A robot gripping device has finger parts. Each finger part has a finger part body which is comprised of a plurality of plate-shaped elastic members, a first anti-slip part which is provided at an inside surface of a front end side of the finger part body, and a reinforcing member which is arranged a
A robot gripping device has finger parts. Each finger part has a finger part body which is comprised of a plurality of plate-shaped elastic members, a first anti-slip part which is provided at an inside surface of a front end side of the finger part body, and a reinforcing member 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 has a first rotary joint which makes the reinforcing member pivot about a first axis of rotation which is perpendicular to the longitudinal direction of the finger part body. The robot gripping device has a drive part which makes a base end of the finger part body move along the center of grip to make the finger parts open and close.
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1. A robot gripping device which has two or more finger parts, each of the two or more finger parts has a front end that can be moved toward a center of grip so as to grip an object, said device comprising: each of said two or more finger parts having a finger part body which is comprised of at leas
1. A robot gripping device which has two or more finger parts, each of the two or more finger parts has a front end that can be moved toward a center of grip so as to grip an object, said device comprising: each of said two or more finger parts having a finger part body which is comprised of at least two or more plate-shaped elastic members, a first anti-slip part which is provided at an inside surface of the finger part body, and a reinforcing member which is arranged along an outer surface of the finger part body, the reinforcing member is connected to the front end of the finger part body, and is higher in rigidity than the finger part body,said finger part body of each of said two or more finger parts is opposed with each other toward the center of grip,said reinforcing member having a first rotary joint 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 which is parallel with a surface of the finger part body of each of said two or more finger parts, andsaid robot gripping device having a drive part which makes a base end of the finger part body move along the center of grip, whereinif the drive part moves the proximal end of the finger part body of each said two or more finger parts in the downward direction along the center of grip, the finger part body of each of said two or more finger parts bends outwardly, so that the two or more finger parts close, andif the drive part moves the proximal end of the finger part body of each of said two or more finger parts in the upward direction along the center of grip, the finger part body of each said two or more finger parts bends inwardly, so that the two or more 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 by over a predetermined rotational angle. 4. The robot gripping device according to claim 2 further comprising joint angle recognition parts which are provided in the vicinity of the second rotary joint, to output a signal at a predetermined angle of rotation. 5. The robot gripping device according to claim 1, wherein each of said two or more finger part further has one or more second anti-slip parts at the inside surface of said finger part body. 6. The robot gripping device according to claim 5, further comprising: a connection member for connecting the second anti-slip part to the finger part body; anda separation limiting part for preventing the second anti-slip part from moving away from the inside surface of the finger part body by more than a predetermined distance. 7. The robot gripping device according to claim 1, wherein a gripping surface of the first anti-slip part of one of said two or more finger parts is arranged with respect to a gripping surface of the first anti-slip part of another of said one or two finger parts so that when the finger parts are closed at least a portion of the inside surface of the finger part body 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 the 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 two or more finger parts.
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