US 11,958,187 B2
Robot hand, robot and robot system
Kentaro Azuma, Kobe (JP); Takayuki Ishizaki, Kakogawa (JP); Mitsunobu Oka, Kobe (JP); and Masataka Yoshida, Akashi (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed by Kawasaki Jukogyo Kabushiki Kaisha, Kobe (JP)
Filed on Feb. 22, 2021, as Appl. No. 17/180,879.
Application 17/180,879 is a continuation of application No. PCT/JP2019/032330, filed on Aug. 19, 2019.
Claims priority of application No. 2018-156231 (JP), filed on Aug. 23, 2018.
Prior Publication US 2021/0187727 A1, Jun. 24, 2021
Int. Cl. B25J 9/00 (2006.01); B25J 5/00 (2006.01); B25J 15/06 (2006.01); B25J 17/02 (2006.01)
CPC B25J 9/0093 (2013.01) [B25J 5/007 (2013.01); B25J 15/0616 (2013.01); B25J 17/025 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A robot hand, comprising:
a base attached to an end of a robotic arm;
a conveyor fixed to the base; and
a holder to hold a workpiece and place the workpiece on a transferring surface of the conveyor, wherein the holder includes:
a pivot shaft extending along the conveyor in a transferring direction of the conveyor, and telescopic in the transferring direction of the conveyor; and
a pivoting structure directly attached to the pivot shaft so as to be telescopic in the transferring direction of the conveyor, and pivotable centering on the pivot shaft in a plane in which a width direction of the conveyor that is perpendicular to the transferring direction intersects with a height direction of the conveyor that is perpendicular to the transferring direction and the width direction.