Robot hand and robot

Abstract

To provide a robot hand which can hold a workpiece with its both surfaces and can keep holding the workpiece while preventing shifting of a position of the workpiece when the robot hand is moved, and to provide a robot.SOLUTION: A robot hand 3 includes: a plate-like robot hand body 10; a tip claw 30 provided at frond ends of an upper surface and a lower surface of the robot hand body 10; and a root claw 40 provided at the root side relative to the tip claw on the upper surface and the lower surface of the robot hand body 10. Further, the tip claw 30 is fixed to the robot hand body 10. Furthermore, the robot hand 3 further includes a movable mechanism 50 which may move the root claw 40 in a front-back direction of the robot hand body 10 between a holding position where the root claw holds the workpiece 2 and a release position where the root claw releases the workpiece 2 when the tip side and the root side are respectively set to the front side and the back side.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a robotic hand and a robot having a robotic hand. [Background technology]

[0002] Patent Document 1 discloses a robot hand equipped with a first chuck and a second chuck for gripping a workpiece on both the front and back sides. The first chuck and the second chuck are arranged symmetrically on both the front and back sides of a main body block with respect to a rotation axis. The robot hand operates three jaws (chuck jaws) in each of the first chuck and the second chuck to grip the workpiece. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 049228 Summary of the Invention [Problem to be solved by the invention]

[0004] Consider a case where workpieces are stored in a storage shelf in which a plurality of shelves are arranged at intervals in the vertical direction and the gap between adjacent shelves is narrow. If the claws for gripping the workpieces are provided only on either the upper or lower surface of the robot hand body, the workpieces cannot be removed in the order of the oldest workpieces stored in the storage shelf. For example, if the claws are provided only on the lower surface of the robot hand body, the workpieces are stored in the storage shelf from the lower level to the upper level when storing the workpieces, and are removed in the order of the oldest workpieces stored in the storage shelf from the upper level to the lower level when removing the workpieces. This may lead to deterioration in the quality of the workpieces if a certain period of time is required until the oldest workpieces are removed. For this reason, it is desirable to provide claws for gripping the workpieces on both the upper and lower surfaces of the robot hand body so that the surface of the robot hand that grips the workpieces can be switched between when storing and removing the workpieces.

[0005] Furthermore, when the size of a workpiece is larger than the robot hand, the robot hand cannot grip the workpiece so as to cover the entire workpiece, and therefore cannot stably grip the workpiece with all (three) jaws moving in the radial direction as shown in Patent Document 1. Even if the number of jaws is increased, there is a risk that the position of the workpiece will be shifted due to centrifugal force applied when the arm, which is the base of the robot hand, performs an operation such as axial rotation, and the workpiece will fall off the robot hand.

[0006] One object of the present disclosure is to provide a robot hand and a robot that can grip a workpiece with both sides of the robot hand and can continue to stably grip the workpiece so that the position of the workpiece does not shift when the robot hand moves. Another object of the present disclosure is to provide a robot that controls the robot hand to grip the workpiece with the upper or lower side according to the order in which the workpieces are stored on the storage shelf or the order in which the workpieces are removed from the storage shelf, and removes the workpieces in the order in which they were stored on the storage shelf, starting with the oldest. [Means for solving the problem]

[0007] A first aspect of the present disclosure relates to a robot hand that grips a workpiece. The robot hand includes a plate-shaped robot hand body, tip claws provided on the tip side of each of the upper and lower surfaces of the robot hand body, and root claws provided on the root side of the tip claws on the upper and lower surfaces of the robot hand body. The tip claws are fixed to the robot hand body. The robot hand further includes a movable mechanism that can move the root claws in the front-rear direction of the robot hand body between a gripping position for gripping a workpiece and a release position for releasing the workpiece, assuming that the tip side is the front side and the root side is the rear side.

