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US 4,623,183 AGranted
Robot hand
AssigneeKabushiki Kaisha Toshiba
InventorKoukichi Aomori
Life of this patent
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Abstract
A robot arm includes an outer casing and three rotating members of different diameters coaxially disposed in the outer casing for relative rotation and rockably supporting the proximal end portions of three fingers. These fingers are rocked against the rotating members in a plane including a central axis of the outer casing and rotated to change the relative angles between the fingers by selectively rotating the members around the central axis of the outer casing to prescribed positions.
Claims8
A robot hand attached to the distal end of a robot arm, comprising:
- a main body fixed to the arm;
- a plurality of fingers;
- supporting means attached to the main body and rockably supporting at least one of the fingers;
- first driving means for rocking the fingers;
- and
- second driving means for rotating at least one of said supporting means to change the relative angles between the fingers, wherein said main body includes an outer casing, and said supporting means comprise a plurality of rotating members coaxially disposed in the outer casing for relative rotation and each said rotating member rockably supports the proximal end portion of one of the fingers.
3 more elements
Dependencies are inferred from the claim text.