Title:
CHOPSTICKS GRIPPER
Document Type and Number:
Japanese Patent JP2023130606
Kind Code:
A
Abstract:
To provide a gripper which enables a finger part to be inserted between an object and a ground surface and causes less load on a robot arm even when the finger part contacts an object environment.SOLUTION: A chopsticks gripper has: a flange part 1 connected to a robot arm A; finger parts 2a, 2b gripping an object O; and joint parts 3 connecting the flange part 1 with the finger parts 2a, 2b. The finger parts 2a, 2b are provided with: a plurality of flexible membranes 10 swelling and contracting substantially semi-spherically with the air; support bases 20 fixing the flexible membranes 10; means for causing the flexible membranes 10 to swell and contract, with end edges 15 of the flexible membranes 10 being fixed to the support bases 20, respectively; and rod-like chopstick parts 30 gripping the object O. The support bases 20 are each provided with an inner support bases 21 and an outer support bases 22. A direction in which the inner flexible membranes 11 fixed to the inner support bases 21 swell and a direction in which outer flexible membranes 12 fixed to the outer support bases 22 swell face each other. The chopstick parts 30 are fitted to swelling sides of the flexible membranes 10, respectively.SELECTED DRAWING: Figure 1
Inventors:
KAWAMURA SADAO
WANG ZHONGKUI
WANG ZHONGKUI
Application Number:
JP2022034988A
Publication Date:
September 21, 2023
Filing Date:
March 08, 2022
Export Citation:
Assignee:
RITSUMEIKAN
International Classes:
B25J15/08
Attorney, Agent or Firm:
Mitsuhiko Watanabe
Ryusuke Mizuuchi
Ryusuke Mizuuchi
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