Title:
ROBOT HAND
Document Type and Number:
WIPO Patent Application WO/2019/225219
Kind Code:
A1
Abstract:
The purpose of the present invention is to provide a robot hand which, when transferring an object that tends to sag by means of an arm, can grasp said object as stably as possible even when the exposed part of the object is very narrow in the width direction of a holding box. This robot hand 100 is provided with a first finger 110, a second finger 120, a finger moving mechanism 130, a slide receiver 160 and a biasing member 170. The second finger is arranged facing the first finger. The finger moving mechanism moves at least one of the first finger and the second finger in the direction of opposition between the first finger and the second finger. The slide receiver is arranged near at least one lateral surface of at least one of the first finger and the second finger. Also, the slide receiver can slide along a direction parallel to the depth direction of the finger. The biasing member biases the slide receiver towards the distal end of the finger.
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Inventors:
UEMIZO YOSHIAKI (JP)
UEDA TAKASHI (JP)
UEDA TAKASHI (JP)
Application Number:
PCT/JP2019/016236
Publication Date:
November 28, 2019
Filing Date:
April 16, 2019
Export Citation:
Assignee:
NIPPON KINSEN KIKAI KK (JP)
International Classes:
B25J15/08; G07D11/00
Foreign References:
| JP2016031619A | 2016-03-07 | |||
| JP2007083331A | 2007-04-05 | |||
| JPS6292095A | 1987-04-27 |
Other References:
See also references of EP 3797945A4
Attorney, Agent or Firm:
KITAHARA Hiroyoshi et al. (JP)
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