ATE497866T1 - Gelenkmechanismus - Google Patents

Gelenkmechanismus

Info

Publication number
ATE497866T1
ATE497866T1 AT07859749T AT07859749T ATE497866T1 AT E497866 T1 ATE497866 T1 AT E497866T1 AT 07859749 T AT07859749 T AT 07859749T AT 07859749 T AT07859749 T AT 07859749T AT E497866 T1 ATE497866 T1 AT E497866T1
Authority
AT
Austria
Prior art keywords
link
worm
shaft
joint mechanism
pivotally
Prior art date
Application number
AT07859749T
Other languages
English (en)
Inventor
Osamu Mizuno
Akinobu Okuda
Tohru Nakamura
Original Assignee
Panasonic Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Panasonic Corp filed Critical Panasonic Corp
Application granted granted Critical
Publication of ATE497866T1 publication Critical patent/ATE497866T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19637—Gearing with brake means for gearing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19642—Directly cooperating gears
    • Y10T74/19698—Spiral
    • Y10T74/19828—Worm
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Seal Device For Vehicle (AREA)
  • Transmission Devices (AREA)
  • Chair Legs, Seat Parts, And Backrests (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
AT07859749T 2006-12-07 2007-12-07 Gelenkmechanismus ATE497866T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006330629 2006-12-07
PCT/JP2007/073671 WO2008069306A1 (ja) 2006-12-07 2007-12-07 関節機構及び関節装置

Publications (1)

Publication Number Publication Date
ATE497866T1 true ATE497866T1 (de) 2011-02-15

Family

ID=39492181

Family Applications (1)

Application Number Title Priority Date Filing Date
AT07859749T ATE497866T1 (de) 2006-12-07 2007-12-07 Gelenkmechanismus

Country Status (7)

Country Link
US (2) US8141925B2 (de)
EP (1) EP2093027B1 (de)
JP (1) JP4783434B2 (de)
CN (1) CN101547773B (de)
AT (1) ATE497866T1 (de)
DE (1) DE602007012468D1 (de)
WO (1) WO2008069306A1 (de)

