US 12,220,810 B2
Robot arm and robot
Noboru Kawaguchi, Tokyo (JP); Masaki Hirano, Tokyo (JP); Shota Narasaki, Tokyo (JP); Hayato Hoshino, Tokyo (JP); and Shingo Kimura, Tokyo (JP)
Assigned to MITSUBISHI ELECTRIC CORPORATION, Tokyo (JP)
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
Filed on May 17, 2024, as Appl. No. 18/666,897.
Application 18/666,897 is a continuation of application No. 18/268,607, granted, now 12,023,800, previously published as PCT/JP2021/048795, filed on Dec. 28, 2021.
Claims priority of application No. 2020-219387 (JP), filed on Dec. 28, 2020.
Prior Publication US 2024/0300119 A1, Sep. 12, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 15/10 (2006.01); B25J 9/00 (2006.01)
CPC B25J 15/10 (2013.01) [B25J 9/0087 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A robot arm comprising:
a robot hand including: a first finger; a third finger disposed to face the first finger; a second finger disposed side by side with the third finger; a first finger connection portion to which the first finger is connected rotatably; a second finger connection portion to which the second finger is connected rotatably and to which the third finger is connected rotatably; a hand base to which the first finger connection portion and the second finger connection portion are connected; and a finger moving portion to move the first finger connection portion and the second finger connection portion with respect to the hand base such that a distance between the first finger and the third finger increases or decreases, and a rotation axis rotating the hand base passes through a midpoint between fingertips of the first finger and the third finger while the first finger and the third finger are perpendicular to the hand base;
a forearm to which the robot hand is connected rotatably;
an upper arm to which the forearm is connected rotatably;
an arm connection portion to which the upper arm is connected rotatably;
a wrist joint to connect the robot hand to the forearm rotatably with two rotational degrees of freedom or one rotational degree of freedom;
an elbow joint to connect the forearm to the upper arm rotatably; and
a shoulder joint to connect the upper arm to the arm connection portion rotatably, wherein
the forearm is rotatable around a forearm rotation axis passing through the forearm, and
the forearm rotation axis is the rotation axis that allows the hand base to be rotated.