Robot

Abstract

A robot includes a gripping section and a main body section to which the pair of finger sections are attached, having one end sections of the pair of finger sections rotatably connected to each other around a first rotating shaft disposed at a position separate from the main body section, and adapted to open and close the pair of finger sections by swinging the other side of the pair of finger sections on a plane parallel to a mounting surface on which an object is mounted centered on the first rotating shaft to thereby grip the object, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and grip the object with the gripping section at at least three contact points.

What is claimed is: 
     
         1 . A robot comprising:
 a body section;
 a first finger section attached to the body section, and is able to rotate around a rotating axis which is not on the body section; and 
 a second finger section attached to the body section; and is able to rotate around a rotating axis which is not on the body section. 
   
     
     
         2 . The robot according to  claim 1  wherein
 at least one of the first finger section and the second finger section has contact with an object at at least two contact points when the object is gripped by the first finger section and the second finger section. 
 
     
     
         3 . The robot according to  claim 1  wherein
 an object is able to gripped by making the object have contact with the first finger section, the second finger section and the body section. 
 
     
     
         4 . The robot according to  claim 1  wherein
 at least one of the first finger section and the second finger section has a guard to prevent an object from jumping out in a direction perpendicular to a mounting surface which the object is mounted. 
 
     
     
         5 . The robot according to  claim 1  wherein
 each of the first finger section and the second finger section includes
 a first link section having one end which is able to rotate around the rotating axis which is not on the body section, and 
 a second link section having one end which is able to rotate around a rotating axis on the body section, and the other end rotatably attached to the other end of the first link section. 
 
 
     
     
         6 . The robot according to  claim 5  wherein
 a position of the rotating axis on the body section moves along a straight line connecting the rotating axis which is not on the body section and the rotating axis on the body section in a direction opposite to a direction toward the rotating axis which is not on the body section as the first finger section and the second finger section move in a closing direction. 
 
     
     
         7 . The robot according to  claim 1  comprising:
 a camera taking a picture of an object, and 
 a control device detecting a position of the object based on a result of taking a picture by the camera, and then controlling the first finger section and the second finger section to move toward the object. 
 
     
     
         8 . The robot according to  claim 7  wherein
 the camera is attached to the body section. 
 
     
     
         9 . The robot according to  claim 7  wherein
 each of the first finger section and the second finger section includes
 a tip section disposed in parallel to a mounting surface which an object is mounted, and is able to grip the object, and 
 a base end section disposed in a direction of getting apart from the mounting surface, and attached to the body section. 
 
 
     
     
         10 . The robot according to  claim 9  wherein
 the tip section of each of the first finger section and the second finger section has a flat surface opposed to the mounting surface. 
 
     
     
         11 . The robot according to  claim 9  wherein
 the tip section and the base end section are arranged so as to eliminate an overlap between the tip section and the base end section in a view from a direction in which the camera takes a picture of the one end section. 
 
     
     
         12 . The robot according to  claim 9  wherein
 an angle formed between the tip section and the base end section is an obtuse angle. 
 
     
     
         13 . The robot according to  claim 1  comprising:
 a detection device detecting a force for gripping an object, and
 a control device controlling the first finger section and the second finger section based on a detection result of the detection device. 
 
 
     
     
         14 . The robot according to  claim 1  wherein
 a rotating axis of the first finger section and a rotating axis of the second finger section are the same. 
 
     
     
         15 . The robot according to  claim 1  wherein
 an attachment position of the first finger section which is attached to the body section is movable along a circular arc, and 
 an attachment position of the second finger section which is attached to the body section is movable along a circular arc.