Families Citing this family (69)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008178939A (ja) * 2007-01-24 2008-08-07 Toyota Motor Corp ロボットハンド
US9731418B2 (en) 2008-01-25 2017-08-15 Systems Machine Automation Components Corporation Methods and apparatus for closed loop force control in a linear actuator
US7752765B2 (en) * 2008-03-19 2010-07-13 Marc Lev Shapiro Gear actuated angle measurement tool
JP4581117B1 (ja) * 2010-05-24 2010-11-17 国立大学法人東京工業大学 開閉両方向に力を出せる把持装置
WO2012040620A2 (en) 2010-09-23 2012-03-29 Smac Inc Low cost multi-coil linear actuator
JP2012066351A (ja) * 2010-09-24 2012-04-05 Yaskawa Electric Corp ロボット用ハンドユニットおよびロボット
CN101966533B (zh) * 2010-09-26 2012-07-04 中国兵器工业第五九研究所 滚轧机床主轴圆周相位变差调整机构
EP2688720B1 (de) * 2011-03-21 2021-10-13 SRI International Mobiles robotermanipulatorsystem
US8967010B2 (en) * 2011-03-31 2015-03-03 Covidien Lp System and method for providing a selectable multiple output motor
US9267585B2 (en) 2011-06-02 2016-02-23 Empire Technology Development Llc Actuator with joints
GB201200167D0 (en) * 2012-01-05 2012-02-15 Rsl Steeper Group Ltd An artificial hand component
US9099148B2 (en) * 2012-03-30 2015-08-04 Oracle International Corporation Magnetic Z-directional clutch
JP2015521840A (ja) 2012-06-25 2015-07-30 システムズ， マシーンズ， オートメイション コンポーネンツ コーポレイション 低コスト、薄型化を実現したリニアアクチュエータ
WO2014004588A1 (en) 2012-06-25 2014-01-03 Neff Edward A Robotic finger
KR101340294B1 (ko) 2012-07-04 2013-12-11 한국과학기술원 관절 잠금 장치를 구비하는 불충분 구동 로봇 핑거
CN104854382B (zh) * 2012-11-30 2017-11-17 康斯博格汽车股份公司 用于线控换挡变速器的旋转换挡致动器
JP5655877B2 (ja) * 2013-02-12 2015-01-21 株式会社安川電機 関節機構およびロボット
US9138897B1 (en) * 2013-04-30 2015-09-22 Sandia Corporation Mechanisms for employment with robotic extensions
US20150151433A1 (en) * 2013-12-02 2015-06-04 Harris Corporation Compact robotic gripper
US9871435B2 (en) 2014-01-31 2018-01-16 Systems, Machines, Automation Components Corporation Direct drive motor for robotic finger
US10807248B2 (en) 2014-01-31 2020-10-20 Systems, Machines, Automation Components Corporation Direct drive brushless motor for robotic finger
CA2960858C (en) 2014-09-17 2022-12-13 Soft Robotics, Inc. Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators
US9492928B2 (en) * 2014-11-05 2016-11-15 Toyota Motor Engineering & Manufacturing North America, Inc. Interconnected phalanges for robotic gripping
US10189168B2 (en) * 2014-11-18 2019-01-29 Soft Robotics, Inc. Soft robotic actuator enhancements
JP6257543B2 (ja) * 2015-02-23 2018-01-10 マブチモーター株式会社 逆転防止機構および減速機付モータ
CN104742110A (zh) * 2015-03-27 2015-07-01 上海交通大学 一种电力线巡检机器人的末端执行机构及其线上锁紧方法
US9976646B2 (en) * 2015-05-28 2018-05-22 Automotive Research & Testing Center Angle regulation device
WO2017011406A1 (en) 2015-07-10 2017-01-19 Systems, Machines, Automation Components Corporation Apparatus and methods for linear actuator with piston assembly having an integrated controller and encoder
WO2017053881A1 (en) 2015-09-24 2017-03-30 Systems, Machines, Automation Components Corporation Magnetically-latched actuator
US10486645B2 (en) * 2015-11-20 2019-11-26 Ford Global Technologies, Llc Lock for vehicle active front steering system
US10865085B1 (en) 2016-04-08 2020-12-15 Systems, Machines, Automation Components Corporation Methods and apparatus for applying a threaded cap using a linear rotary actuator
US10675723B1 (en) 2016-04-08 2020-06-09 Systems, Machines, Automation Components Corporation Methods and apparatus for inserting a threaded fastener using a linear rotary actuator
US10011019B1 (en) * 2016-05-04 2018-07-03 X Development Llc Wind-up gripper for a robotic device
US10016901B2 (en) * 2016-05-04 2018-07-10 X Development Llc Sprung worm gripper for a robotic device
US9718195B1 (en) 2016-06-09 2017-08-01 X Development Llc Cylindrical worm drive robotic gripper
CN107701662B (zh) 2016-08-09 2021-12-03 德国日本电产电机与驱动器有限公司 用于在蜗杆蜗轮组件中分配扭矩的装置和方法
CN106395401A (zh) * 2016-08-31 2017-02-15 广西联壮科技股份有限公司 工作宽度可调型抓边码垛装置
US10205355B2 (en) 2017-01-03 2019-02-12 Systems, Machines, Automation Components Corporation High-torque, low-current brushless motor
JP1605294S (de) * 2017-07-18 2019-11-25
USD852859S1 (en) * 2017-07-18 2019-07-02 Mitsubishi Electric Corporation Manipulator for robot
JP1605291S (de) * 2017-07-18 2019-11-25
USD846615S1 (en) * 2017-07-18 2019-04-23 Mitsubishi Electric Corporation Manipulator for robot
JP1605292S (de) * 2017-07-18 2019-11-25
USD847243S1 (en) * 2017-07-18 2019-04-30 Mitsubishi Electric Corporation Manipulator for robot
JP1613980S (de) * 2018-03-29 2020-03-09
JP1613032S (de) * 2018-03-29 2020-03-02
US11523839B2 (en) * 2018-04-03 2022-12-13 Intuitive Surgical Operations, Inc. Systems and methods for grasp adjustment based on grasp properties
CN108583721A (zh) * 2018-07-13 2018-09-28 长沙紫宸科技开发有限公司 一种便装式仿生腿
CN108583725A (zh) * 2018-07-13 2018-09-28 长沙紫宸科技开发有限公司 一种便装式可自锁带自主分布动力的仿生机械腿
CN109732638B (zh) * 2018-12-06 2020-08-18 山东省科学院自动化研究所 一种平移回转型夹持手爪及其工作方法、机器人系统
KR102182377B1 (ko) * 2019-03-04 2020-11-24 한국기계연구원 사물 형상 적응형 파지 모듈
CN109916466B (zh) * 2019-03-05 2020-08-04 广州能源检测研究院 一种检定或校准被检流量计安装对中装置
CN110002219A (zh) * 2019-04-23 2019-07-12 林友钢 一种双头蜗杆自锁抱持机构及其实现方法
US11738893B2 (en) 2019-04-30 2023-08-29 Soft Robotics, Inc. Picking, placing, and scanning bagged clothing and other articles
US11273978B2 (en) 2019-05-03 2022-03-15 Oshkosh Corporation Refuse vehicle with electric lift
US11254500B2 (en) 2019-05-03 2022-02-22 Oshkosh Corporation Refuse vehicle with electric reach apparatus
US11434681B2 (en) 2019-05-03 2022-09-06 Oshkosh Corporation Electric tailgate for electric refuse vehicle
US11447334B2 (en) 2019-05-03 2022-09-20 Oshkosh Corporation Electric grasping apparatus for refuse vehicle
US11505404B2 (en) 2019-05-03 2022-11-22 Oshkosh Corporation Electric side loader arms for electric refuse vehicle
RU2727893C1 (ru) * 2019-05-13 2020-07-24 Общество с ограниченной ответственностью "МОТОРИКА" Палец протеза со спироидным редуктором и модульная конструкция протеза верхней конечности
US11931270B2 (en) 2019-11-15 2024-03-19 Touch Bionics Limited Prosthetic digit actuator
WO2021146811A1 (en) * 2020-01-23 2021-07-29 Universite Laval Mechanical finger for gripper
EP3955420A1 (de) * 2020-08-14 2022-02-16 Siemens Aktiengesellschaft Antrieb für eine roboterachse
US12017346B2 (en) * 2021-03-24 2024-06-25 City University Of Hong Kong Articulated actuated finger with self-locking joints
JP7653868B2 (ja) * 2021-08-31 2025-03-31 株式会社日立製作所 ロボットハンドおよびロボットシステム
EP4464283A4 (de) * 2022-01-10 2026-01-14 Mand Ro Co Ltd Struktur eines motors und eines in einen prothetischen finger eingebauten untersetzungsgetriebes
KR102715271B1 (ko) * 2022-01-10 2024-10-11 만드로 주식회사 의수용 손가락 내장형 모터 및 감속기 구조
JP2023163876A (ja) * 2022-04-28 2023-11-10 株式会社デンソー ロボットハンド
CN115194798B (zh) * 2022-07-12 2024-11-12 深圳金博仕机器人有限公司 一种具有弹性结构的机械手指

