CN110497441B - 把持装置以及机器人 - Google Patents

把持装置以及机器人 Download PDF

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Publication number
CN110497441B
CN110497441B CN201910408703.0A CN201910408703A CN110497441B CN 110497441 B CN110497441 B CN 110497441B CN 201910408703 A CN201910408703 A CN 201910408703A CN 110497441 B CN110497441 B CN 110497441B
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CN
China
Prior art keywords
pinion gear
rotating member
gripping device
rotating
rotating body
Prior art date
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Active
Application number
CN201910408703.0A
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English (en)
Chinese (zh)
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CN110497441A (zh
Inventor
岩崎友寿
荒川豊
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
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Seiko Epson Corp
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Filing date
Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Publication of CN110497441A publication Critical patent/CN110497441A/zh
Application granted granted Critical
Publication of CN110497441B publication Critical patent/CN110497441B/zh
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    • 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
    • B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
    • 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
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • 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
    • 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
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
    • H02N2/001—Driving devices, e.g. vibrators
    • H02N2/003—Driving devices, e.g. vibrators using longitudinal or radial modes combined with bending modes
    • H02N2/004—Rectangular vibrators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
    • H02N2/103—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors by pressing one or more vibrators against the rotor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
    • H02N2/12—Constructional details
    • H02N2/123—Mechanical transmission means, e.g. for gearing
    • H02N2/126—Mechanical transmission means, e.g. for gearing for conversion into linear motion
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N30/00—Piezoelectric or electrostrictive devices
    • H10N30/20—Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators
    • H10N30/202—Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators using longitudinal or thickness displacement combined with bending, shear or torsion displacement
    • H10N30/2023—Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators using longitudinal or thickness displacement combined with bending, shear or torsion displacement having polygonal or rectangular shape

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN201910408703.0A 2018-05-18 2019-05-16 把持装置以及机器人 Active CN110497441B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-096228 2018-05-18
JP2018096228A JP7151166B2 (ja) 2018-05-18 2018-05-18 把持装置およびロボット

Publications (2)

Publication Number Publication Date
CN110497441A CN110497441A (zh) 2019-11-26
CN110497441B true CN110497441B (zh) 2023-03-21

Family

ID=68532724

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910408703.0A Active CN110497441B (zh) 2018-05-18 2019-05-16 把持装置以及机器人

Country Status (3)

Country Link
US (1) US11014250B2 (https=)
JP (1) JP7151166B2 (https=)
CN (1) CN110497441B (https=)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7205823B2 (ja) * 2018-12-05 2023-01-17 株式会社ニックス 把持機構及び運搬物搬送装置
JP7388089B2 (ja) * 2019-09-25 2023-11-29 オムロン株式会社 線状部材把持装置
FR3103128B1 (fr) * 2019-11-19 2022-07-29 Meropy Robot autonome
CN110842974A (zh) * 2019-11-22 2020-02-28 长沙市奥思得精工模具有限公司 一种汽车夹具识别机构
IT202000005257A1 (it) * 2020-03-11 2021-09-11 Aea Srl Dispositivo di afferraggio
CN111421570A (zh) * 2020-05-11 2020-07-17 北京中车重工机械有限公司 抓具装置、机器人和危废物料倾倒系统
AU2021365157B2 (en) * 2020-10-22 2025-11-06 Gen-Probe Incorporated Automated gripping mechanism
JP7537230B2 (ja) 2020-10-30 2024-08-21 セイコーエプソン株式会社 ハンドの駆動方法およびハンド
JP2022113263A (ja) * 2021-01-25 2022-08-04 セイコーエプソン株式会社 ロボット及びエンドエフェクター
CN113370255A (zh) * 2021-06-19 2021-09-10 南京科技职业学院 一种机械自动化制造用机器人的取料夹持装置
CN113199500B (zh) * 2021-06-22 2022-12-02 太原理工大学 一种弹性夹紧手指装置及其夹紧力计算方法
CN115781713B (zh) * 2022-12-09 2023-05-30 青岛拓普斯智能科技有限公司 一种立柱移栽用机械手
CN116690624B (zh) * 2023-07-05 2024-02-13 香港量子人工智能实验室有限公司 一种双臂协同机械装置

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US4600357A (en) * 1984-02-21 1986-07-15 Heath Company Gripper force sensor/controller for robotic arm
US4707013A (en) * 1986-05-30 1987-11-17 The United States Of America As Represented By The Secretary Of Commerce Split rail parallel gripper
US4808898A (en) * 1987-09-30 1989-02-28 Keith Pearson Gripper assembly for robot arm
US5080415A (en) * 1988-04-22 1992-01-14 Beckman Instruments, Inc. Robot gripper having auxiliary degree of freedom
JPH09109081A (ja) * 1995-10-11 1997-04-28 Canon Inc 把持装置および把持力発生方法
JP2001341091A (ja) 2000-03-30 2001-12-11 Kondo Seisakusho:Kk 把持装置
JP4026130B2 (ja) 2002-09-17 2007-12-26 株式会社マシンエンジニアリング ワークの位置決め装置
JP2007306800A (ja) 2006-01-12 2007-11-22 Matsushita Electric Ind Co Ltd 超音波アクチュエータ
CN101313456B (zh) * 2006-01-12 2011-09-21 松下电器产业株式会社 超声波执行机构
JP2008149402A (ja) 2006-12-18 2008-07-03 Iai:Kk 把持装置と把持力制御方法
JP2012253921A (ja) * 2011-06-03 2012-12-20 Seiko Epson Corp モーター、ロボットハンドおよびロボット
DE202011106379U1 (de) * 2011-10-07 2011-11-16 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Greif- oder Spannvorrichtung
JP2013121193A (ja) * 2011-12-06 2013-06-17 Seiko Epson Corp 圧電モーター、駆動装置、電子部品搬送装置、電子部品検査装置、印刷装置、ロボットハンド、およびロボット
JP5929138B2 (ja) 2011-12-06 2016-06-01 セイコーエプソン株式会社 圧電モーターおよびロボット
JP2013255958A (ja) 2012-06-12 2013-12-26 Seiko Epson Corp ロボットハンド、およびロボット
CN103684036A (zh) * 2012-09-18 2014-03-26 精工爱普生株式会社 压电马达、机器人手、机器人、电子部件搬运装置、电子部件检查装置、送液泵、打印装置
DE102013211528A1 (de) * 2013-06-19 2014-12-24 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Greif- oder Spannvorrichtung zum Greifen oder Spannen von Gegenständen und Verfahren hierfür
DE102013110216A1 (de) * 2013-09-17 2015-03-19 gomtec GmbH Endeffektor für ein chirurgisches Instrument und chirurgisches Instrument mit einem Endeffektor
US10272574B2 (en) 2014-04-04 2019-04-30 Siemens Healthcare Diagnostics Inc. Robotic pick and place device with combined gripping and rotational functionality
JP6448239B2 (ja) 2014-07-16 2019-01-09 キヤノン株式会社 回転駆動装置及び関節形ロボット
CN105538288B (zh) * 2014-10-22 2020-08-28 精工爱普生株式会社 机器人
JP6511900B2 (ja) * 2015-03-25 2019-05-15 セイコーエプソン株式会社 圧電駆動装置及びその駆動方法、ロボット及びその駆動方法

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Publication number Publication date
JP7151166B2 (ja) 2022-10-12
JP2019198946A (ja) 2019-11-21
US11014250B2 (en) 2021-05-25
US20190351562A1 (en) 2019-11-21
CN110497441A (zh) 2019-11-26

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