CN105705304A - Robot hand - Google Patents
Robot hand Download PDFInfo
- Publication number
- CN105705304A CN105705304A CN201480060510.6A CN201480060510A CN105705304A CN 105705304 A CN105705304 A CN 105705304A CN 201480060510 A CN201480060510 A CN 201480060510A CN 105705304 A CN105705304 A CN 105705304A
- Authority
- CN
- China
- Prior art keywords
- grip part
- device body
- grip
- light
- mechanical arm
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
- B25J17/0225—Compliance devices with axial compliance, i.e. parallel to the longitudinal wrist axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The robot hand is configured so that the gripping claws do not contact an article forcefully and damage the article. The robot hand gripping device (3a) is provided with a device body (40) and a gripping unit (50), which is connected to the device body (40) so as to move freely up and down. An article is grasped with the gripping claws (51) of the gripping unit (50) by moving the device body (40) and the gripping unit (50) downward as a single body and moving the gripping claws (51) of the gripping section (50) in the direction in which the claws approach each other. The robot hand gripping device: is configured so that when the gripping claws (51) contact the upper surface of the article without grasping the article, the device body (40) moves downward toward the gripping unit (50); is provided with a detection means (60) for detecting the movement of the device body (40) towards the gripping unit (50); and is configured so as to keep the gripping claws (51) from contacting the article forcefully and damaging the article by stopping the movement device (3b) that moves the device body (40) using the detection signal from the detection means (60).
Description
Technical field
The present invention relates to and a kind of grip article and carry out the mechanical arm transported。
Background technology
Patent documentation 1 discloses and a kind of grip article and carry out the mechanical arm transported。
1st arm is rotatably freely supported on the upper end of pillar by this mechanical arm, and the 2nd arm is rotatably freely supported on the 1st arm。Supporting bar is moved up and down and is arranged at the 2nd arm freely, and grip part is arranged at the bottom of supporting bar。
Mechanical arm transports article as follows。
The 1st arm and the 2nd arm is made to rotate and be positioned on article grip part。Then, making grip part is grip release conditions, makes supporting bar move downwards, grip part is thus positioned over two sides of article。Grip part is made to grip article so that grip state carries out action under this state。
Then, by making supporting bar be moved upward, and article and grip part are promoted in the lump, make the 1st arm and the 2nd arm rotate and be transported in the lump to the position of regulation in article and grip part。
Prior art literature
Patent documentation
Patent documentation 1: Japanese Patent Laid-Open 8-309295 publication
Summary of the invention
[inventing problem to be solved]
Mechanical arm is when making grip part move downwards and to grip article, if the position of grip part and article offsets, then there is the situation that grip part can strongly be connected to the upper surface of article and cause article to damage because of grip part。
It is an object of the invention to provide the mechanical arm that the gripping claw of a kind of grip part strongly will not be connected to article and cause article to damage。
[solving the technological means of problem]
The present invention is a kind of mechanical arm, including: device body 40；Grip device 3a, comprises from the extended grip part 50 of described device body 40, and described grip part 50 can be utilized to grip article；And move device 3b, described grip device 3a is made to move and remain and can move up and down and move in parallel, described grip device 3a utilizes mobile device 3b to make device body 40 and grip part 50 be integrally forming and move downwards, and described mechanical arm is characterised by:
When described grip part 50 does not grip article but is connected to described article, only device body 40 moves downwards towards grip part 50, and arranges
Detection unit 60, detects that only described device body 40 moves towards grip part 50；And
The detection signal utilizing described detection unit 60 makes the unit of the mobile stopping of mobile device 3b。
The mechanical arm of the present invention is arranged: connection unit 70, is moved up and down with grip part 50 by described device body 40 and is linked freely；And
Holding unit 80, remains the size of regulation by the interval of described device body 40 and the above-below direction of grip part 50,
