Robot hand jig and robot

Patent metadata

Field	Value
Publication number	US-10569426-B2
Application number	US-201816110053-A
Country	US
Kind code	B2
Filing date	Aug 23, 2018
Priority date	Aug 24, 2017
Publication date	Feb 25, 2020
Grant date	Feb 25, 2020

Abstract

A robot hand jig includes a grip including a first depression configured to engage with a first finger and a second depression configured to engage with a second finger. The first depression includes a first surface, a second surface perpendicular to the first surface, a third surface perpendicular to the second surface, and a fourth surface perpendicular to the first surface and the second surface. The second depression includes a fifth surface, a sixth surface perpendicular to the fifth surface, a seventh surface perpendicular to the sixth surface, and an eighth surface perpendicular to the fifth surface and the sixth surface.

First claim

What is claimed is:

1. A robot hand jig that is gripped by a robot hand including a first finger including a first fingertip and a first side surface, a second finger including a second fingertip and a second side surface, a third finger including a third fingertip and a third side surface, and a moving palm and causes an object to perform predetermined action, the robot hand jig comprising a grip including a first depression configured to engage with the first finger and a second depression configured to engage with the second finger, wherein
the first depression includes:
a first surface;
a second surface perpendicular to the first surface;
a third surface perpendicular to the second surface; and
a fourth surface perpendicular to the first surface and the second surface,

the second depression includes:
a fifth surface;
a sixth surface perpendicular to the fifth surface;
a seventh surface perpendicular to the sixth surface; and
an eighth surface perpendicular to the fifth surface and the sixth surface,

in a plan view from a perpendicular direction of the second surface, a distance between a point where a first imaginary surface parallel to the fourth surface and the first surface cross and a point where the first imaginary surface and the third surface cross is smaller as the first imaginary surface is closer to the fourth surface and the distance is larger as the first imaginary surface is farther from the fourth surface,
in a plan view from a perpendicular direction of the sixth surface, a distance between a point where a second imaginary surface parallel to the eighth surface and the fifth surface cross and a point where the second imaginary surface and the seventh surface cross is smaller as the second imaginary surface is closer to the eighth surface and the distance is larger as the second imaginary surface is farther from the eighth surface, and
when the grip is gripped by the robot hand, the first fingertip comes into contact with the first surface, the second fingertip comes into contact with the fifth surface, the first side surface comes into contact with the third surface, and the second side surface comes into contact with the seventh surface.

2. The robot hand jig according to claim 1 , wherein, when the grip is gripped by the robot hand, the first fingertip comes into contact with the fourth surface, and the second fingertip comes into contact with the eighth surface.

3. The robot hand jig according to claim 1 , wherein
the grip includes a third depression configured to engage with the third finger,
the third depression includes:
a ninth surface; and
a tenth surface perpendicular to the ninth surface, and

when the grip is gripped by the robot hand, the first side surface comes into contact with the second surface, the second side surface comes into contact with the sixth surface, and the third side surface comes into contact with the tenth surface.

4. The robot hand jig according to claim 3 , wherein, when the grip is gripped by the robot hand, the third fingertip comes into contact with the ninth surface.

5. The robot hand jig according to claim 1 , wherein the grip includes a tool configured to cause the object to perform the predetermined action.

6. The robot hand jig according to claim 5 , wherein
the grip includes a switch for operating the tool, and
when the grip is gripped by the robot hand, the switch is located between the palm and the grip, and the switch is pressed by the palm.

7. A robot that grips a robot hand jig, wherein,
the robot hand jig that is gripped by the robot including a first finger including a first fingertip and a first side surface, a second finger including a second fingertip and a second side surface, a third finger including a third fingertip and a third side surface, and a moving palm and causes an object to perform predetermined action, the robot hand jig comprising a grip including a first depression configured to engage with the first finger and a second depression configured to engage with the second finger, wherein
the first depression includes:
a first surface;
a second surface perpendicular to the first surface;
a third surface perpendicular to the second surface; and
a fourth surface perpendicular to the first surface and the second surface,

the second depression includes:
a fifth surface;
a sixth surface perpendicular to the fifth surface;
a seventh surface perpendicular to the sixth surface; and
an eighth surface perpendicular to the fifth surface and the sixth surface,

in a plan view from a perpendicular direction of the second surface, a distance between a point where a first imaginary surface parallel to the fourth surface and the first surface cross and a point where the first imaginary surface and the third surface cross is smaller as the first imaginary surface is closer to the fourth surface and the distance is larger as the first imaginary surface is farther from the fourth surface,
in a plan view from a perpendicular direction of the sixth surface, a distance between a point where a second imaginary surface parallel to the eighth surface and the fifth surface cross and a point where the second imaginary surface and the seventh surface cross is smaller as the second imaginary surface is closer to the eighth surface and the distance is larger as the second imaginary surface is farther from the eighth surface, and
when the robot grips the grip, the first fingertip comes into contact with the first surface, the second fingertip comes into contact with the fifth surface, the first side surface comes into contact with the third surface, and the second side surface comes into contact with the seventh surface.

8. The robot according to claim 7 , wherein, when the robot grips the grip, the first fingertip comes into contact with the fourth surface, and the second fingertip comes into contact with the eighth surface.

9. The robot according to claim 7 , wherein
the grip includes a third depression configured to engage with the third finger,
the third depression includes:
a ninth surface; and
a tenth surface perpendicular to the ninth surface, and

when the robot grips the grip, the first side surface comes into contact with the second surface, the second side surface comes into contact with the sixth surface, and the third side surface comes into contact with the tenth surface.

10. The robot according to claim 9 , wherein, when the robot grips the grip, the third fingertip comes into contact with the ninth surface.

11. The robot according to claim 7 , wherein the grip includes a tool configured to cause the object to perform the predetermined action.

12. The robot according to claim 11 , wherein
the grip includes a switch for operating the tool, and
when the robot grips the grip, the switch is located between the palm and the grip, and the switch is pressed by the palm.

Assignees

• Seiko Epson Corp

Inventors

• Komatsu Daisuke
• Yamamoto Sota
• Okada Ryuichi
• Hasegawa Fumiaki

Classifications

• B25J15/103 Primary

  for gripping the object in three contact points · CPC title

• B25J15/10

  with three or more finger members {(B25J15/0009 takes precedence)} · CPC title

• B25J15/0433 Primary

  having gripping members · CPC title