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US 12,734,715 B2Granted
Robot hand
AssigneeSintokogio, Ltd.
InventorsYoshikane Tanaami, Miyuki Hayashi, Takahiro Kokawaji
Life of this patent
Estimating the term…
Abstract
Provided is a robot hand including: a plurality of claw members configured to grip a gripping target member; a support member that holds one end portions of the respective claw members such that the claw members are swingable; an actuator configured to drive the claw members; and a plurality of sensors attached to the respective claw members, each of the sensors being configured to sense an amount of deformation of a corresponding one of the claw members to which the sensors are attached, when the claw members grip the gripping target member.
Claims4
A robot hand comprising:
- a plurality of claw members configured to grip a gripping target member;
- a support member that holds one end portions of the respective claw members such that the claw members are swingable;
- an actuator configured to drive the claw members;
- and
- a plurality of sensors attached to the respective claw members, each of the sensors being configured to sense an amount of deformation of a corresponding one of the claw members to which the sensors are attached, when the claw members grip the gripping target member, wherein
- each of the claw members has a pair of faces facing opposite sides in a direction in which each of the claw members swings,
- each of the sensors is mounted on one of the faces, and is configured to sense an amount of longitudinal deformation of a corresponding one of the claw members,
- each of the claw members has a groove formed on the other of the faces and functioning as stress concentration point, the groove extending across an entire width of each of the claw members in a direction orthogonal to a longitudinal direction of each of the claw members, and
- the stress concentration point is located opposite a corresponding one of the sensors.
6 more elements
Dependencies are inferred from the claim text.