Described detection unit 60 can at the interval of device body 40 and the above-below direction of grip part 50 less than regulation size time, output detections signal。
The mechanical arm of the present invention can be set to: is installed with guide rod 71 in described grip part 50 towards above-below direction, guide rod 71 is movably supported on device body 40 in the vertical direction and as connection unit 70,
Arranging disc spring 81 around described guide rod 71, wherein one end of disc spring 81 contacts with device body 40, and the other end contacts with grip part 50, thus as holding unit 80。
The mechanical arm of the present invention can be set to: by being installed on the light projector 64 of described device body 40, light-receiving device 65 and being installed on described grip part 50 and cover the detection bodies 66 of light of light projector 64 and be used as detection unit 60。
The mechanical arm of the present invention can be set to: when described device body 40 is integrally forming with grip part 50 and moves up and down, detection bodies 66 covers the light of light projector 64, when device body 40 moves downwards towards grip part 50, detection bodies 66 is not covered the light of light projector 64 and is received light output detections signal by light-receiving device 65。
[effect of invention]
According to the present invention, by making that device body 40 moves downwards and when the gripping claw 51 of grip part 50 grips article, detected that gripping claw 51 is connected to article and gripping claw 51 does not grip article by detection unit 60, mobile device 3b is thus made to stop, so that the mobile stopping downward of device body 40, thus gripping claw 51 strongly will not be connected to article and cause article to damage。
Accompanying drawing explanation
Fig. 1 is the general view of the device of the pulling-on piece of conveyance slider for slide fastener。
Fig. 2 is the front view of mechanical arm。
Fig. 3 is the amplification front view of grip device。
Fig. 4 is the right side view of Fig. 3。
Fig. 5 is the left side view of Fig. 3。
Fig. 6 is the enlarged drawing of the detection cell mesh of Fig. 3。
Fig. 7 is the plane graph of Fig. 6。
Detailed description of the invention
Fig. 1 is the plane graph of the device of the pulling-on piece of the mechanical arm conveyance slider for slide fastener being diagrammatically denoted by using the present invention。
As it is shown in figure 1, pulling-on piece carrying device 1 includes conveyance conveyer 2 and mechanical arm 3。
Conveyance conveyer 2 has the belt 2a of annular。Belt 2a is made to rotate to arrow a direction by not shown motor is driven。
The pulling-on piece 4 of slider for slide fastener is placed in belt 2a。Belt 2a is by rotating to arrow a direction, and till pulling-on piece 4 is transferred to gripping area A, when being transferred to by pulling-on piece 4 till gripping area A, belt 2a stops。
Mechanical arm 3 grips the pulling-on piece 4 being transferred to gripping area A by belt 2a。The pulling-on piece 4 of gripping is transported to the pull head kludge 5 assembling slider for slide fastener by mechanical arm 3。
Mechanical arm 3 as shown in Figures 1 and 2, including gripping the grip device 3a of pulling-on piece 4 and making the grip device 3a mobile device 3b moved。
Mobile device 3b includes: be arranged at the post portion 31 of the upper surface of pedestal 30, the 1st arm 32 can installed rotatably relative to post portion 31, the 2nd arm 33 can installed rotatably relative to the 1st arm 32, and can rotate relative to the 2nd arm 33 and move up and down the longitudinal axis 34 installed freely。1st arm 32 extends parallel to along the direction vertical relative to the upper surface of conveyance conveyer 2 with the rotating shaft of the 2nd arm 33 and the longitudinal axis 34。Thus, the 1st arm 32 can rotate with the 2nd arm 33 centered by each rotating shaft in the horizontal plane parallel with the upper surface of conveyance conveyer 2。And, the longitudinal axis 34 is rotated by the 1st arm the 32 and the 2nd arm 33, and can move in the horizontal direction。
In the bottom of the longitudinal axis 34, grip device 3a is installed。
Thus, grip device 3a can move in the horizontal direction to arbitrary position, and can move up and down, and can centered by the longitudinal axis 34 rotating 360 degrees。
Grip device 3a includes the device body 40 being installed on the longitudinal axis 34 and the grip part 50 linked with this device body 40。Grip part 50 includes 2 gripping claws 51。
The mobile device 3b of mechanical arm 3 is not limited to above-mentioned composition。That is, the mobile device 3b for mechanical arm 3, as long as grip device 3a is movable to the arbitrary position of horizontal direction, and can move up and down, and then grip device 3a can around vertical center line rotating 360 degrees。
