The roles 9 are attached to the fixed frame7A They are provided in a multitude of positions, facing away from each other in the longitudinal direction. The rollers are similarly designed. 9 on the movable frame 7B Provided at a multitude of positions, facing away from each other lengthwise. Each of the rollers 9 is able to rotate around a rotating shaft of it, which is oriented in the lateral direction A extends and, as in Fig. Figure 4 shows the lower side of end sections of a thin, flat workpiece. W , such as a printed circuit board, supports. This is attached to the rollers. 9 The placed workpiece W can be moved during the rotation of the rollers. 9 in the longitudinal direction of the frames 7A and 7B be postponed.

[0036] The width adjustment mechanism 10 comprises two linear waves 15 , which are arranged in such a way that they are oriented in the lateral directionA extend, and two guide sleeves 16 , which are linear waves 15 in the longitudinal direction. The two linear waves 15 are spaced apart from each other in the longitudinal direction of the frame 7A and 7B attached. The linear waves 15 are at one end of the movable frame 7B fixed. The guide sleeves 16 are tube-like elements that are attached to the fixed plate 12 are fixed. The linear waves 15 penetrate through the guide sleeves in their longitudinal direction 16 one and can move smoothly in their longitudinal direction in relation to the guide sleeves 16 move. When an external force acts in the lateral direction A on the movable frame 7B When applied, the linear waves move 15 smoothly through the guide sleeves 16 , which allows the movable frame 7BThis allows one to move in a direction towards the fixed frame 7A or to move away from it. Consequently, the hand width changes. B , which is the distance between the pair of frames 7A and 7B is, in a stepless way.

[0037] The width adjustment mechanism 10 includes a locking mechanism 11 , which determines the relative positions of the pair of frames 7A and 7B in the latitude direction A fixed. The locking mechanism 11 includes a guide rail 17 , which are located between the movable frame 7B and the solid plate 12 in the latitude direction A extends, and a knob screw 18 , which are the pair of frames 7A and 7B fixed in relation to each other.

[0038] The guide rail 17 features a linear slot 17aon, which is in the latitude direction A extends. One end of the guide rail 17 is attached to the movable frame 7B fixed.

[0039] The knob screw 18 includes an external thread (not shown) and a handle part 18a , which is a knob attached to one end of the external thread. The guide rail 17 is between the handle part 18a and the solid plate 12 layered. The external thread of the knob screw 18 penetrates through the slit 17a one and is attached to an internal thread that is in the fixed plate 12 is educated.

[0040] As a result of turning the knob screw 18 The guide rail is tightened in a tightening direction (locking direction). 17 in relation to the solid plate 12 fixed, thereby the movable frame 7B in relation to the fixed framework 7Ais fixed. Thus, the hand width is fixed. B kept constant.

[0041] On the other hand, one result of turning the knob screw is 18 in a loosening direction (unlocking direction), the fixing of the guide rail 17 in relation to the solid plate 12 solved. Consequently, the movable frame is 7B in relation to the fixed framework 7A movable, which makes it possible to adjust the hand width B to change. In a state where the fixation is released, the guide rail moves. 17 together with the linear waves 15 smooth in the longitudinal direction in relation to the knob screw 18 Thus, it is possible to pair the frames. 7A and 7B with the knob screw 18 to fix at desired relative positions in relation to each other, making it possible to keep the hand width B at a desired width.

[0042] As in Fig. 5 and Fig. As shown in Figure 6, the width adjustment mechanism includes 10 furthermore a button 18a and a hook part (button hook part, part for hooking the movable element) 19 for controlling the width adjustment guide 13 The hook part 19 has a recess 19a on, which is included in both the width adjustment guide 13 as well as the handle part 18a intervenes. The hook-in part 19 is on the wrist flange 5 of the robot body 2 attached.

[0043] As previously described, the robot hand includes 1 a unit on the master side, which is the master disk 6A and the hook part 19 includes and those that occur during the operation of the robot body 2 constantly at the wrist flange 5 is attached, and a unit on the slave side, which is the slave plate 6B , the frames7A and 7B and the width adjustment mechanism 10 includes and the wrist flange 5 , as during the operation of the robot body 2 required, removable.

