Title:
GRIPPING DEVICE AND ROBOT ARM
Document Type and Number:
Japanese Patent JP2020040178
Kind Code:
A
Abstract:
To provide a gripping device capable of suppressing the occurrence of a situation causing troubles in expanding/contracting of a gripping space and gripping a gripped object which is gripped in the gripping space without sliding the gripped object even when moving the gripped object along an axis line direction of the gripping space.SOLUTION: A gripping device 20 grips a gripped object in a gripping space 30 by reducing the gripping space formed by being surrounded by a plurality of movable members 21A to 21F when the plurality of movable members annularly arranged to be adjacent to each other move by mutually opposing adjacent surfaces between the movable members adjacent to each other. A first engaging shape section 21c formed on a first adjacent surface which is a wall surface of the gripping space of the two adjacent surfaces opposed to each other between the movable members adjacent to each other is engaged with a second engaging shape section formed on the second adjacent surface which is not the wall surface of the gripping space of the two adjacent surfaces so that relative displacement is regulated in one direction which is a direction orthogonal to a relative movement direction of the two adjacent surfaces and along a direction parallel to the adjacent surfaces or both directions.SELECTED DRAWING: Figure 3
Inventors:
EGAMI TADASHI
YOSHIKAWA TOMOYASU
YOSHIKAWA TOMOYASU
Application Number:
JP2018170260A
Publication Date:
March 19, 2020
Filing Date:
September 12, 2018
Export Citation:
Assignee:
UNIV KANAGAWA
International Classes:
B25J15/00
Domestic Patent References:
| JP2015009326A | 2015-01-19 | |||
| JP2001105374A | 2001-04-17 | |||
| JP2017132032A | 2017-08-03 | |||
| JP2016175355A | 2016-10-06 | |||
| JP2011251381A | 2011-12-15 | |||
| JP2007525275A | 2007-09-06 |
Foreign References:
| WO1994014573A1 | 1994-07-07 | |||
| US20040148909A1 | 2004-08-05 | |||
| US4454657A | 1984-06-19 | |||
| WO2006040852A1 | 2006-04-20 | |||
| US20070271990A1 | 2007-11-29 |
Attorney, Agent or Firm:
Toshi Kuroda
Okugawa victory
Okugawa victory