And, the mobile device 3b of mechanical arm 3 is alternatively as follows: grip device 3a is movable to specific multiple positions of horizontal direction, and can move up and down。
Then, an example of the action that mechanical arm 3 grips the pulling-on piece 4 on belt 2a illustrates。
It is set with detection region B at the belt 2a of conveyance conveyer 2。Detection region B is set to gripping area A than belt 2a closer to belt direction of rotation upstream side。
Utilize not shown photographing unit that detection region B is shot when making belt 2a stop。Utilize not shown image processing part that the image of photographing unit is carried out image procossing, it is judged that the position of the pulling-on piece 4 of detection region B and the orientation etc. of pulling-on piece 4, and the position of pulling-on piece 4, orientation etc. are stored in controller 7。
Make belt 2a rotate along arrow a direction, make pulling-on piece 4 transfer with belt 2a。
Now, utilize belt displacement detection unit 6 that the displacement of belt 2a is detected。Belt displacement detection unit 6 includes the encoder 6b that the revolution of roller 6a and the pair roller 6a contacted with belt 2a carries out detecting。Rotated by belt 2a so that roller 6a rotates。The revolution of encoder 6b pair roller 6a detects, and utilizes the detected value of this encoder 6b that belt displacement is detected。
By detected belt displacement input to controller 7。
Controller 7 utilizes detected belt displacement to arrive gripping area A to the pulling-on piece 4 sensing the detection region B of belt 2a。
Controller 7 makes conveyance conveyer 2 stop, so that the rotation of belt 2a stops。
It follows that the mobile device 3b of mechanical arm 3 is carried out action control according to the position of stored pulling-on piece 4 and the orientation of pulling-on piece 4 by controller 7, the grip part 50 of grip device 3a is positioned on pulling-on piece 4。Now, grip part 50 is the gripping release conditions that 2 gripping claws 51 are separated from one another。
Grip device 3a is made to move downwards, so that the 2 of grip part 50 gripping claws 51 contact with belt 2a。Then, the direction making 2 gripping claws 51 close to each other is moved, and 2 end contacts of 2 gripping claws 51 and pulling-on piece 4, thus 2 gripping claws 51 grip pulling-on piece 4。
Then, the details of grip device 3a are illustrated。
As shown in Figures 3 to 5, grip device 3a includes device body 40, grip part 50 and detection unit 60。
Device body 40 is installed on the bottom of the longitudinal axis 34。Device body 40 and the longitudinal axis 34 move up and down in the lump, and with the longitudinal axis 34 in the lump rotating 360 degrees。
Grip part 50 moves up and down the bottom being linked to device body 40 freely。
The top of the bottom of device body 40 and grip part 50 isolates in the vertical direction。
Grip part 50 is held in the position of lower section, and the interval of the above-below direction on the bottom of device body 40 and the top of grip part 50 remains the size of regulation。
By to downward power more than device body 40 load prescribed level, device body 40 moves downwards towards grip part 50, and the interval of the above-below direction of device body 40 and grip part 50 reduces。
2 gripping claws 51 are arranged at the bottom of grip part 50。Gripping claw 51 is moved downwards by grip device 3a and contacts with belt 2a。
Detection unit 60 detects following situation: gripping claw 51 does not grip pulling-on piece 4, gripping claw 51 is connected to the upper surface of pulling-on piece 4, device body 40 moves downwards towards grip part 50, i.e. detect that the interval of above-below direction of device body 40 and grip part 50 is less than the size specified。
The detection signal of detection unit 60 inputs to controller 7。
Controller 7 makes each action of mechanical arm 3 stop when being transfused to the detection signal of detection unit 60。
Then, the gripping action of pull-tab 4 illustrates。
When 2 gripping claws 51 at mechanical arm 3 grip the pulling-on piece 4 on belt 2a, make the longitudinal axis 34 move downwards, thus make device body 40 move downwards。Thus, device body 40 and grip part 50 are integrally forming and move downwards。
Make the longitudinal axis 34 stop when 2 gripping claws 51 are with the upper surface of belt 2a, make 2 gripping claws 51 become the state of the upper surface with belt 2a。Now, 2 gripping claws 51 are gripping off-position away from each other。
