Title:
ROBOT HAND
Document Type and Number:
WIPO Patent Application WO/2021/014828
Kind Code:
A1
Abstract:
The present invention addresses the problem of providing a robot hand capable of drawing out, with high probability, objects, such as paper sheets (a bundle of banknotes, etc.), from a banknote storage container configured so that the exposed area of the upper side of the bundle of banknotes is fairly small. A robot hand 300 of the present invention comprises a first finger 310, 320, and a second finger 310, 320, and a finger moving mechanism 330. The first finger extends in a first direction Dy. The second finger also extends in the same first direction as the first finger does. Additionally, the second finger is arranged so as to face the first finger. The finger moving mechanism moves at least one of the first and second fingers along the direction in which the first and second fingers face each other. Furthermore, in the first direction, the leading-end position Tm, Ts of the first finger is different from leading-end position Tm, Ts of the second finger.
Inventors:
UEMIZO YOSHIAKI (JP)
UEDA TAKASHI (JP)
UEDA TAKASHI (JP)
Application Number:
PCT/JP2020/023524
Publication Date:
January 28, 2021
Filing Date:
June 16, 2020
Export Citation:
Assignee:
NIPPON KINSEN KIKAI KK (JP)
International Classes:
G07D11/16; B25J15/08
Foreign References:
| JP2006341361A | 2006-12-21 | |||
| JP2010058978A | 2010-03-18 | |||
| JP2011131341A | 2011-07-07 | |||
| JP2014226759A | 2014-12-08 | |||
| JP2016124064A | 2016-07-11 | |||
| JP2017209764A | 2017-11-30 | |||
| CN106313014A | 2017-01-11 | |||
| CN107381028A | 2017-11-24 |
Attorney, Agent or Firm:
KITAHARA Hiroyoshi et al. (JP)
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