[0008] A second aspect of the present disclosure relates to a robot including the robot hand of the first aspect and one or more processors that control the robot hand. When the workpieces are stored in an upper to lower tier of a storage shelf having a plurality of shelves arranged in a vertical direction, the one or more processors control the robot hand to grip the workpieces with the upper surface side of the robot hand. Alternatively, when the workpieces are stored in an upper to lower tier of the storage shelf, the one or more processors control the robot hand to grip the workpieces with the lower surface side of the robot hand. Alternatively, when the workpieces are dispensed from an upper to lower tier of the storage shelf, the one or more processors control the robot hand to grip the workpieces with the upper surface side of the robot hand. Alternatively, when the workpieces are dispensed from a lower to upper tier of the storage shelf, the one or more processors control the robot hand to grip the workpieces with the upper surface side of the robot hand. Effect of the Invention

[0009] According to the first aspect of the present disclosure, a tip claw and a base claw are provided on the upper and lower surfaces of the robot hand body, respectively, so that the workpiece can be gripped by both sides of the robot hand. Moreover, since the tip claws are fixed and only the base claws are configured to move from the open position to the gripping position, the gripped workpiece is biased in one direction from the base claws toward the tip claws. This allows the workpiece to be stably gripped without shifting its position when the robot hand moves.

[0010] According to a second aspect of the present disclosure, the robot hand is controlled so as to grip the workpieces with the upper or lower surface side of the robot hand according to the order in which the workpieces are stored in the storage shelf or the order in which the workpieces are removed from the storage shelf. This makes it possible to remove the workpieces in the order in which they were stored in the storage shelf, starting with the oldest. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram for explaining a robot according to an embodiment. [Diagram 2]1A to 1C are explanatory diagrams showing an example of gripping a workpiece by a robot hand according to an embodiment. [Diagram 3] FIG. 1 is an explanatory diagram illustrating a configuration example of a robot hand according to an embodiment. [Figure 4] FIG. 1 is an explanatory diagram illustrating a configuration example of a robot hand according to an embodiment. [Diagram 5] 10 is a flowchart illustrating an example of a process for controlling a robot hand in a robot according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] A robot hand and a robot according to an embodiment of the present disclosure will be described with reference to the accompanying drawings. Elements common to the various drawings will be designated by the same reference numerals and duplicated descriptions will be omitted.

[0013] 1. Robot example FIG. 1 is a diagram for explaining a robot 1 according to an embodiment. The robot 1 has a robot hand 3 that grasps a workpiece 2. The robot 1 is installed in, for example, a production facility that performs assembly work using the workpiece 2. The robot 1 is used to temporarily store the workpiece 2 placed on a conveyor 4 in a storage shelf 5 before transporting the workpiece 2 to a location for the next process. The workpiece 2 is, for example, a battery module that is incorporated in a vehicle or the like. The storage shelf 5 has a plurality of shelves 8 that are arranged at intervals in the vertical direction. Each shelf 8 is composed of a pair of plate materials that are arranged on the opposing inner surfaces of the storage shelf 5. When the workpiece 2 is stored in the storage shelf 5, a part of the lower surface of the workpiece 2 is supported by the shelf 8. The shelf 8 arranged in the upward direction is also called the "upper level of the storage shelf 5", and the shelf 8 arranged in the downward direction is also called the "lower level of the storage shelf 5".

[0014] The robot 1 stores the workpiece 2 in the storage shelf 5 and removes the workpiece 2 from the storage shelf 5. Specifically, the robot 1 grasps the workpiece 2 brought into the entrance 6 with the robot hand 3 and stores it in the storage shelf 5. The robot 1 also grasps the workpiece 2 stored in the storage shelf 5 with the robot hand 3 and removes it to an exit entrance (not shown). The exit entrance may be the same location as the entrance 6, or may be provided in a location different from the entrance 6. An example of a location different from the entrance 6 is a conveyor (e.g., an exit conveyor that removes the workpiece 2) provided separately from the conveyor 4, and is a location accessible to the robot hand 3.

