Hand and hand system
A hand includes a pair of finger members disposed separated by an interval and relatively movable in an interval direction, a finger drive unit that moves at least one of the finger members in the interval direction, a pair of holding pads that are provided on the respective finger members, and are supported to face each other and to be rotatable around an axis extending in the interval direction, and a pressing member that is provided to be movable in a direction intersecting a radial direction, at a position separated from the axis in the radial direction, and presses a surface of a workpiece held between the holding pads.
1. A hand comprising:
a pair of finger members disposed separated by an interval and relatively movable in an interval direction;
a finger drive unit that moves at least one of the finger members in the interval direction;
a pair of holding pads that are provided on the respective finger members, the pair of holding pads being supported to face each other and to be rotatable around an axis extending in the interval direction;
a pressing member that is provided to be movable in a direction intersecting a radial direction, at a position separated from the axis in the radial direction, the pressing member pressing a surface of a workpiece held between the holding pads; and
wherein the pressing member comprises a rod movable in the direction intersecting the radial direction, and a cam follower that is supported to be rotatable around an axis parallel to the axis at a tip end of the rod and is pressed against the surface of the workpiece.
2. A hand system, comprising:
the hand according to claim 1 ; and
a control unit, wherein
the hand includes a sensor that detects a rotation amount of at least one of the holding pads around the axis, and a pressing drive unit that moves the pressing member, and
the control unit controls the pressing drive unit on a basis of the rotation amount detected by the sensor.
3. The hand system according to claim 2 , wherein the control unit controls the pressing drive unit to cause variation of the rotation amount detected by the sensor after the hand holds the workpiece, to become zero.
4. The hand system according to claim 2 , further comprising an imaging apparatus that acquires a captured image at a vicinity of the holding pads, wherein
the control unit detects a shape of the workpiece in the captured image, and causes the holding pads to hold respective positions of the workpiece at which the moved pressing member can press the workpiece, on a basis of the detected shape of the workpiece.