DE102007039398B4 - Greifmechanismus für Roboter, Maschinen und Handhabungsgeräte - Google Patents

Greifmechanismus für Roboter, Maschinen und Handhabungsgeräte Download PDF

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Publication number
DE102007039398B4
DE102007039398B4 DE102007039398A DE102007039398A DE102007039398B4 DE 102007039398 B4 DE102007039398 B4 DE 102007039398B4 DE 102007039398 A DE102007039398 A DE 102007039398A DE 102007039398 A DE102007039398 A DE 102007039398A DE 102007039398 B4 DE102007039398 B4 DE 102007039398B4
Authority
DE
Germany
Prior art keywords
driven
gripping
finger
gear shaft
gripper
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.)
Expired - Fee Related
Application number
DE102007039398A
Other languages
German (de)
English (en)
Other versions
DE102007039398A1 (de
Inventor
Fereshteh Saadat
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.)
SAADAT, MOHAMMAD MOHSEN, PROF. DR.-ING., 59494, DE
Original Assignee
Individual
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=40225584&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=DE102007039398(B4) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Individual filed Critical Individual
Priority to DE102007039398A priority Critical patent/DE102007039398B4/de
Priority to EP08801187A priority patent/EP2190632B1/de
Priority to US12/531,280 priority patent/US8459709B2/en
Priority to JP2010521298A priority patent/JP5567479B2/ja
Priority to DE112008002910T priority patent/DE112008002910A5/de
Priority to AT08801187T priority patent/ATE510663T1/de
Priority to PCT/DE2008/001364 priority patent/WO2009024137A2/de
Publication of DE102007039398A1 publication Critical patent/DE102007039398A1/de
Publication of DE102007039398B4 publication Critical patent/DE102007039398B4/de
Application granted granted Critical
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B25J15/08—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
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • 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
    • B25J15/106—Gripping heads and other end effectors having finger members with three or more finger members moving in parallel relationship
    • 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
    • B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
    • 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
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • B25J9/105—Program-controlled manipulators characterised by positioning means for manipulator elements using eccentric means
    • 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
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • B25J9/109—Program-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE102007039398A 2007-08-21 2007-08-21 Greifmechanismus für Roboter, Maschinen und Handhabungsgeräte Expired - Fee Related DE102007039398B4 (de)

Priority Applications (7)

Application Number Priority Date Filing Date Title
DE102007039398A DE102007039398B4 (de) 2007-08-21 2007-08-21 Greifmechanismus für Roboter, Maschinen und Handhabungsgeräte
DE112008002910T DE112008002910A5 (de) 2007-08-21 2008-08-19 Greifmechanismus mit zwei Antriebswellen pro Greiffinger
US12/531,280 US8459709B2 (en) 2007-08-21 2008-08-19 Gripper mechanism with two drive shafts per gripping finger
JP2010521298A JP5567479B2 (ja) 2007-08-21 2008-08-19 把持フィンガあたり２本の駆動軸を備えた把持機構
EP08801187A EP2190632B1 (de) 2007-08-21 2008-08-19 Greifmechanismus mit zwei antriebswellen pro greiferfinger
AT08801187T ATE510663T1 (de) 2007-08-21 2008-08-19 Greifmechanismus mit zwei antriebswellen pro greiferfinger
PCT/DE2008/001364 WO2009024137A2 (de) 2007-08-21 2008-08-19 Greifmechanismus mit einem parallelogrammgestänge sowie zwei antriebswellen pro greiffinger

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007039398A DE102007039398B4 (de) 2007-08-21 2007-08-21 Greifmechanismus für Roboter, Maschinen und Handhabungsgeräte

Publications (2)

Publication Number Publication Date
DE102007039398A1 DE102007039398A1 (de) 2009-02-26
DE102007039398B4 true DE102007039398B4 (de) 2009-11-12

Family

ID=40225584

Family Applications (2)

Application Number Title Priority Date Filing Date
DE102007039398A Expired - Fee Related DE102007039398B4 (de) 2007-08-21 2007-08-21 Greifmechanismus für Roboter, Maschinen und Handhabungsgeräte
DE112008002910T Withdrawn DE112008002910A5 (de) 2007-08-21 2008-08-19 Greifmechanismus mit zwei Antriebswellen pro Greiffinger

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE112008002910T Withdrawn DE112008002910A5 (de) 2007-08-21 2008-08-19 Greifmechanismus mit zwei Antriebswellen pro Greiffinger

Country Status (6)

Country Link
US (1) US8459709B2 (https=)
EP (1) EP2190632B1 (https=)
JP (1) JP5567479B2 (https=)
AT (1) ATE510663T1 (https=)
DE (2) DE102007039398B4 (https=)
WO (1) WO2009024137A2 (https=)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110278516A1 (en) * 2010-05-14 2011-11-17 Brad Christian Vehicle lift
US8540214B2 (en) 2010-09-07 2013-09-24 Brad Christian Vehicle lift
CN105173704A (zh) * 2015-09-01 2015-12-23 安徽工业大学 火车车轮烘漆炉上料机械手
CN106041922B (zh) * 2016-07-18 2018-03-23 广东天机工业智能系统有限公司 一种具有逆向自锁装置的六轴通用机器人
CN107336227B (zh) * 2017-08-04 2022-10-11 上海惊鸿机器人有限公司 一种打菜机器人
CN108297071A (zh) * 2018-02-11 2018-07-20 长春工程学院 一种机械制造辅助机械臂
CN108312163B (zh) * 2018-03-09 2023-12-29 清华大学 共圆滑杆直线平夹感知自适应机器人手指装置
CN109366772A (zh) * 2018-10-29 2019-02-22 安徽捷运矿山机械有限公司 一种矿石冲床上下料辅助装置
CN113733077A (zh) * 2021-09-23 2021-12-03 扬州市聚鑫机械有限公司 水泥机械搬运用机械手