[0015] When storing the workpiece 2 in the storage shelf 5 or removing the workpiece 2 from the storage shelf 5, the robot 1 may hold the workpiece 2 on the upper surface side of the robot hand 3, or may hold the workpiece 2 on the lower surface side of the robot hand 3. The surface (upper surface side or lower surface side) of the robot hand 3 that holds the workpiece 2 is determined, for example, by the order in which the workpieces 2 are stored on the storage shelf 5 or the order in which the workpieces 2 are removed. An example of holding the workpiece 2 by the robot hand 3 will be described in detail later.

[0016] In order to make it easier for the robot hand 3 to grasp the work 2, the entrance 6 may be provided with a lift mechanism 7 capable of lifting the work 2 placed on the conveyor 4. This allows the work 2 to be raised, and the work 2 can be easily grasped even on the upper surface side of the robot hand 3.

[0017] The robot 1 has hardware that realizes various functions. The hardware may be provided inside the robot 1, or may be independent from the robot 1 so that the robot 1 can be controlled from the outside. The hardware includes one or more processors 20 (hereinafter simply referred to as the processor 20) and one or more storage devices 21 (hereinafter simply referred to as the storage device 21). The processor 20 executes various processes. Examples of the processor 20 include a central processing unit (CPU), a field programmable gate array (FPGA), and an application specific integrated circuit (ASIC). The storage device 21 stores a robot control program (not shown). Examples of the storage device 21 include a volatile memory, a non-volatile memory, a hard disk drive (HDD), and a solid state drive (SSD).

[0018] The robot control program is a computer program executed by the processor 20. Various functions of the robot 1 may be realized by the processor 20 executing the robot control program. The robot control program may be recorded in any computer-readable storage medium, not limited to the storage device 21.

[0019] The outline of the robot control process of the robot 1 (specifically, the processor 20) is as follows. The processor 20 executes a process of controlling the robot hand 3 so as to grip the workpiece 2 on the upper side of the robot hand 3 when storing the workpiece 2 from the upper tier to the lower tier of the storage shelf 5, a process of controlling the robot hand 3 so as to grip the workpiece 2 on the lower side of the robot hand 3 when storing the workpiece 2 from the lower tier to the upper tier of the storage shelf 5, a process of controlling the robot hand 3 so as to grip the workpiece 2 on the lower side of the robot hand 3 when removing the workpiece 2 from the upper tier to the lower tier of the storage shelf 5, and a process of controlling the robot hand 3 so as to grip the workpiece 2 on the upper side of the robot hand 3 when removing the workpiece 2 from the lower tier to the upper tier of the storage shelf 5. Details of the robot hand control process by the processor 20 will be described later.

[0020] According to the robot control process described above, even if the space between the workpieces 2 stored in the storage shelf 5 is narrow and the robot hand 3 cannot enter, the workpieces 2 can be stored in the storage shelf 5 in order from the upper or lower tier. Also, according to the robot control process, the workpieces 2 can be removed from the storage shelf 5 in order from the upper or lower tier. This improves the storage efficiency of the workpieces 2 in the storage shelf 5, and also leads to a reduction in the size of the storage shelf 5.

[0021] 2. Example of a robot hand 2-1. Example of workpiece gripping 2 is an explanatory diagram showing an example of gripping of a workpiece 2 by a robot hand 3 according to an embodiment. As described above, the surface (upper or lower surface) of the robot hand 3 gripping the workpiece 2 differs depending on the storage order of the storage shelf 5 that stores the workpieces 2 and the removal order of the storage shelf 5 from which the workpieces 2 are removed. Consider the storage order of the storage shelf 5 that stores the workpieces 2. There are two storage orders of the storage shelf 5 that stores the workpieces 2: a storage order in which the workpieces 2 are stored from the upper tier to the lower tier of the storage shelf 5 (first storage order), and a storage order in which the workpieces 2 are stored from the lower tier to the upper tier of the storage shelf 5 (second storage order).

[0022] In the first storage order, as shown in Fig. 2(A), when storing the workpiece 2, the workpiece 2 is grasped by the upper surface side of the robot hand 3 in order to avoid interference with the workpiece 2 already stored on the storage shelf 5. On the other hand, in the second storage order, as shown in Fig. 2(B), when storing the workpiece 2, the workpiece 2 is grasped by the lower surface side of the robot hand 3 in order to avoid interference with the workpiece 2 already stored on the storage shelf 5.

