A robot gripping device (60) where each finger part has a finger part body (1) which is comprised of a plate-shaped elastic member, a first anti-slip part (2) which is provided at an inside of a front end side of the finger part body, and a reinforcing member (20) which is arranged along an outer su
A robot gripping device (60) where each finger part has a finger part body (1) which is comprised of a plate-shaped elastic member, a first anti-slip part (2) which is provided at an inside of a front end side of the finger part body, and a reinforcing member (20) which is arranged along an outer surface of the finger part body, is connected to the front end of the finger part body, and is higher in rigidity than the finger part body, the reinforcing member having a first rotary joint (4) which makes the reinforcing member pivot about a first axis of rotation which is vertical to a longitudinal direction of the finger part body, and the robot gripping device having a drive part (62) which makes a base end of the finger part body move along the center of grip to make the finger part open and close.
대표청구항▼
1. A robot gripping device which has two or more finger parts and has front ends of the finger parts move toward a center of grip so as to grip an object, said device comprising: each said finger part having a finger part body which is comprised of a plate-shaped elastic member, a first anti-slip pa
1. A robot gripping device which has two or more finger parts and has front ends of the finger parts move toward a center of grip so as to grip an object, said device comprising: each said finger part having a finger part body which is comprised of a plate-shaped elastic member, a first anti-slip part which is provided at an inside surface of a front end side of said finger part body, and a reinforcing member which is arranged along an outer surface of said finger part body, is connected to the front end said of said finger part body, and is higher in rigidity than said finger part body,the finger part body of each said finger part is opposed with each other toward the center of grip,said reinforcing member having a first rotary joint which makes said reinforcing member pivot about a first axis of rotation which is vertical to a longitudinal direction of said finger part body and which is parallel with a surface of the finger part body of each said finger part, andsaid robot gripping device having a drive part which makes a base end of said finger part body move along said center of grip to make said finger part open and close;wherein if the drive part moves a proximal end of the finger part body of each said finger part in the downward direction along the center of grip, the finger part body of each said finger part bends outwardly to separate with each other, so that the finger parts open, andwherein if the drive part moves the proximal end of the finger part body of each said finger part in the upward direction along the center of grip, the finger part body of each said finger part bends inwardly, so that the finger parts close. 2. The robot gripping device according to claim 1, wherein said reinforcing member has a second rotary joint which makes said reinforcing member pivot about a second axis of rotation which is parallel to said first axis of rotation and which is between said first rotary joint and the front end of said finger part body. 3. The robot gripping device according to claim 2, wherein said second rotary joint is provided with a rotation limiting part which prevents rotation opening outwardly by over a predetermined rotational angle. 4. The robot gripping device according to claim 1, wherein each said finger part further has one or more second anti-slip parts at the inside surface of said finger part body. 5. The robot gripping device according to claim 1, wherein said first anti-slip part is formed with a recessed part at its center, said first anti-slip part has a thickness which gradually becomes thinner the closer to an outer circumference part of said first anti-slip part, and said first anti-slip part is an elastic member which is comprised of a polymer compound. 6. The robot gripping device according to claim 5, wherein said first anti-slip part is formed at its recessed part with an air hole which extends to the outside of said finger part. 7. The robot gripping device according to claim 1, wherein a gripping surface of the first anti-slip part of one finger part is arranged with respect to a gripping surface of the first anti-slip part of another finger part so that when the finger parts are closed, the front end sides of the finger parts first contact. 8. The robot gripping device according to claim 1, wherein said first anti-slip part is provided with a protective member which protects the front end of said finger part body and wherein said protective member sticks out from said first anti-slip part to the front end side of said finger part. 9. The robot gripping device according to claim 1, which is provided with a pushing part which pushes against an outside surface of said finger part body near a base end of said finger part body. 10. The robot gripping device according to claim 1, wherein said first anti-slip part is formed at its gripping surface with a plurality of relief parts, a plurality of projections, or a plurality of groove parts. 11. The robot gripping device according to claim 1, which is provided with an adjusting part which defines and adjusts an interval over which the base end of said finger part body is made to move. 12. The robot gripping device according to claim 1, which is provided with a measuring part which measures a weight of said object. 13. The robot gripping device according to claim 1, which is provided with a grip recognizing part which is provided near said first anti-slip part and which obtains a grasp of the gripped state by being pushed against. 14. The robot gripping device according to claim 13, wherein said grip recognizing part which is provided near said first anti-slip part includes a detection device, a detection device pushing part which pushes against said detection device, and a push limiting part which limits said detection device pushing part from pushing against said detection device by a predetermined amount or more. 15. The robot gripping device according to claim 1, which is provided with an object detecting part which detects by a contact method or noncontact method the presence of the object which is gripped by said finger parts.
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