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5662785A (en) * 1979-10-25 1981-05-28 Kogyo Gijutsuin Griper
US4547121A (en) * 1983-09-30 1985-10-15 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Self-locking telescoping manipulator arm
DE3434009A1 (de) * 1984-09-15 1986-03-27 Index-Werke Kg Hahn & Tessky, 7300 Esslingen Werkstueck-handhabungsgeraet
JP2697828B2 (ja) 1987-08-28 1998-01-14 株式会社日立製作所 車輌用自動変速装置
JPH0158851U (de) * 1987-10-08 1989-04-13
JPH01140984A (ja) * 1987-11-24 1989-06-02 Daikin Ind Ltd 多関節ロボットのアーム構造
US5501498A (en) * 1988-08-31 1996-03-26 The Trustees Of The University Of Pennsylvania Methods and apparatus for mechanically intelligent grasping
US4957320A (en) * 1988-08-31 1990-09-18 Trustees Of The University Of Pennsylvania Methods and apparatus for mechanically intelligent grasping
JPH0311535A (ja) 1989-06-08 1991-01-18 Nec Kagoshima Ltd 蛍光表示管
JPH0311535U (de) * 1989-06-19 1991-02-05
CN1052445A (zh) * 1989-12-12 1991-06-26 杭州电子工业学院 三感觉机械手
JPH05185385A (ja) 1992-01-10 1993-07-27 Mitsubishi Heavy Ind Ltd 多関節形マニピュレータアーム
JPH06305455A (ja) * 1993-04-22 1994-11-01 Osaka Gas Co Ltd クローラ式走行装置
GB9404830D0 (en) * 1994-03-12 1994-04-27 Lothian Health Board Hand prosthesis
JP3245095B2 (ja) 1997-08-07 2002-01-07 川▲崎▼ 晴久 ロボットハンド
JP2001038669A (ja) * 1999-07-30 2001-02-13 Masanobu Yatsugi 駆動力伝達機構
US7168748B2 (en) 2002-09-26 2007-01-30 Barrett Technology, Inc. Intelligent, self-contained robotic hand
CN1785609A (zh) * 2005-12-22 2006-06-14 复旦大学 新型联动机械手结构设计

