To provide a gripping device which reduces objects to be gripped that are not good at gripping, and has a high versatility.SOLUTION: A gripping device 20, which grips an object to be gripped by a tip gripping part 21b in such a manner that a plurality of movable members 21A to 21F located around a gripping center axis O moves so that each tip gripping part of the plurality of movable members can approach toward the gripping center axis, has holding mechanisms 22, 23 which hold base end parts 21a of the plurality of movable members around the gripping center axis so that the afore-said movement is possible, and in at least a region near the gripping center axis, the tip gripping part is positioned on a side nearer to the object to be gripped with respect to the base end part in an axial direction of the gripping center axis.SELECTED DRAWING: Figure 4
【課題】把持することが不得手な被把持物を減らし、汎用性の高い把持装置を提供する。【解決手段】把持中心軸Oの周囲に配置される複数の可動部材21A〜21Fが、該複数の可動部材それぞれの先端把持部21bを該把持中心軸に向けて近づけるように移動することで、該先端把持部によって被把持物を把持する把持装置20であって、前記移動が可能なように、前記複数の可動部材の基端部21aを前記把持中心軸の周囲で保持する保持機構22,23を有し、少なくとも前記把持中心軸に近い領域では、該把持中心軸の軸方向で、前記先端把持部が前記基端部よりも被把持物に近い側に位置するように構成されている。【選択図】図4
GRIPPING DEVICE APPLICABLE FOR CONICAL IRIS ROBOT HAND, ROBOT ARM AND FLIGHT BODY
円錐型アイリスロボットハンドに適用可能な把持装置、ロボットアーム及び飛行体
2021-09-16
Patent
Electronic Resource
Japanese
Robot hand for gripping cylindrical object and robot having the robot hand
European Patent Office | 2015
|