Fluid pressure actuator and robot hand

Abstract

Proposed is a structure for preventing slippage between a functional cover and a sealing portion on the tip-end side of a fluid pressure actuator when the functional cover is mounted on the actuator, which constitutes a finger portion of a robot hand.　The fluid pressure actuator is operated by a fluid pressure supplied into a tube and comprises an inner layer cover covering at least a tip-end portion of the fluid pressure actuator, and an outer layer cover covering at least a part covering the tip-end portion of the inner layer cover. At least the outer surface of the inner layer cover has a friction coefficient higher than a friction coefficient of the inner surface of the outer layer cover.

Claims

1. A fluid pressure actuator that operates by fluid pressure supplied into a tube, comprising an inner layer cover that covers at least the tip of the fluid pressure actuator, and an outer layer cover that covers at least the portion of the inner layer cover that covers the tip, wherein at least the outer surface of the inner layer cover has a higher coefficient of friction than the inner surface of the outer layer cover.

2. The fluid pressure actuator according to claim 1, wherein the thickness of the inner layer cover is 1.0 mm or more and 3.0 mm or less.

3. The fluid pressure actuator according to claim 1, wherein the inner layer cover covers only the tip portion of the fluid pressure actuator.

4. The fluid pressure actuator according to claim 1, wherein the ratio of the outer diameters of the inner layer cover and the outer layer cover is in the range of 1:0.9 to 1:1.

1.

5. The fluid pressure actuator according to claim 1, wherein the outer layer cover has at least one of the functions of waterproofing, oil resistance, and stain resistance.

6. A robot hand comprising a gripping means for grasping a workpiece, wherein the gripping means has a plurality of fingers extending from the hand body of the robot hand, the base end of each of the plurality of fingers is rotatably attached to the hand body, the distance between the fingertips of the plurality of fingers is adjustable, and the fingers are the fluid pressure actuators described in claim 1.

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