[0023] Consider the order of dispensing the workpieces 2 from the storage shelf 5. There are two orders of dispensing the workpieces 2 from the storage shelf 5: a first order of dispensing the workpieces 2 from the top to the bottom of the storage shelf 5, and a second order of dispensing the workpieces 2 from the bottom to the top of the storage shelf 5.

[0024] In the first dispensing order, as shown in Fig. 2(C), when the workpiece 2 is dispensed, the workpiece 2 is gripped by the lower surface side of the robot hand 3 in order to avoid interference with the workpiece 2 already stored in the storage shelf 5. On the other hand, in the second dispensing order, as shown in Fig. 2(D), when the workpiece 2 is dispensed, the workpiece 2 is gripped by the upper surface side of the robot hand 3 in order to avoid interference with the workpiece 2 already stored in the storage shelf 5.

[0025] In this way, the robot hand 3 has a structure capable of gripping the workpiece 2 on both sides. The side of the robot hand 3 that grips the workpiece 2 is determined according to the storage order of the storage shelves 5 that store the workpieces 2, or the removal order of the storage shelves 5 that remove the workpieces 2. This makes it possible to remove the workpieces 2 in order of their storage date and time from the storage shelves 5.

[0026] 2-2. Configuration example FIG. 3 is an explanatory diagram showing a configuration example of a robot hand 3 according to an embodiment. The robot hand 3 includes a robot hand body 10, a tip claw 30, a base claw 40, and a movable mechanism 50. The robot hand body 10 has a plate-like shape. The robot hand body 10 may be configured as a pair of left and right plates as shown in FIG. 3(A), or as a single plate as shown in FIG. 3(B). Although not shown, the robot hand body 10 may have a single base end and a bifurcated tip end.

[0027] The tip claws 30 are provided on the tip sides (also referred to as front sides) of the upper and lower surfaces of the robot hand body 10. The tip claws 30 have a pair of left and right tip claw portions. The width direction of the robot hand body 10 is the left-right direction for the pair of left and right tip claw portions, and the pair of left and right tip claw portions are respectively arranged on the upper and lower surfaces of the robot hand body 10 with a gap therebetween in the left-right direction. In the example shown in FIG. 3(A), the pair of left and right tip claw portions arranged on the upper surface of the robot hand body 10 includes a first tip claw portion 31 and a second tip claw portion 32, and the pair of left and right tip claw portions arranged on the lower surface of the robot hand body 10 includes a third tip claw portion 33 and a fourth tip claw portion 34.

[0028] The root claws 40 are provided on the root side (also referred to as the rear side) of the tip claws 30 on the upper and lower surfaces of the robot hand body 10. The root claws 40 have a pair of left and right root claw portions. The pair of left and right root claw portions are respectively arranged on the upper and lower surfaces of the robot hand body 10 with a gap therebetween in the left-right direction. In the example shown in FIG. 3(A), the pair of left and right root claw portions arranged on the upper surface of the robot hand body 10 includes a first root claw portion 41 and a second root claw portion 42, and the pair of left and right root claw portions arranged on the lower surface of the robot hand body 10 includes a third root claw portion 43 and a fourth root claw portion 44.

[0029] The tip claw 30 is fixed to the robot hand body 10. On the other hand, the root claw 40 is provided so as to be movable in the front-rear direction of the robot hand body 10 between a gripping position where the workpiece 2 is gripped and an open position where the workpiece 2 is released. This enables the robot hand 3 to grip and release the workpiece 2. In this way, the tip claw 30 is fixed and only the root claw 40 is configured to move from the open position to the gripping position, so that the gripped workpiece 2 is biased in one direction (forward) from the root claw 40 toward the tip claw 30. This makes it possible to suppress the displacement of the workpiece 2, the removal of the workpiece 2, or damage to the tip claw 30 and the root claw 40 due to the force applied when swinging the robot hand 3 when the arm 9, which is the base of the robot hand 3, rotates about an axis or moves to an extension or retraction, or when the support 11 of the robot 1 rotates about an axis or moves to an extension or retraction, or when both the arm 9 and the support 11 move.

