Title:
ROBOT HAND
Document Type and Number:
Japanese Patent JP3245540
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To firmly grip an article with each finger part regardless of its diameter, and prevent the article from falling down.
SOLUTION: This robot hand is provided with a finger opening diameter change adjustment mechanism 36 which changes the initial opening diameter of a finger part 16 so as to adjust it, a detection means detecting that the base end side of each finger 16 located around the circumference of the article approaches or comes in contact with the article, and a control means controlling how to hold and grip the article. The control means is so constituted that its initial opening diameter of the finger part 16 is set at a large diameter side, let each finger part 16 be positioned around the circumference of the article in a state that the finger part 16 is opened, let the finger opening diameter change adjusting mechanism 36 be actuated to a diameter contracting side thereafter, and when it is detected by the detection means that the base end side of each finger part 16 approaches or comes in contact the the article, each finger 16 is thereby actuated to a closing side so as to be bent for gripping the article based on the result of the detection.
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Inventors:
Kenichi Iwami
Koji Kuromi
Kazuaki Matsubara
Takashi Iwakawa
Koji Kuromi
Kazuaki Matsubara
Takashi Iwakawa
Application Number:
JP33793696A
Publication Date:
January 15, 2002
Filing Date:
December 18, 1996
Export Citation:
Assignee:
Kubota Corporation
International Classes:
B25J15/08; (IPC1-7): B25J15/08
Domestic Patent References:
| JP4916165A | ||||
| JP3154794A | ||||
| JP4135194A | ||||
| JP6071183A | ||||
| JP62113212A |
Attorney, Agent or Firm:
Shuichiro Kitamura