It follows that the direction making 2 gripping claws 51 close to each other is moved, thus 2 gripping claws 51 grip pulling-on piece 4。
When in this way 2 gripping claws 51 grip pulling-on piece 4, in Fig. 3 shown in imaginary line, the pulling-on piece 4 that grip is positioned at the underface of gripping claw 51, and the pulling-on piece 4 adjacent with the pulling-on piece 4 to grip is positioned at the surface of gripping claw 51。
In this case, when the device body 40 making grip device 3a moves downwards, gripping claw 51 with the upper surface of belt 2a before be connected on belt 2a the upper surface of pulling-on piece 4。
After the upper surface of the pulling-on piece 4 being connected on belt 2a in gripping claw 51, if the device body 40 of grip device 3a moves downwards, then gripping claw 51 is because pulling-on piece 4 is without moving downwards, thus when grip part 50 is not moved downwards, device body 40 moves downwards towards grip part 50。Thus, the interval of the above-below direction of device body 40 and grip part 50 is less than the size of regulation。
Thus, detecting unit 60 output detections signal, detection signal is input to controller 7。Controller 7 makes each action of mechanical arm 3 stop immediately, thus device body 40 stops immediately when gripping claw 51 is connected to the upper surface of pulling-on piece 4。
Thus, (namely grip part 50 (gripping claw 51) stops at this position, it is connected to the position of the upper surface of pulling-on piece 4), thus grip part 50 (gripping claw 51) will not strongly be connected to the upper surface of pulling-on piece 4, damage will not be caused by pull-tab 4 in grip part 50 (gripping claw 51)。That is, controller 7 is the unit making device body 40 stop。
The device body 40 of grip device 3a includes the 1st body 41 and is arranged at the 2nd body 42 of bottom of the 1st body 41。
Grip part 50 includes portion of upper body 52, lower body 53 and is arranged at 2 pawl fixing bodies 54 of lower body 53。Pawl fixing body 54 is installed with gripping claw 51。
Lower body 53 includes making the close to each other direction (gripping direction) of 2 pawl fixing bodies 54 and the mechanism of direction (gripping release direction) movement away from each other。
Across and the 2nd body 42 and the portion of upper body 52 of grip part 50 of device body 40 and connection unit 70 and holding unit 80 are set。
Connection unit 70 has the guide rod 71 being arranged at portion of upper body 52。Guide rod 71 is to more closer to the top than portion of upper body 52 prominent, and the hole 43 of through 2nd body 42, and more prominent than the 2nd body 42 side more up。
Jag at guide rod 71 is installed with plate 72。
Block 73 is arranged at the 2nd body 42 in the way of plate 72 with its upper surface。
Thus, portion of upper body 52 (grip part 50) utilizes guide rod 71, plate 72, block 73 to hang and be linked to the 2nd body 42 (device body 40), and the 2nd body 42 is isolated in the vertical direction with portion of upper body 52。Portion of upper body 52 can be moved upward relative to the 2nd body 42 in the lump with guide rod 71, plate 72。Portion of upper body 52 can move downwards along guide rod 71。
The interval of the 2nd body 42 (bottom of device body 40) and the above-below direction of portion of upper body 52 (grip part 50) is remained the size of regulation by holding unit 80。
Such as, disc spring 81 is set around guide rod 71。Make the wherein one end of the length direction of disc spring 81 and the lower surface contact of the 2nd body 42, the other end making the length direction of disc spring 81 contacts with portion of upper body 52, disc spring 81 is thus utilized to make the direction that device body 40 and grip part 50 are left to each other move, so that plate 72 contacts with block 73。Thus, the interval of device body 40 and the above-below direction of grip part 50 is remained the size of regulation。
Detection unit 60 has sensor installing plate 61 and detection bodies installing plate 62。Sensor installing plate 61 is installed on the 2nd body 42 (device body 40)。Detection bodies installing plate 62 is installed on portion of upper body 52 (grip part 50)。
Sensor installing plate 61 is with detection bodies installing plate 62 in opposite directions。
As shown in FIG. 6 and 7, the top of sensor installing plate 61 has recess 63。Recess 63 opening upward。
At sensor installing plate 61, light projector 64 is set with the wherein side that recess 63 is border。At opposite side, light-receiving device 65 is set。
Light projector 64 with light-receiving device 65 in opposite directions, by making light-receiving device 65 receive the light that light projector 64 projects, and output detections signal。
