Title:
ハンド機構
Document Type and Number:
Japanese Patent JP6693190
Kind Code:
B2
Abstract:
A hand mechanism according to the present invention is configured to be able to grip an object to be gripped with a plurality of finger units, the hand mechanism comprising a hand main body unit that makes gripping in a first gripping state and gripping in a second gripping state possible, a thumb unit that comprises a first drive transmission unit that revolves the thumb unit about the hand main body unit between a gripping position in the first gripping state and a gripping position in the second gripping state with a first actuator and a second drive transmission unit that bends the thumb unit with respect to the hand main body unit with a second actuator, an operation finger unit that comprises a third drive transmission unit that performs bending with a third actuator and a fourth drive transmission unit that performs bending with a fourth actuator, and an auxiliary finger unit comprising a fifth drive transmission unit that bends the auxiliary finger unit with respect to the hand main body unit with a fifth actuator. As a result, the hand mechanism that enables a gripping operation approximated to a human gripping operation as much as possible is made smaller.
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Inventors:
Masaki Nagatsuka
Fumiya Koizumi
Fumiya Koizumi
Application Number:
JP2016049943A
Publication Date:
May 13, 2020
Filing Date:
March 14, 2016
Export Citation:
Assignee:
THK CO.,LTD.
International Classes:
B25J15/08
Domestic Patent References:
| JP2004351567A | ||||
| JP2005088147A | ||||
| JP2005349490A | ||||
| JP2005349491A |
Foreign References:
| WO2012039479A1 | ||||
| CN101716767A | ||||
| CN102303317A | ||||
| CN102357889A | ||||
| KR1020110080921A | ||||
| DE202005020915U1 | ||||
| US20150298319 |
Attorney, Agent or Firm:
Kazunobu Sera
Yoshiyuki Kawaguchi
Hiroyasu Kanai
Koichiro Sakai
Katsuhiko Imahori
Yoshiyuki Kawaguchi
Hiroyasu Kanai
Koichiro Sakai
Katsuhiko Imahori