Patent ID: 11931887
Assignee: OMRON CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 12:
13. The end effector device according to claim 2, wherein
the end effector includes
a plate-shaped first finger and a plate-shaped second finger arranged so that plate surfaces face each other, as the plurality of fingers, and
a force-receiving portion that is connected to the second end portion of each of the first finger and the second finger via the tactile sensor unit, and that receives a force from the object being grasped when the object being grasped is grasped by the first finger and the second finger, and

the force-receiving portion includes
a grasping surface that is placed facing the object being grasped in a direction intersecting the extending direction to be able to grasp the object being grasped, the grasping surface receiving a force in the direction intersecting the extending direction, and
a pressing surface that is placed further away from the palm than the second end portion of each of the first finger and the second finger in the extending direction, the pressing surface extending in a direction intersecting the grasping surface and receiving a force in the extending direction.