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Title:
GRIPPING MECHANISM AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2023/233468
Kind Code:
A1
Abstract:
This gripping mechanism can reliably grip recesses as well as protrusions. The gripping mechanism (100) comprises a plurality of leg parts (110) that extend in a longitudinal direction and are arranged in a transverse direction that intersects the longitudinal direction, and a support part (101) that supports the leg parts such that each leg part can move independently back and forth in the longitudinal direction. The leg parts are sets of divided leg parts (120, 130) that are divided in a front/back direction that intersects the longitudinal direction and the transverse direction and are adjacent to each other in the front/back direction. The support part includes a transverse movement part (150) that moves the divided leg parts of each set relative to each other in the transverse direction, and longitudinal biasing parts (170) that bias the leg parts in the longitudinal direction.

Inventors:
KATO TAKUYA (JP)
UNO KENTARO (JP)
Application Number:
PCT/JP2022/021947
Publication Date:
December 07, 2023
Filing Date:
May 30, 2022
Export Citation:
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Assignee:
UNIV TOHOKU (JP)
International Classes:
B25J15/08
Domestic Patent References:
WO2009062461A12009-05-22
WO2016045833A12016-03-31
WO2021070575A12021-04-15
Foreign References:
US5957517A1999-09-28
JPS6478782A1989-03-24
JPS61244485A1986-10-30
FR2945468A12010-11-19
US5988618A1999-11-23
JPH08503422A1996-04-16
US4609220A1986-09-02
US3507404A1970-04-21
Attorney, Agent or Firm:
TAZAKI Akira et al. (JP)
Download PDF:
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