[0030] The movable mechanism 50 is connected to the root claw 40. In the example shown in FIG. 3 and FIG. 4, the connection of the movable mechanism 50 to the root claw 40 is omitted. The movable mechanism 50 moves the root claw 40 in the front-rear direction of the robot hand body 10 between a gripping position where the workpiece 2 is gripped and an opening position where the workpiece 2 is released. An example of the movable mechanism 50 is a cylinder. Examples of the timing when the root claw 40 moves from the opening position to the gripping position include when the workpiece 2 is present at the entrance 6 and the robot hand 3 reaches a predetermined position at the entrance 6, and when the robot hand 3 reaches a predetermined position on the shelf 8 of the storage shelf 5 in which the workpiece 2 to be discharged is stored. On the other hand, examples of the timing when the root claw 40 moves from the gripping position to the opening position include when the robot hand 3 gripping the workpiece 2 reaches a predetermined position at the exit entrance, and when the robot hand 3 gripping the workpiece 2 reaches a predetermined position on the shelf 8 of the storage shelf 5.

[0031] 3(A) and 3(B), each of the first tip claw portion 31, the second tip claw portion 32, the third tip claw portion 33, and the fourth tip claw portion 34 is fixed to the robot hand body 10. Meanwhile, each of the first root claw portion 41, the second root claw portion 42, the third root claw portion 43, and the fourth root claw portion 44 is provided so as to be movable in the front-rear direction of the robot hand body 10.

[0032] Furthermore, a groove 60 into which the workpiece 2 can be fitted may be provided on the workpiece gripping surface of either the tip claws 30 or the root claws 40. In the example shown in Fig. 4(A), the groove 60 is provided on the workpiece gripping surface of the tip claws 30 (the surface facing the root claws 40). As a result, as shown in Fig. 4(B), a part of the tip of the workpiece 2 is fitted and fixed in the groove 60. Note that a groove may be provided on the workpiece gripping surface of the root claws 40 (the surface facing the tip claws 30) so that a part of the rear end of the workpiece 2 can be fitted into the groove.

[0033] Furthermore, a non-slip member (e.g., an elastic member such as rubber) having a higher coefficient of friction with the workpiece 2 than the workpiece gripping surface of either the tip claws 30 or the base claws 40 may be provided. This makes it possible to further suppress displacement of the workpiece 2 when the robot hand 3 moves. In this manner, at least one of the grooves 60 and the non-slip member may be provided on the workpiece gripping surface of either the tip claws 30 or the base claws 40.

[0034] 3. Control example FIG. 5 is a flowchart showing a processing example of the robot hand control in the robot 1 (processor 20) according to the embodiment.

[0035] In step S100, the processor 20 acquires various information. After that, the process proceeds to step S110. The various information includes information on the storage order of the storage shelves 5 that store the workpieces 2 and information on the order of removal of the workpieces 2 from the storage shelves 5.

[0036] In step S110, the processor 20 selects, based on various information, the surface (upper surface side or lower surface side) of the robot hand 3 that will grip the workpiece 2. After that, the process proceeds to step S120.

[0037] For example, when the workpiece 2 is stored from the top to the bottom of the storage shelf 5, the face of the robot hand 3 that grips the workpiece 2 is selected to be the upper face. When the workpiece 2 is stored from the bottom to the top of the storage shelf 5, the face of the robot hand 3 that grips the workpiece 2 is selected to be the lower face. When the workpiece 2 is removed from the top to the bottom of the storage shelf 5, the face of the robot hand 3 that grips the workpiece 2 is selected to be the lower face. When the workpiece 2 is removed from the bottom to the top of the storage shelf 5, the face of the robot hand 3 that grips the workpiece 2 is selected to be the upper face.