Also Published As

Publication number Publication date
CN101547773A (zh) 2009-09-30
US20100005918A1 (en) 2010-01-14
US20120137807A1 (en) 2012-06-07
EP2093027A1 (de) 2009-08-26
EP2093027A4 (de) 2010-03-03
DE602007012468D1 (de) 2011-03-24
US8251420B2 (en) 2012-08-28
WO2008069306A1 (ja) 2008-06-12
JPWO2008069306A1 (ja) 2010-03-25
EP2093027B1 (de) 2011-02-09
JP4783434B2 (ja) 2011-09-28
US8141925B2 (en) 2012-03-27
CN101547773B (zh) 2011-04-13

Similar Documents

Publication Publication Date Title
ATE497866T1 (de) Gelenkmechanismus
ATE516117T1 (de) Robotersystem
ATE502609T1 (de) Unterarm-drehmechanismus und orthese mit einem solchen mechanismus
ATE434505T1 (de) Roboterhandgelenk
DE602006019892D1 (de) Industrieroboter mit Rohrelement für einen Kabelbaum
ATE430645T1 (de) Gelenkige verbindung
DE602005026175D1 (de) Parallelkinematische maschine
WO2007131181A3 (en) Resistance system for an exercise device
DK1785125T3 (da) Hængsel til forbindelse af to elementer af et patientleje
TNSN07315A1 (en) High-speed parallel robot with four degrees of freedom
ATE420013T1 (de) Verbesserungen eines kippmechanismus oder diesen betreffend
JP2007290054A5 (de)
EA201070809A1 (ru) Узел подвижной платформы для судна, в частности для подъема или спуска тендерного судна, или тому подобного
ATE424283T1 (de) Industrieroboter
ATE514381T1 (de) Kniegelenkdistraktor
EP1854953A3 (de) Automatisches Türsystem
ATE552602T1 (de) Fünf-wege-druckknopf auf einem drehknopf
ATE514531T1 (de) Industrieroboter und steuerungsverfahren
GB201208778D0 (en) Folding mechanism with locking function
ATE515935T1 (de) Verbessertes landwirtschaftliches werkzeug
CN105228799A (zh) 制动器机构、关节机构及机器人
JP2018126795A5 (de)
JP2009516132A5 (de)
PT10733T (pt) Carro para uma porta deslizante
JP2005500454A5 (de)

Legal Events

Date Code Title Description
RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties