GRASPING MECHANISM AND GRASPING DEVICE

WIPO Patent Application WO/2017/208320

A1

This grasping mechanism (3) is configured to increase the force of opening a pair of relative grasping sections, and the grasping mechanism (3) comprises: the two grasping sections (5, 6) which are caused to pivot relative to each other about a pivot axis (A1); a grasping device body (2) for supporting, at the front end thereof, at least one of the grasping sections so that the at least one of the grasping sections can pivot; a pull pulley (7) supported so as to be rotatable about a rotation axis (A2) parallel to the pivot axis (A1); and an opening wire (8) wound about the pull pulley (7) and configured such that one end of the opening wire (8) is affixed to either of the grasping sections (5, 6) or to the grasping device body (2) and such that pull force applied to the other end applies tension to the portions of the pull pulley (7), which are located on both sides of the rotation axis (A2), to move the rotation axis (A2) in one direction. The pull pulley (7) is disposed such that the resultant of the tension of the opening wire (8) acting on the rotation axis is greater than the pull force and generates moment which causes the grasping sections (5, 6) to pivot in the direction in which the grasping sections (5, 6) open relative to each other.

JP2570528	[Name of invention] Parallel opening / closing chuck device
JP2975822	[Title of Invention] Robot Hand
JPH098099	CHUCK EQUIPMENT

JOGASAKI SHUYA (JP)
YAMANAKA NORIAKI (JP)

PCT/JP2016/065962

December 07, 2017

May 31, 2016

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OLYMPUS CORP (JP)

B25J15/08

JP2000325375A	2000-11-28
JP2007301692A	2007-11-22
JP2002102248A	2002-04-09
JP2012187311A	2012-10-04

UEDA, Kunio et al. (JP)

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