[0038] In step S120, the processor 20 determines whether or not the position of the robot hand 3 is at a gripping position for gripping the workpiece 2. If it is determined that the position of the robot hand 3 is at the gripping position (step S120; Yes), the process proceeds to step S130. Otherwise (step S120; No), the process returns to step S120.

[0039] In step S130, the processor 20 issues an instruction to the movable mechanism 50 to move the root jaws 40 to grip the workpiece 2. Thereafter, the process proceeds to step S140.

[0040] In step S140, the processor 20 determines whether or not the position of the robot hand 3 is at a release position where the workpiece 2 is released. If it is determined that the position of the robot hand 3 is at the release position (step S140; Yes), the process proceeds to step S150. Otherwise (step S140; No), the process returns to step S140.

[0041] In step S150, the processor 20 issues an instruction to the movable mechanism 50 to move the root jaws 40 to release the workpiece 2.

[0042] 4.Effects The robot hand 3 according to this embodiment is provided with a plate-shaped robot hand body 10, tip claws 30 provided at the front ends of the upper and lower surfaces of the robot hand body 10, and base claws 40 provided at the rear ends of the upper and lower surfaces of the robot hand body 10. In the robot hand 3, the tip claws 30 are fixed to the robot hand body 10. Furthermore, the robot hand 3 is further provided with a movable mechanism 50 capable of moving the base claws 40 in the front-rear direction of the robot hand body 10 between a gripping position for gripping the workpiece 2 and a release position for releasing the workpiece 2.

[0043] In this way, since the tip claws 30 and the root claws 40 are provided on the upper and lower surfaces of the robot hand body 10, respectively, the workpiece 2 can be gripped by both sides of the robot hand 3. Moreover, since the tip claws 30 are fixed and only the root claws 40 are configured to move from the open position to the gripping position, the gripped workpiece 2 is biased in one direction from the root claws 40 toward the tip claws 30. This makes it possible to continue to stably grip the workpiece 2 without the position of the workpiece 2 shifting when the robot hand 3 moves.

[0044] Furthermore, the robot 1 according to this embodiment is equipped with a robot hand 3 and a processor 20 that controls the robot hand 3. In the robot 1, the robot hand 3 is controlled so as to grip the workpiece 2 with the upper surface side or the lower surface side of the robot hand 3 according to the order in which the workpieces 2 are stored in the storage shelf 5 or the order in which the workpieces 2 are removed from the storage shelf 5. This makes it possible to remove the workpieces 2 in the order in which they were stored in the storage shelf 5, starting with the oldest.

[0045] 5. Other embodiments The posture of the robot hand 3 (robot hand body 10) when gripping the workpiece 2 carried into the entrance 6 does not necessarily have to be the same as the posture of the robot hand 3 when storing the gripped workpiece 2 in the storage shelf 5, and the two postures may be different. Similarly, the posture of the robot hand 3 when gripping and removing the workpiece 2 from the storage shelf 5 may be different from the posture of the robot hand 3 when placing the gripped workpiece 2 at the exit.

[0046] In order to realize such different postures of the robot hand 3, the robot hand 3 and the robot 1 according to other embodiments further include an inversion mechanism capable of inverting the robot hand body 10 upside down. The inversion mechanism is capable of inverting the robot hand body 10 to switch the surface to be the upper surface between the first surface and the second surface. The second surface means the surface opposite to the first surface. The inversion mechanism can be configured, for example, to switch between the first surface and the second surface by rotating the rotation shaft connected to the robot hand body 10 by 180 degrees, but is not limited to this configuration and other configurations can be adopted. Note that the inversion mechanism may be configured to invert the robot hand 3 including the robot hand body 10 upside down as a whole, rather than inverting only the robot hand body 10 upside down.