[0044] The control unit 3 It includes a memory unit (not shown) and a processor (not shown). The memory unit stores a hand-width adjustment program to cause the robot body to 2 a company for adjusting hand width B the robot hand 1 carries this out. By controlling the robot body. 2 According to the hand width adjustment program, the processor automatically performs the adjustment of the hand width. B according to the width of the workpiece to be held W through.

[0045] Next, a hand-width adjustment operation (hand-width adjustment procedure) is performed by the robot body. 2The process is described.

[0046] First, the robot body is placed 2 the unit on the slave side, which is attached to the wrist flange 5 is attached to a predetermined location and separates the slave plate 6B from the master disc 6A , to remove the unit on the slave side from the wrist flange 5 to remove.

[0047] Next, the robot body attacks 2 by moving the arm 4 with the handle part 18a into the hook part 19 of the wrist flange 5 one, as in Fig. 5 shown. Then the robot body rotates. 2 by moving the arm 4 the wrist flange 5 around the hook part 19 in the unlocking direction, as in Fig. 6 shown. Consequently, the handle part 18a and the knob screw 18rotated in the unlocking direction, thereby fixing the movable frame 7B in relation to the fixed framework 7A will be resolved.

[0048] Next, the robot body brings 2 by moving the arm 4 the hook part 19 with the width adjustment guide 13 in action. Then the robot body moves. 2 by moving the arm 4 the wrist flange 5 linear in the lateral direction A, as in Fig. 7 and Fig. 8 shown. Consequently, the width adjustment guides move 13 and the movable frame 7B linear in the lateral direction A in relation to the fixed framework 7A , which increases the hand width B is changed. The amount by which the handbreadth B The change is controlled by the amount by which the wrist flange is adjusted. 5 in the latitude direction A moved. Fig. Figure 7 shows a case in which the movable frame 7B towards the fixed framework 7A is being moved. Fig. Figure 8 shows a case in which the movable frame 7B from the fixed framework 7A is moved away.

[0049] Next, the robot body attacks 2 by moving the arm 4 again with the handle part 18a into the hook part 19 of the wrist flange 5 one, as in Fig. 6 shown. Then the robot body rotates 2 by moving the arm 4 the wrist flange 5 around the hook part 19 in the locking direction, as in Fig. 5 shown. Consequently, the handle part 18a and the knob screw 18 rotated in the locking direction, thereby making the movable frame 7B again in relation to the fixed framework 7A is fixed. Thus, the hand width is fixed. Bkept constant.

[0050] As previously described, the pair of frames 7A and 7B designed to be a result of controlling the width adjustment mechanism 10 by means of the operation of the robot body 2 to move relatively in the latitude direction A. The relative positions of the pair of frames 7A and 7B are a result of the control of the locking mechanism 11 by means of the operation of the robot body 2 fixed and released. In particular, the robot hand 1 not equipped with an energy source, such as a pneumatic cylinder or an electric actuator, which is used to extend the hand width B This makes it possible to adjust the weight of the robot hand. 1 to reduce. Since a structure, such as a cable, is used to transmit the driving force to adjust the hand width. Bin the unit on the slave side of the robot hand 1 If it is not necessary, the structure can be simplified.

[0051] As a result of controlling the robot body 2 by means of the control unit 3 will the adjustment of hand width B It is done automatically. In other words, it is not necessary for an operator to measure the hand width. B adapts. This makes unattended operation possible even in cases involving different workpieces. W , which are of different sizes, using the same robot hand 1 They can be transported. This is particularly advantageous for unattended continuous operation, such as operation throughout the night.

[0052] In this embodiment, the width adjustment mechanism can 10 a means that controls the movement of the movable frame 7B in the latitude direction Aprohibits, if a force acts in the lateral direction A , which are on the movable frame 7B is applied, is smaller than a predetermined threshold, and that results in a movement of the movable frame 7B in the latitude direction A allows, if the force is in the lateral direction A , which are on the movable frame 7B The applied value is greater than or equal to the predetermined threshold. Providing such a means can prevent unwanted movement of the movable frame. 7B prevent damage due to a shock or similar event.

[0053] For example, this agent can reduce the friction between the outer circumferential surfaces of linear shafts. 15 and the inner circumferential surfaces of the guide sleeves 16 be.

