CN107443404A - 末端执行器、机器人、以及机器人控制装置 - Google Patents

末端执行器、机器人、以及机器人控制装置 Download PDF

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Publication number
CN107443404A
CN107443404A CN201710160634.7A CN201710160634A CN107443404A CN 107443404 A CN107443404 A CN 107443404A CN 201710160634 A CN201710160634 A CN 201710160634A CN 107443404 A CN107443404 A CN 107443404A
Authority
CN
China
Prior art keywords
end effector
robot
hand
arm
movable part
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
Application number
CN201710160634.7A
Other languages
English (en)
Chinese (zh)
Inventor
前田隆之
冈田隆
冈田隆一
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seiko Epson Corp
Original Assignee
Seiko Epson 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 Seiko Epson Corp filed Critical Seiko Epson Corp
Publication of CN107443404A publication Critical patent/CN107443404A/zh
Pending legal-status Critical Current

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
    • B25J15/0019—End effectors other than grippers
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0466—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof with means for checking exchange completion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39486—Fingered hand, multifingered hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39496—3-Fingered hand

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
CN201710160634.7A 2016-03-25 2017-03-17 末端执行器、机器人、以及机器人控制装置 Pending CN107443404A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-061381 2016-03-25
JP2016061381A JP2017170586A (ja) 2016-03-25 2016-03-25 エンドエフェクター、ロボット、およびロボット制御装置

Publications (1)

Publication Number Publication Date
CN107443404A true CN107443404A (zh) 2017-12-08

Family

ID=59897037

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710160634.7A Pending CN107443404A (zh) 2016-03-25 2017-03-17 末端执行器、机器人、以及机器人控制装置

Country Status (3)

Country Link
US (1) US10207413B2 (enExample)
JP (1) JP2017170586A (enExample)
CN (1) CN107443404A (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112638598A (zh) * 2018-09-26 2021-04-09 欧姆龙株式会社 末端执行器及末端执行器装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6737253B2 (ja) 2017-09-05 2020-08-05 株式会社デンソー 画像処理装置
US11559900B2 (en) * 2019-04-05 2023-01-24 Rmi Systems, devices, components, and methods for a compact robotic gripper with palm-mounted sensing, grasping, and computing devices and components
CN117693417A (zh) * 2021-07-29 2024-03-12 Abb瑞士股份有限公司 机器人夹具及其使用方法
CN116985115B (zh) * 2022-10-31 2025-07-01 腾讯科技（深圳）有限公司 机器人的控制方法、装置、机器人及存储介质
EP4582223A4 (en) * 2022-11-22 2025-12-10 Samsung Electronics Co Ltd A robot for grasping an object using two fingers, and a method for grasping an object in this way.

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JPH04189489A (ja) * 1990-11-22 1992-07-07 Mitsubishi Heavy Ind Ltd 交換用マニピユレーターハンド
JPH05169383A (ja) * 1991-12-24 1993-07-09 Nitta Ind Corp 自動工具交換用カップラーの脱落防止機構
CN104608128A (zh) * 2013-11-01 2015-05-13 精工爱普生株式会社 机器人、控制装置、机器人系统、以及机器人控制方法

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JPH01118882U (enExample) 1988-02-08 1989-08-11
US4883939A (en) * 1988-06-21 1989-11-28 Automatic Tool Control And Management Systems, Inc. Automatic tool changer for workpiece processing machines
JPH02117865U (enExample) * 1989-03-07 1990-09-20
JPH0511984Y2 (enExample) * 1989-05-15 1993-03-25
US5146810A (en) * 1989-06-16 1992-09-15 Mueller Lawrence P Grip system for hand tools and instruments
JPH0489259U (enExample) * 1990-11-30 1992-08-04
DE9103497U1 (de) 1991-03-21 1991-06-20 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Mehrachsiger Manipulator
JP3717218B2 (ja) 1995-11-29 2005-11-16 株式会社安川電機 ロボットハンド
JP3739756B2 (ja) 2003-03-31 2006-01-25 ファナック株式会社 配線・配管処理装置
US7370896B2 (en) * 2003-12-30 2008-05-13 Strider Labs, Inc. Robotic hand with extendable palm
US20060277466A1 (en) * 2005-05-13 2006-12-07 Anderson Thomas G Bimodal user interaction with a simulated object
JP2008229762A (ja) 2007-03-19 2008-10-02 Fanuc Ltd 線条体収容型アームを備えたロボット
JP5130509B2 (ja) * 2010-08-11 2013-01-30 川田工業株式会社 作業ロボット用エンドエフェクタ交換装置およびその一部を具える作業ロボット
JP5880110B2 (ja) 2012-02-16 2016-03-08 セイコーエプソン株式会社 ロボットハンド、およびロボット
CN104918758B (zh) * 2012-12-18 2017-10-27 粟内功 美容美发剪刀
US9867612B2 (en) * 2013-04-16 2018-01-16 Ethicon Llc Powered surgical stapler
JP5928416B2 (ja) 2013-07-26 2016-06-01 株式会社安川電機 ロボットおよびロボットの製造方法
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JP2015085481A (ja) * 2013-11-01 2015-05-07 セイコーエプソン株式会社 ロボット、ロボットシステム、ロボット制御部及び把持方法
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Publication number Priority date Publication date Assignee Title
JPH04189489A (ja) * 1990-11-22 1992-07-07 Mitsubishi Heavy Ind Ltd 交換用マニピユレーターハンド
JPH05169383A (ja) * 1991-12-24 1993-07-09 Nitta Ind Corp 自動工具交換用カップラーの脱落防止機構
CN104608128A (zh) * 2013-11-01 2015-05-13 精工爱普生株式会社 机器人、控制装置、机器人系统、以及机器人控制方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112638598A (zh) * 2018-09-26 2021-04-09 欧姆龙株式会社 末端执行器及末端执行器装置

Also Published As

Publication number Publication date
US10207413B2 (en) 2019-02-19
US20170274539A1 (en) 2017-09-28
JP2017170586A (ja) 2017-09-28

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Application publication date: 20171208

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