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US 12,752,436 B2Granted
End effector with linkage mechanism having arm portions and grip portions
AssigneeToyota Jidosha Kabushiki Kaisha
InventorsTakeru Shirasawa, Atsushi Ushirone, Hana Ishihara, Yuya Takiguchi, Taiga Muramatsu, Yukiyasu Domae, Ryuichi Takase
Life of this patent
Estimating the term…
Abstract
An end effector includes: a linkage mechanism coupled to a tip of a robot arm. Further, the linkage mechanism includes openable and closable arm portions provided on a tip side of the linkage mechanism, and grip portions acquired by extension of the arm portions.
Claims14
An end effector comprising:
- a linkage mechanism comprising:
- a base link coupled to the tip of the robot arm;
- a pair of first links each having a proximate end and a distal end, the proximate end of each of the pair of first links is pivotally coupled to the base link;
- a pair of second links each having a link side and a tip side, the link side of each second link is pivotally coupled to the distal end of one of the pair of first links;
- a pair of openable and closable arm portions each provided on a tip side of one of the pair of second links;
- and
- a pair of grip portions extending from the pair of arm portions, the grip portions acquired by extension of the arm portions.
4 more elements
An end effector comprising:
- a linkage mechanism coupled to a tip of a robot arm, the linkage mechanism comprising:
- a base link;
- a pair of first links coupled to the base link;
- and
- a pair of second links coupled to the pair of first links, the pair of second links including openable and closable arm portions provided on a tip side of the pair of second links, and grip portions acquired by extension of the arm portion,
- wherein the grip portions including protrusion members that support fixation of an object to be gripped, and
- wherein a protrusion angle of the protrusion members with respect to the grip portions being set to a protrusion angle along a trajectory at a time of opening and closing of the grip portions.
4 more elements
Dependencies are inferred from the claim text.