[0054] Alternatively, this device can be a rack and pinion attached to one of the pair of frames 7A and 7Bis provided for, and have a pinion that is attached to the other of the pair of frames 7A and 7B is designed to engage with the rack. The rack is, for example, attached to the movable frame. 7B It is fixed and moves when the movable frame 7B moves, in the latitude direction A The rack can be attached to one of the linear shafts. 15 It is provided for. The sprocket, for example, is attached to the fixed frame. 7A fixed. The hand's breadth B can be adjusted by changing the spacing of the teeth on the rack.

[0055] If the force is in the lateral direction A , which are on the movable frame 7B When applied, if the value is smaller than the predetermined threshold, the rack and pinion also function as a locking mechanism that secures the movable frame. 7B in relation to the fixed framework 7A fixed.

[0056] The width adjustment mechanism 10 It can also include a gear that engages with the pinion. If the robot body 2 When the gear is turned using a specific tool, such as an electric screwdriver or a nut wrench, the rotation of the gear is transferred to the pinion, and the rotation of the pinion moves the rack and the movable frame. 7B in the latitude direction A The amount by which the movable frame 7B The movement is controlled by the number of rotations of the gear. The tool for rotating the gear can be similar to the hook part. 19 , at the wrist flange 5 It can be attached or can be connected to the wrist flange via another slave plate. 5The system can be attached or detachable. It can be designed such that the rotation of the gear is slowed down by the pinion to prevent the gear from slipping in situations different from the situation in which the gear is attached to the robot body. 2 is being rotated, rotates in an unintentional way.

[0057] In this embodiment, the hook part 19 at the wrist flange 5 of the robot body 2 attached. Alternatively, the hook part can be used. 19 independent of the robot body 2 be provided. For example, the hook part can 19 on a circumferential part of the robot body 2 be fixed.

[0058] In this case, the rotation of the handle part 18a and the adjustment of hand width B performed in a state where the unit is attached to the wrist flange on the slave side 5is attached.

[0059] More precisely, the robot body moves 2 in a state where the unit is attached to the wrist flange on the slave side 5 is attached, the arm 4 , to the handle part 18a with the hook part 19 to engage, and then rotates the wrist flange 5 around the hook part 19 and the handle part 18a in the unlocking direction. Consequently, the fixing of the movable frame is achieved. 7B in relation to the fixed framework 7A solved.

[0060] Next, the robot body moves 2 the arm 4 , to the width adjustment guide 13 with the hook part 19 to engage, and then moves the wrist flange 5 linear in the lateral direction A , about the width of a hand B to adapt.

[0061] Then the robot body moves 2the arm 4 , to the handle part 18a again with the hook part 19 to engage, and then rotates the wrist flange 5 around the hook part 19 and the handle part 18a in the locking direction. Consequently, the movable frame 7B in relation to the fixed framework 7A fixed.

[0062] In the case where the width adjustment mechanism 10 The gear has a tool, such as a screwdriver or nut runner, that can be attached to a circumferential part of the robot body. 2 be fixed in place. In this case, the robot body can be fixed. 2 by moving the arm 4 in a state where the unit is attached to the wrist flange on the slave side 5 Once attached, fit the tool into the gear and then the robot body can be attached. 2 by rotating the wrist flange 5to adjust the hand width B of the gear.

[0063] In this embodiment, the common hook part 19 for the handle part 18a and the width adjustment guide 13 used. Alternatively, a hook part, which is only for the handle part, can be used. 18a is used, and a hook-in part is provided that is solely for the width adjustment guide. 13 is used.

[0064] In this embodiment, although the movable frame 7B the width adjustment guide 13 features width adjustment guidance 13 This may not necessarily be the case. In this case, the hook part may not be necessary. 19 with a section of the movable frame 7B or another structure attached to the movable frame 7B is fixed, intervene.

[0065] In this embodiment, the locking mechanism features 11the knob screw 18 on, which serve as a means of fixing the relative positions of the pair of frames 7A and 7B serves this purpose. Alternatively, the locking mechanism can be used 11 have a different means. For example, the locking mechanism may 11 have a pressure switch and the pair of frames 7A and 7B can be a result of pressing the pressure switch using the robot body 2 be fixed and released.

[0066] In this embodiment, only one of the pair of frames is 7A and 7B in the latitude direction A movable. Alternatively, both can be removed from the frames. 7A and 7B in the latitude direction A be movable. By essentially moving the pair of frames symmetrically. 7A and 7B in the latitude direction A in relation to the master record 6Aand the slave drive 6B of the tool changer 6 Is it possible to determine the position of the center of gravity of the entire robot hand? 1 to stabilize.

