# US 2017/0282379 A1 · Robot gripping device

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- Number: US 2017/0282379 A1
- Document ID: US20170282379A1
- Status: Published application
- Kind: A1
- Application number: 15/454,077
- Filed: 2017-03-09
- Published: 2017-10-05
- Earliest claimed: 2016-04-04
- Assignees: Fanuc Corporation
- Applicants: Fanuc Corporation
- Inventors: Kazutaka Nakayama
- Web page: https://patentgrep.com/patent/US20170282379A1

## CPC

- B25J 15/12: with flexible finger members
- B25J 15/0009: {comprising multi-articulated fingers, e.g. resembling a human hand}
- B25J 15/0028: {with movable, e.g. pivoting gripping jaw surfaces}
- B25J 15/10: with three or more finger members {(B25J15/0009 takes precedence)}
- B25J 19/022: {using lasers}
- B25J 19/023: {including video camera means}
- Y10S 901/30: End effector
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

A robot gripping device has finger parts. Each finger part has a finger part body which is comprised of a plurality of plate-shaped elastic members, a first anti-slip part which is provided at an inside surface of a front end side of the finger part body, and a reinforcing member which is arranged along an outer surface of the finger part body, is connected to the front end of the finger part body, and is higher in rigidity than the finger part body. The reinforcing member has a first rotary joint which makes the reinforcing member pivot about a first axis of rotation which is perpendicular to the longitudinal direction of the finger part body. The robot gripping device has a drive part which makes a base end of the finger part body move along the center of grip to make the finger parts open and close.

## Claims

### Claim 1

A robot gripping device having two or more finger parts, in which front ends of the finger parts move toward a center of grip so as to grip an object to be gripped,
each finger part having a finger part body which is comprised of at least two or more plate-shaped elastic members, a first anti-slip part which is provided at an inside surface of a front end side of the finger part body, and a reinforcing member which is arranged along an outer surface of the finger part body, is connected to the front end of the finger part body, and is higher in rigidity than the finger part body,
said front ends and the base ends of the at least two or more plate-shaped elastic members of the finger part body being secured to one another while the at least two or more plate-shaped elastic members are overlapped one another in their thickness direction,
said finger part body being one of finger part bodies which extend toward the center of grip and face each other,
said reinforcing member having a first rotary joint which makes the reinforcing member pivot about a first axis of rotation which is perpendicular to the longitudinal direction of the finger part body and which is parallel to the surface of the finger part body, and
said robot gripping device having a drive part which makes a base end of the finger part body move along the center of grip to make the finger parts open and close, wherein
when said drive part makes the base ends of the finger part bodies move downward along the center of grip, the finger part bodies of the finger parts are curved outward and are spaced from each other, so that the finger parts are made open, and
when said drive part makes the base ends of the finger part bodies move upward along the center of grip, the finger part bodies of the finger parts are curved inward, so that the finger parts are made close.

### Claim 2 (depends on 1)

The robot gripping device according to claim 1, wherein said reinforcing member has a second rotary joint which makes said reinforcing member pivot about a second axis of rotation which is parallel to said first axis of rotation and which is between said first rotary joint and the front end of said finger part body.

### Claim 3 (depends on 1)

The robot gripping device according to claim 1, wherein each said finger part further has one or more second anti-slip parts at the inside surface of said finger part body.

### Claim 4 (depends on 3)

The robot gripping device according to claim 3, further comprising:
a connection member for connecting the second anti-slip part to the finger part body; and
a separation limiting part for preventing the second anti-slip part from moving away from the inside surface of the finger part body by more than a predetermined distance.

### Claim 5 (depends on 1)

The robot gripping device according to claim 1, wherein a gripping surface of the first anti-slip part of one finger part is arranged with respect to a gripping surface of the first anti-slip part of another finger part so that when the finger parts are closed, the front end sides of the finger parts first contact.

### Claim 6 (depends on 2)

The robot gripping device according to claim 2, wherein said second rotary joint is provided with a rotation limiting part which prevents rotation by over a predetermined rotational angle.

### Claim 7 (depends on 1)

The robot gripping device according to claim 1, wherein said first anti-slip part is provided with a protective member which protects the front end of said finger part body and wherein said protective member sticks out from said first anti-slip part to the front end side of said finger part.

### Claim 8 (depends on 1)

The robot gripping device according to claim 1, which is provided with a pushing part which pushes against an outside surface of said finger part body near a base end of said finger part body.

### Claim 9 (depends on 1)

The robot gripping device according to claim 1, wherein said first anti-slip part is formed at its gripping surface with a plurality of relief parts, a plurality of projections, or a plurality of groove parts.

### Claim 10 (depends on 1)

The robot gripping device according to claim 1, which is provided with an adjusting part which defines and adjusts an interval over which the base end of said finger part body is made to move.

### Claim 11 (depends on 1)

The robot gripping device according to claim 1, which is provided with a measuring part which measures a weight of said object.

### Claim 12 (depends on 1)

The robot gripping device according to claim 1, which is provided with a grip recognizing part which is provided near said first anti-slip part and which obtains a grasp of the gripped state by being pushed against.

### Claim 13 (depends on 12)

The robot gripping device according to claim 12, wherein said grip recognizing part which is provided near said first anti-slip part includes a detection device, a detection device pushing part which pushes against said detection device, and a push limiting part which limits said detection device pushing part from pushing against said detection device by a predetermined amount or more.

### Claim 14 (depends on 2)

The robot gripping device according to claim 2 further comprising joint angle recognition parts which are provided in the vicinity of the second rotary joint, to output a signal at a predetermined angle of rotation.

### Claim 15 (depends on 1)

The robot gripping device according to claim 1, which is provided with an object detecting part which detects by a contact method or noncontact method the presence of the object which is gripped by said finger parts.