On the top of detection bodies installing plate 62, detection bodies 66 is installed。Detection bodies 66 is inserted into the recess 63 of sensor installing plate 61。
Detection bodies 66 and sensor installing plate 61 can move in the vertical direction。
When detection bodies 66 is in the position covering the light that light projector 64 projects, and when sensor installing plate 61 vertically moves the distance L of regulation relative to detection bodies 66, the light that light projector 64 projects arrives to light-receiving device 65。
Sensor installing plate 61 or detection bodies installing plate 62 is made vertically to move, thus adjustable setting height(from bottom)。
Thus, the displacement L of the light arrival that the light projector 64 of sensor installing plate 61 projects to light-receiving device 65 can be adjusted。
The detection action of detection unit 60 is illustrated。
When device body 40 and the size being spaced apart regulation of the above-below direction of grip part 50, detection bodies 66 covers the light of light projector 64。
Thus, light-receiving device 65 does not receive the light of light projector 64, thus detects unit 60 not output detections signal。
Gripping claw 51 is connected to the upper surface of pulling-on piece 4, and grip part 50 is not moved downwards and device body 40 moves downwards, thus when the interval of device body 40 and the above-below direction of grip part 50 reduces, sensor installing plate 61 moves downwards relative to detection bodies installing plate 62, thus light projector 64, light-receiving device 65 are to moving on the lower than detection bodies 66, light-receiving device 65 receives the light of light projector 64。
Thus, detection unit 60 output detections signal。
Detection unit 60 can be set to touch switch, approach switch。
The mechanical arm of this embodiment grips the pulling-on piece 4 on belt 2a, but is not limited to this。That is, the mechanical arm of the present invention is the mechanical arm that the article (pulling-on piece 4) being placed in mounting surface (belt 2a) are gripped。
[explanation of symbol]
2a: belt (mounting surface)
3a: grip device
3b: mobile device
4: pulling-on piece (article)
7: controller (stop element)
40: device body
50: grip part
51: gripping claw
60: detection unit
61: sensor installing plate
62: detection bodies installing plate
64: light projector
65: light-receiving device
66: detection bodies
70: connection unit
71: guide rod
80: holding unit
81: disc spring
Claims (5)
1. a mechanical arm, including: device body (40)；Grip device (3a), comprises from the extended grip part (50) of described device body (40), and described grip part (50) can be utilized to grip article；And move device (3b), make described grip device (3a) mobile and remain and can move up and down and move in parallel, described grip device (3a) utilizes mobile device (3b) to make device body (40) and grip part (50) be integrally forming and move downwards, and described mechanical arm is characterised by:
When described grip part (50) do not grip article but abut, only device body (40) moves downwards towards grip part (50), and arranges
Detection unit (60), detects that only described device body (40) is mobile towards grip part (50)；And
The detection signal utilizing described detection unit (60) makes the unit of the mobile stopping of mobile device (3b)。
2. mechanical arm according to claim 1, it is arranged:
Connection unit (70), moves up and down described device body (40) and grip part (50) and is linked freely；And
Holding unit (80), remains the size of regulation by the interval of described device body (40) and the above-below direction of grip part (50),
Described detection unit (60) at the interval of device body (40) and the above-below direction of grip part (50) less than regulation size time, output detections signal。
3. mechanical arm according to claim 2, wherein
Towards above-below direction, guide rod (71) is installed in described grip part (50), guide rod (71) is movably supported in the vertical direction device body (40) and as connection unit (70),
Arranging disc spring (81) around described guide rod (71), wherein one end of disc spring (81) contacts with device body (40), and the other end contacts with grip part (50), thus as holding unit (80)。
4. mechanical arm according to any one of claim 1 to 3, wherein
By being installed on the light projector (64) of described device body (40), light-receiving device (65) and being installed on described grip part (50) and cover the detection bodies (66) of light of light projector (64) and be used as detection unit (60)。
5. mechanical arm according to claim 4, wherein
