Canon Kabushiki Kaisha

Fumio Kanno

Shojiro Danmoto

Takao Komiya

Sumiyoshi Ito

Masaki Machino

Hachiro Sato

A hand apparatus of a robot includes fingers for clamping a first workpiece and inserting a second workpiece into the first workpiece, a compliance device disposed between an arm of the robot and the fingers, and a calculator for determining shifting information between the first and second workpieces. A memory memorizes design information associated with the insertion operation of the first and second workpieces, and the hand apparatus selects whether the compliance device is required or not on the basis of the information provided by the calculator and the memory.

Robot hand structure, and method of selecting hand structure

A hand mechanism for a robot is attached to the distal end of an arm portion of a robot and has independent modules for executing predetermined elementary motions, which modules can be combined with each other in selected arbitrary combinations to attain desired elementary motions. The hand mechanism includes a holder module which includes a fixing member fixed to the arm portion, an attaching plate to be attached to other modules and a coupling mechanism for coupling the fixing member and the attaching plate. The coupling mechanism includes angle an adjustment pin for adjusting the attaching angle of the attaching plate about the arm portion, and a shear pin bolt for releasing a coupling state between the fixing member and the attaching plate upon application of a shock to the hand mechanism.

Hand mechanism for robot

An alignment apparatus is interposed between a machine body and a terminal body attached to the machine body and performs alignment therebetween to have a predetermined compliance. The apparatus includes a mounting body connected to the machine body, with the mounting body and the terminal body having opposing surfaces, a first shaft member engaged with an engaging portion formed on the opposing surface of the mounting body, and a second shaft member engaged with an engaging portion formed on the opposing surface of the terminal body. The second shaft member is located on an identical axis to the first shaft member. A plurality of pin members are disposed around the first and second shaft members to surround them, and biasing members apply a tightening force to the plurality of pin members.

Growing community of inventors

Tsuchiura, Japan

Fumio Kanno