Title:
ROBOT HAND
Document Type and Number:
WIPO Patent Application WO/2022/091719
Kind Code:
A1
Abstract:
This robot hand 100 comprises: a first finger 2 and a second finger 3; and a first moving mechanism 5 which cause the first finger 2 and the second finger 3 to approach each other in a predetermined movement direction to grip a workpiece. The first moving mechanism 5 has: a first movable pulley 53; a first wire 56 which has two end sections respectively connected to the first finger 2 and the second finger 3 and is wound onto the first movable pulley 53; and a first air cylinder 57 which moves the first movable pulley 53. The first air cylinder 57 moves the first movable pulley 53 so that the first finger 2 and the second finger 3 are made to approach each other by means of the tension of the first wire 56 acting on the first finger 2 and the second finger 3.
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Inventors:
ORYU TAMAMI
WADA HISAO
MURASE YOHEI
FUKUDA HIROAKI
WADA HISAO
MURASE YOHEI
FUKUDA HIROAKI
Application Number:
PCT/JP2021/036878
Publication Date:
May 05, 2022
Filing Date:
October 05, 2021
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J3/00; B25J15/08
Foreign References:
| JP2019034371A | 2019-03-07 | |||
| JP2007203402A | 2007-08-16 | |||
| JP2012066357A | 2012-04-05 | |||
| JPS6299094A | 1987-05-08 |
Other References:
See also references of EP 4238706A4
Attorney, Agent or Firm:
TERAZONO Kenichi et al. (JP)
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