When described device body (40) and grip part (50) are integrally forming and move up and down, detection bodies (66) covers the light of light projector (64), when device body (40) moves downwards towards grip part (50), detection bodies (66) is not covered the light of light projector (64) and is received light output detections signal by light-receiving device (65)。
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2014/056269 WO2015136613A1 (en) | 2014-03-11 | 2014-03-11 | Robot hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105705304A true CN105705304A (en) | 2016-06-22 |
Family
ID=54071093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480060510.6A Pending CN105705304A (en) | 2014-03-11 | 2014-03-11 | Robot hand |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN105705304A (en) |
| TW (1) | TWI568554B (en) |
| WO (1) | WO2015136613A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393162A (en) * | 2016-11-22 | 2017-02-15 | 苏州鑫润旺精密机械有限公司 | Bearing grabbing assembly for automatic bearing feeding machine |
| CN106393163A (en) * | 2016-11-22 | 2017-02-15 | 苏州鑫润旺精密机械有限公司 | Diaphragm disc spring feeding mechanical arm of diaphragm disc spring feeding machine |
| CN107150354A (en) * | 2017-05-24 | 2017-09-12 | 成都众智优学教育咨询有限公司 | A kind of wire spring compliant wrist |
| CN107309903A (en) * | 2017-07-28 | 2017-11-03 | 杨晓宏 | A kind of manipulator multiple degrees of freedom flexible connection method and bindiny mechanism |
| CN112008758A (en) * | 2020-07-11 | 2020-12-01 | 埃华路（芜湖）机器人工程有限公司 | Intelligent detection method for tray grabbing height of industrial robot |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105773653B (en) * | 2016-04-15 | 2017-08-15 | 上海交通大学 | The flexible translation joint of joint output variable rigidity |
| CN107186750A (en) * | 2017-05-24 | 2017-09-22 | 成都众智优学教育咨询有限公司 | The flat spring compliant wrist of manipulator |
| CN112476457B (en) * | 2019-09-11 | 2024-07-12 | Ykk株式会社 | Manipulator mechanism, method for conveying slide fastener using same, and method for inspecting slide fastener |
| AT525465B1 (en) * | 2021-09-21 | 2023-10-15 | Blue Danube Robotics Gmbh | Device for connecting an effector of a handling device to a robot arm |
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| JPS60127993A (en) * | 1983-12-15 | 1985-07-08 | 松下電器産業株式会社 | Shifter with safety device |
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| CN101722519A (en) * | 2008-10-30 | 2010-06-09 | 佳能株式会社 | Gripping device and system including the same |
| JP2013034832A (en) * | 2011-08-04 | 2013-02-21 | Olympus Corp | Surgical instrument and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS5344070B2 (en) * | 1973-01-29 | 1978-11-25 | ||
| JP2518174Y2 (en) * | 1991-07-15 | 1996-11-20 | エスエムシー株式会社 | Floating unit for industrial robot |
-
2014
- 2014-03-11 CN CN201480060510.6A patent/CN105705304A/en active Pending
- 2014-03-11 WO PCT/JP2014/056269 patent/WO2015136613A1/en active Application Filing
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2015
- 2015-03-11 TW TW104107744A patent/TWI568554B/en active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60127993A (en) * | 1983-12-15 | 1985-07-08 | 松下電器産業株式会社 | Shifter with safety device |
| JPH06226671A (en) * | 1993-02-02 | 1994-08-16 | Mazda Motor Corp | Robot hand control device |
| JPH07314375A (en) * | 1994-05-23 | 1995-12-05 | Saitama Nippon Denki Kk | Robot hand floating unit |
| CN1175490A (en) * | 1996-07-16 | 1998-03-11 | 伊利诺斯工具制造公司 | Welding power supply arc starter |
| CN101722519A (en) * | 2008-10-30 | 2010-06-09 | 佳能株式会社 | Gripping device and system including the same |
| JP2013034832A (en) * | 2011-08-04 | 2013-02-21 | Olympus Corp | Surgical instrument and control method thereof |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393162A (en) * | 2016-11-22 | 2017-02-15 | 苏州鑫润旺精密机械有限公司 | Bearing grabbing assembly for automatic bearing feeding machine |
| CN106393163A (en) * | 2016-11-22 | 2017-02-15 | 苏州鑫润旺精密机械有限公司 | Diaphragm disc spring feeding mechanical arm of diaphragm disc spring feeding machine |
| CN107150354A (en) * | 2017-05-24 | 2017-09-12 | 成都众智优学教育咨询有限公司 | A kind of wire spring compliant wrist |
| CN107309903A (en) * | 2017-07-28 | 2017-11-03 | 杨晓宏 | A kind of manipulator multiple degrees of freedom flexible connection method and bindiny mechanism |
| CN112008758A (en) * | 2020-07-11 | 2020-12-01 | 埃华路（芜湖）机器人工程有限公司 | Intelligent detection method for tray grabbing height of industrial robot |
| CN112008758B (en) * | 2020-07-11 | 2024-03-26 | 埃华路（芜湖）机器人工程有限公司 | Intelligent detection method for grabbing height of industrial robot tray |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201540445A (en) | 2015-11-01 |
| WO2015136613A1 (en) | 2015-09-17 |
| TWI568554B (en) | 2017-02-01 |
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Application publication date: 20160622 |
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