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发明公开
CN102848399A 机器人及机器人手 失效 - 权利终止

机器人及机器人手
摘要：
本发明提供机器人及机器人手，其既能确保通用性又能实现小型化。机器人（100）在臂部（103L、103R）的末端具备能握持微孔板（3）的手（120）。手（120）具有：利用气缸使一对活塞（124）平行地开闭运动的气动卡盘装置（121）；分别设在一对活塞（124）的一侧、并能够沿彼此远离和接近的方向移动的一对长边用握持部件（122）；和分别设在一对活塞（124）的另一侧、并能够在与长边用握持部件（122）不同的可动区域沿彼此远离和接近的方向移动的一对短边用握持部件（123），手（120）构成为能相对于臂部（103L、103R）绕与长边用握持部件（122）及短边用握持部件（123）的可动面大致垂直的旋转轴（Ax8、Ax15）旋转。
摘要（英）：

The invention provides a robot and a robot hand, universality can be ensured and miniaturization can be realized. A robot (100) includes a robot arm (103L, 103R). A robot hand (120) is disposed at a distal end of the robot arm (103L, 103R) and is capable of holding a microporous plate (3). The robot hand (120) includes an air chuck device (121) including a pair of pistons (124) and an air cylinder. The air cylinder opens and closes the pistons (124) in parallel to one another. A pair of gripping members (122) for long sides are disposed at a first side of the pistons (124) and move close to and apart from one another. A pair of gripping members for short sides (123) are disposed at a second side of the pistons (124) and move close to and apart from one another within a movable range different from that of the gripping members (122) for long sides. The robot hand (120) pivots relative to the robot arm (103L, 103R) about a pivot axis (Ax8, Ax15) approximately perpendicular to the movable plane of the gripping members (122) for long sides and the gripping members for short sides (123).

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