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Workpiece taking-out method using robot including holding nails

  • US 8,915,527 B2
  • Filed: 02/26/2013
  • Issued: 12/23/2014
  • Est. Priority Date: 03/28/2012
  • Status: Active Grant
First Claim
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1. A method of taking a target workpiece out of a plurality of workpieces by using a robot including a robot hand, the robot hand including a chuck supported by a hand main body via an elastic member, the chuck including at least two fingers of rigid material and being movable relative to the hand main body, the method comprising:

  • moving the hand main body toward the target workpiece so that the fingers apply a pre-pressure against the target workpiece until the elastic member is compressed by a predetermined amount, wherein said pre-pressure is applied against the target workpiece when the fingers are not holding the target workpiece;

    opening the chuck in a state where the fingers apply the pre-pressure against the target workpiece, so that a resultant force of opening the chuck and a restoring force of the compressed elastic member causes the fingers to respectively enter positions laterally close to the target workpiece;

    closing the chuck upon the fingers respectively entering the position, to cause the fingers to hold the target workpiece; and

    taking the target workpiece out of the plurality of workpieces in a state where the chuck is closed.

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