[0047] By employing the above-mentioned inversion mechanism, for example, the workpiece 2 carried into the entrance 6 is gripped by the lower surface side of the robot hand 3 as shown in Fig. 1, the robot hand body 10 is turned upside down and its posture is changed so that it is gripped by the upper surface side of the robot hand 3, and then the workpiece 2 gripped by the upper surface side of the robot hand 3 is stored in the order from the upper tier to the lower tier of the storage shelf 5 as shown in Fig. 2(A). Also, for example, as shown in Fig. 2(D), the workpiece 2 is gripped by the upper surface side of the robot hand 3 and dispensed in order from the lower tier of the storage shelf 5, the robot hand body 10 is turned upside down and its posture is changed so that it is gripped by the lower surface side of the robot hand 3, and then the workpiece 2 gripped by the lower surface side of the robot hand 3 is placed at the exit.

[0048] In this way, even if there are restrictions on the attitude of the robot hand 3 (i.e., the gripping surface of the robot hand body 10) with respect to the entrance 6 or exit 6 in existing equipment, the attitude of the robot hand 3 can be freely changed using the inversion mechanism according to the order in which the workpieces 2 are stored in the storage shelf 5 or the order in which the workpieces 2 are removed from the storage shelf 5. This is advantageous because it makes it possible to use existing equipment as the entrance 6 or exit 6. Therefore, the increased freedom in applying the robot hand 3 and the robot 1 broadens the range of production equipment into which the robot hand 3 and the robot 1 can be introduced. [Explanation of symbols]

[0049]

[0033] 1...robot, 2...work, 3...robot hand, 4...conveyor, 5...storage shelf, 6...entrance, 7...lift mechanism, 8...shelf, 9...arm, 10...robot hand body, 11...support, 20...processor, 21...storage device, 30...tip claw, 31...first tip claw portion, 32...second tip claw portion, 33...third tip claw portion, 34...fourth tip claw portion, 40...root claw, 41...first root claw portion, 42...second root claw portion, 43...third root claw portion, 44...fourth root claw portion, 50...moving mechanism, 60...groove

Claims

1. A robot hand that grasps a workpiece, A plate-shaped robot hand body, a tip claw provided on each of the tip sides of the upper surface and the lower surface of the robot hand body; a base claw provided on an upper surface and a lower surface of the robot hand body closer to a base than the tip claw; Equipped with The tip claw is fixed to the robot hand body, The tip side is a front side, the base side is a rear side, and the base claw is further provided with a movable mechanism capable of moving the base claw in a front-rear direction of the robot hand body between a gripping position for gripping the workpiece and a release position for releasing the workpiece. A robot hand characterized by

2. The tip claw has a pair of left and right tip claw portions that are arranged on an upper surface and a lower surface of the robot hand body with a gap therebetween in the left and right direction, with the width direction of the robot hand body being the left and right direction, The base claw has a pair of left and right base claw portions that are arranged on the upper and lower surfaces of the robot hand body at a distance in the left-right direction. The robot hand according to claim 1 .

3. At least one of the workpiece gripping surfaces of the tip jaw and the base jaw is provided with a groove into which the workpiece can be fitted. The robot hand according to claim 1 .

4. At least one of the workpiece gripping surfaces of the tip jaws and the base jaws is provided with an anti-slip member having a higher coefficient of friction with the workpiece than the workpiece gripping surface. The robot hand according to claim 1 .

5. The robot hand further includes an inversion mechanism that inverts the robot hand body to switch the surface that serves as the upper surface between a first surface and a second surface opposite to the first surface. The robot hand according to claim 1 .

6. The robot hand according to any one of claims 1 to 5, and one or more processors for controlling the robot hand. The one or more processors: When storing the workpiece in a storage shelf having a plurality of shelves arranged in a vertical direction, in order from an upper level to a lower level, the robot hand is controlled so as to grip the workpiece with an upper surface side of the robot hand; When storing the workpieces in the order from the lower stage to the upper stage of the storage shelf, the robot hand is controlled so as to grip the workpieces with the lower surface side of the robot hand; When the workpiece is to be removed from the upper stage of the storage shelf in order from the lower stage, the robot hand is controlled so as to grip the workpiece with a lower surface side of the robot hand; When the workpiece is to be removed from the lower shelf to the upper shelf of the storage shelf, the robot hand is controlled so as to grip the workpiece with the upper surface side of the robot hand. A robot characterized by:

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