[0067] Another pair of frames may be provided, which leads to a relative movement in the longitudinal direction of the pair of frames. 7A and 7B are able to do this. In particular, four frames can be arranged to form a rectangle, such that the hand width B It can be adjusted in two directions that are perpendicular to each other.

[0068] Although the suction cups 8 and the roles 9 , which serve as the holding parts for holding the workpiece W In this embodiment, the type of holding parts can be selected appropriately according to the workpiece to be held. WThey can be modified. For example, magnets, hooks, or chuck jaws can be used as the holding parts for an outside diameter chuck or an inside diameter chuck.

[0069] In this embodiment, the robot body controls 2 the movable frame 7B , about the width of a hand B to adjust. Alternatively, an operator can adjust the hand width. B by manually controlling the movable frame 7B adjust.

[0070] In this embodiment, the robot body controls 2 the locking mechanism 11 , to the movable frame 7B to lock and unlock. Alternatively, an operator can use the locking mechanism. 11 manually control the movable frame 7B to fix and release.

[0071] In this embodiment, a robot that moves away from the robot body can 2distinguishes, at which the robot hand 1 is attached, the movable frame 7B move and the locking mechanism 11 steer. Reference symbol list 1 robot hand 2 robot bodies 3 Control unit 4 Arm 5 Wrist flange 6 tool changers 7A,7B Frame (movable element) 8 Suction cup (holding part) 9 Roller (holding part) 10 Width adjustment mechanism 11 Locking mechanism 12 fixed plates 13 Width adjustment guide 15 linear wave 16 Guide sleeve 17 Guide rail 18 Button screw 18a Handle part 19 Hook part (button hook part, hook part for the movable element) 19a Exemption 100 robots QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 4495509

[0002]

Claims

[1] Robot hand, comprising: a pair of movable elements that are detachable from a wrist flange of a robot body and are mounted at a distance from each other; a holding element provided on each of the pair of movable elements, which holds a workpiece; and a width adjustment mechanism that supports the pair of movable elements in such a way that a relative movement of the pair is permitted in a width direction which is a direction in which the pair of movable elements is mounted, and that adjusts the distance between the pair of movable elements by means of the relative movement of the pair of movable elements in the width direction, wherein the pair of movable elements are moved relative in the width direction as a result of controlling the width adjustment mechanism by means of operating the robot body or as a result of controlling the width adjustment mechanism by a user. [2] Robot hand according to claim 1, wherein the width adjustment mechanism comprises a locking mechanism that fixes relative positions of the pair of movable elements in the width direction. [3] Robot hand according to claim 2, wherein the locking mechanism comprises a knob screw having a knob which is controlled by the robot body or the operator and which fixes the pair of movable elements in relation to each other. [4] Robot hand according to claim 3, wherein the locking mechanism comprises a button-engaging part which is attached to the wrist flange and engages with the button. [5] Robot hand according to one of claims 2 to 4, wherein the width adjustment mechanism comprises a rack provided on one of the pair of movable elements and a pinion provided on the other of the pair of movable elements and engaging with the rack. [6] Robot hand according to claim 5, wherein the width adjustment mechanism comprises a gear that engages with the pinion and is rotated by the robot body or the operator. [7] Robot hand according to one of claims 1 to 6, wherein the width adjustment mechanism comprises a hook part for the movable element which is attached to the wrist flange and engages in a section of one of the pair of movable elements. [8] Robots, in general: a robot body that features a wrist flange; and the robot hand according to any one of claims 1 to 7; and a control unit that controls the robot body, the control unit causes the robot body to perform an operation to move the pair of movable elements relative to each other in the lateral direction. [9] Robot according to claim 8, wherein the control unit causes the robot body to perform an operation to remove the pair of movable elements from the wrist flange, and then causes the robot body to perform an operation to move the pair of movable elements relative to each other in the width direction. [10] Method for adjusting the hand width of the robot hand according to any one of claims 1 to 7, wherein the robot body moves the pair of movable elements relatively in the width direction. [11] Method for adjusting the hand width of the robot hand according to claim 10, wherein the robot body removes the pair of movable elements from the wrist flange and then moves the pair of movable elements relatively in the width direction.

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