US Patent No. 9,132,555

ROBOT GRIPPING DEVICE


Patent No. 9,132,555
Issue Date September 15, 2015
Title Robot Gripping Device
Inventorship Kazutaka Nakayama, Yamanashi (JP)
Assignee Fanuc Corporation, Yamanashi (JP)

Claim of US Patent No. 9,132,555

1. A robot gripping device which has two or more finger parts and has front ends of the finger parts move toward a center
of grip so as to grip an object, said device comprising:
each said finger part having a finger part body which is comprised of a plate-shaped elastic member, a first anti-slip part
which is provided at an inside surface of a front end side of said finger part body, and a reinforcing member which is arranged
along an outer surface of said finger part body, is connected to the front end said of said finger part body, and is higher
in rigidity than said finger part body,

the finger part body of each said finger part is opposed with each other toward the center of grip,
said reinforcing member having a first rotary joint which makes said reinforcing member pivot about a first axis of rotation
which is vertical to a longitudinal direction of said finger part body and which is parallel with a surface of the finger
part body of each said finger part, and

said robot gripping device having a drive part which makes a base end of said finger part body move along said center of grip
to make said finger part open and close;

wherein if the drive part moves a proximal end of the finger part body of each said finger part in the downward direction
along the center of grip, the finger part body of each said finger part bends outwardly to separate with each other, so that
the finger parts open, and

wherein if the drive part moves the proximal end of the finger part body of each said finger part in the upward direction
along the center of grip, the finger part body of each said finger part bends inwardly, so that the finger parts close.