To avoid a damage of a farm product following the grasping of the farm product by fingers.
The holes for connection at the base end side of plural hollow fingers which consist of a soft material are connected to plural finger supporting members 65 separately from the outer side. At the same time, the robot hand is composed to bend and deform the fingers 16 in the grasping condition by the feeding pressure of a fluid into the fingers 16, and they are restored to the grasping releasing condition by exhausting the fluid. Further, a taper 66 to position the surface directing the farm product side of the grasping surface part by burying the difference in level at the part, at the contracted diameter side as separating further from the tips of the fingers 16, is also provided.
JP2019055455 | ROBOT HAND, AND CONTROL METHOD OF ROBOT HAND |
JP2012245590 | GRIPPER DEVICE |
MATSUBARA KAZUAKI
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