ROBOT HAND AND ROBOT DEVICE
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专利名称：ROBOT HAND AND ROBOT DEVICE
发明人：FUJINO MASAHISA,藤野 雅久
申请号：JP2014099443
申请日：20140513
公开号：JP2015214003A
公开日：
20151203
专利内容由知识产权出版社提供
专利附图：
摘要：PROBLEM TO BE SOLVED: To set holding force with high accuracy.SOLUTION: A finger section 120 includes: a main finger 121 moved in directions of arrows X1 and X2 by a conversion mechanism 130; a sub-finger 122 supported by the main finger 121 so as to be movable relatively to the main finger 121; and a compression coil spring 140 which
energizes the sub-finger 122, expands/contracts according to the relative movement of the sub-finger 122 to the main finger 121, generates elastic force corresponding to expansion/contraction amount and gives holding force to the sub-finger 122 by the elastic force. A control section 201 measures angle change amount of a detection value of a rotation angle detected by an encoder 103 on the basis of the time of holding a workpiece W, rotationally drives an AC motor 111 of a rotation driving source 102 to have target angle change amount required for setting the holding force for holding a workpiece W to target holding force, changes the angle change amount, and controls the holding force of the sub-finger 122 given by the elastic force of the compression coil spring 140.
申请人：CANON INC,キヤノン株式会社
地址：東京都大田区下丸子３丁目３０番２号
国籍：JP
代理人：近島 一夫,大田 隆史
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