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20021296U1 (de) * 2000-12-15 2001-05-23 Morawski, Boleslaw, 58515 Lüdenscheid Handhabungsgerät
DE102004056229A1 (de) * 2004-11-22 2006-05-24 Günter Neumann GmbH Kraftspanner

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* Cited by examiner, † Cited by third party
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JPS5117645Y2 (https=) * 1971-05-06 1976-05-12
JPS5125348Y2 (https=) * 1972-09-04 1976-06-28
JPS5850835B2 (ja) * 1976-02-20 1983-11-12 株式会社日立製作所 工業用ロボツトの掴持装置
SU568542A1 (ru) * 1976-04-16 1977-08-15 Московское Ордена Ленина И Ордена Трудового Красного Знамени Высшее Техническое Училище Им. Н.Э.Баумана Захват
JPS5811505Y2 (ja) * 1978-10-27 1983-03-04 株式会社昌運工作所 ロ−ダの把握装置
JPS6031986B2 (ja) * 1981-03-06 1985-07-25 株式会社 坂戸工作所 掴み装置
US4441852A (en) * 1981-09-28 1984-04-10 Dixon Automatic Tool, Inc. Parts handling machine
JPS58177283A (ja) * 1982-04-07 1983-10-17 株式会社岡村製作所 関節形ア−ムを備える産業用ロボツト
JPS5993285A (ja) * 1982-11-15 1984-05-29 豊田工機株式会社 交換式ハンドを備えた作業装置
SU1337251A1 (ru) * 1985-01-07 1987-09-15 Экспериментальный научно-исследовательский институт металлорежущих станков Захватное устройство
DE8800888U1 (de) * 1988-01-26 1988-03-10 Prämeta Präzisionsmetall- und Kunststofferzeugnisse G. Baumann & Co, 5000 Köln Handhabungsgerät zum Transportieren und Positionieren von Gegenständen
JPH01246088A (ja) * 1988-03-24 1989-10-02 Nagano Pref Gov 把持力調整機構付きワーク回転ハンド
JPH0238294A (ja) * 1988-07-29 1990-02-07 Motoda Electron Co Ltd 荷重の掴み装置
JPH03131489A (ja) * 1989-10-16 1991-06-05 Fujitsu Ltd ２指ハンド
DE4014002A1 (de) * 1990-04-27 1991-10-31 Noell Gmbh Roboter und robotgreifer
JPH0451327U (https=) * 1990-09-03 1992-04-30
US5451134A (en) * 1991-10-22 1995-09-19 Bryfogle; Mark D. Material handling devices and controllers
US5370493A (en) * 1993-08-02 1994-12-06 Oshima; Shinnosuke Lifting apparatus for vehicle
JPH0866888A (ja) * 1994-08-29 1996-03-12 Japan Servo Co Ltd ロボットハンドのフィンガ駆動機構
JPH10264071A (ja) * 1997-03-24 1998-10-06 Hitachi Ltd 基板搬送装置
KR100303530B1 (ko) * 1999-02-02 2001-09-13 윤종용 이송로봇용 핸드장치
US6358285B1 (en) * 2000-06-29 2002-03-19 Teh Lin Prosthetic & Orthopaedic Inc. Motor-driven prosthetic prehensor
JP4291709B2 (ja) * 2003-04-16 2009-07-08 株式会社ダイヘン 直線移動機構およびこれを用いた搬送ロボット
ITBS20030077A1 (it) * 2003-08-29 2005-02-28 Gimatic Spa Pinza pneumatica angolare.
JP4614878B2 (ja) * 2005-12-28 2011-01-19 株式会社ハーモニック・ドライブ・システムズ ロボットハンドの指ユニットおよび組立方法
JP4805247B2 (ja) * 2006-12-28 2011-11-02 株式会社ニチレイフーズ 把持装置、並びに把持装置を備える整列装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20021296U1 (de) * 2000-12-15 2001-05-23 Morawski, Boleslaw, 58515 Lüdenscheid Handhabungsgerät
DE102004056229A1 (de) * 2004-11-22 2006-05-24 Günter Neumann GmbH Kraftspanner

Also Published As

Publication number Publication date
EP2190632A2 (de) 2010-06-02
WO2009024137A8 (de) 2010-04-29
EP2190632B1 (de) 2011-05-25
JP5567479B2 (ja) 2014-08-06
ATE510663T1 (de) 2011-06-15
US8459709B2 (en) 2013-06-11
DE102007039398A1 (de) 2009-02-26
DE112008002910A5 (de) 2010-07-29
WO2009024137A3 (de) 2009-04-30
WO2009024137A2 (de) 2009-02-26
US20100096868A1 (en) 2010-04-22
JP2010536588A (ja) 2010-12-02

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Legal Events

Date Code Title Description
OP8 Request for examination as to paragraph 44 patent law
8127 New person/name/address of the applicant

Owner name: SAADAT, MOHAMMAD MOHSEN, PROF. DR.-ING., 59494, DE

8181 Inventor (new situation)

Inventor name: SAADAT, FERESHTEH, 59494 SOEST, DE

8364 No opposition during term of opposition
R119 Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee

Effective date: 20120301