DE102007039399B4 - Greifmechanismus mit dreiteiliger Getriebewelle - Google Patents

Greifmechanismus mit dreiteiliger Getriebewelle Download PDF

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Publication number
DE102007039399B4
DE102007039399B4 DE102007039399A DE102007039399A DE102007039399B4 DE 102007039399 B4 DE102007039399 B4 DE 102007039399B4 DE 102007039399 A DE102007039399 A DE 102007039399A DE 102007039399 A DE102007039399 A DE 102007039399A DE 102007039399 B4 DE102007039399 B4 DE 102007039399B4
Authority
DE
Germany
Prior art keywords
gear
gripper
gripping mechanism
crank
gear shaft
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
DE102007039399A
Other languages
German (de)
English (en)
Other versions
DE102007039399A1 (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
Priority to DE102007039399A priority Critical patent/DE102007039399B4/de
Application filed by Individual filed Critical Individual
Priority to AT08801188T priority patent/ATE516118T1/de
Priority to JP2010521299A priority patent/JP5603772B2/ja
Priority to EP08801188A priority patent/EP2190633B1/de
Priority to PCT/DE2008/001365 priority patent/WO2009024138A2/de
Priority to US12/531,285 priority patent/US8235438B2/en
Priority to DE112008002849T priority patent/DE112008002849A5/de
Publication of DE102007039399A1 publication Critical patent/DE102007039399A1/de
Application granted granted Critical
Publication of DE102007039399B4 publication Critical patent/DE102007039399B4/de
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—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-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—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/105—Programme-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—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/109—Programme-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)
  • Load-Engaging Elements For Cranes (AREA)
  • Jigs For Machine Tools (AREA)
DE102007039399A 2007-08-21 2007-08-21 Greifmechanismus mit dreiteiliger Getriebewelle Expired - Fee Related DE102007039399B4 (de)

Priority Applications (7)

Application Number Priority Date Filing Date Title
DE102007039399A DE102007039399B4 (de) 2007-08-21 2007-08-21 Greifmechanismus mit dreiteiliger Getriebewelle
JP2010521299A JP5603772B2 (ja) 2007-08-21 2008-08-19 分割された駆動軸を備えた把持機構
EP08801188A EP2190633B1 (de) 2007-08-21 2008-08-19 Greifmechanismus mit geteilter antriebswelle für einen greiferfinger
PCT/DE2008/001365 WO2009024138A2 (de) 2007-08-21 2008-08-19 Greifmechanismus mit geteilter antriebswelle für einen greiferfinger
AT08801188T ATE516118T1 (de) 2007-08-21 2008-08-19 Greifmechanismus mit geteilter antriebswelle für einen greiferfinger
US12/531,285 US8235438B2 (en) 2007-08-21 2008-08-19 Gripper mechanism with split driveshaft for a gripping finger
DE112008002849T DE112008002849A5 (de) 2007-08-21 2008-08-19 Greifmechanismus mit geteilter Antriebswelle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007039399A DE102007039399B4 (de) 2007-08-21 2007-08-21 Greifmechanismus mit dreiteiliger Getriebewelle

Publications (2)

Publication Number Publication Date
DE102007039399A1 DE102007039399A1 (de) 2009-02-26
DE102007039399B4 true DE102007039399B4 (de) 2010-05-12

Family

ID=40254764

Family Applications (2)

Application Number Title Priority Date Filing Date
DE102007039399A Expired - Fee Related DE102007039399B4 (de) 2007-08-21 2007-08-21 Greifmechanismus mit dreiteiliger Getriebewelle
DE112008002849T Withdrawn DE112008002849A5 (de) 2007-08-21 2008-08-19 Greifmechanismus mit geteilter Antriebswelle

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE112008002849T Withdrawn DE112008002849A5 (de) 2007-08-21 2008-08-19 Greifmechanismus mit geteilter Antriebswelle

Country Status (6)

Country Link
US (1) US8235438B2 (enExample)
EP (1) EP2190633B1 (enExample)
JP (1) JP5603772B2 (enExample)
AT (1) ATE516118T1 (enExample)
DE (2) DE102007039399B4 (enExample)
WO (1) WO2009024138A2 (enExample)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101101062B1 (ko) * 2010-08-19 2011-12-30 삼성에스디아이 주식회사 충방전 장치
CN102717378B (zh) * 2012-02-01 2015-05-20 昆山华恒焊接股份有限公司 机械手装置
CN103878777B (zh) * 2014-03-17 2016-02-24 青岛赶海机器人有限公司 一种空间紧凑夹紧力大长行程的工业机器人抓手
US9486925B1 (en) * 2016-02-22 2016-11-08 Jeffrey A. Stroop Mechanical arm
CN106182063A (zh) * 2016-08-15 2016-12-07 广东技术师范学院 一种用于流水线上10kg重棒料搬运的机械人手爪
CN106393152A (zh) * 2016-12-01 2017-02-15 无锡市创恒机械有限公司 同步机械爪
CN107186746B (zh) * 2017-06-30 2024-01-09 江苏钜普汽车零部件有限公司 一种机械臂
CN110253608B (zh) * 2019-07-23 2024-10-25 姚振 一种新型抓取握紧式机械手
CN110978020A (zh) * 2019-12-13 2020-04-10 中国科学院深圳先进技术研究院 机械手及其自动定心夹紧夹具
CN111674915A (zh) * 2020-06-28 2020-09-18 岳阳经济技术开发区弘发物流有限公司 一种物流周转箱的抓取装置
CN113682805B (zh) * 2021-09-01 2022-11-18 沈阳工业大学 抓取机构及转运装置
CN113858252B (zh) * 2021-10-08 2023-01-17 滕州市智星电力电子工程有限公司 一种变电站维修用机器人配件抓取装置
WO2023072430A1 (en) * 2021-10-27 2023-05-04 Baker Hughes Energy Technology UK Limited Methane hydrate production equipment and method
CN116329456B (zh) * 2023-04-06 2024-03-15 东莞辉科机器人自动化股份有限公司 摆臂锻压机械手

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

Family Cites Families (26)

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Publication number Priority date Publication date Assignee Title
DE316522C (enExample) *
JPS5117645Y2 (enExample) * 1971-05-06 1976-05-12
JPS5125348Y2 (enExample) * 1972-09-04 1976-06-28
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
JPS584385A (ja) * 1981-06-29 1983-01-11 三菱重工業株式会社 マニピユレ−タ用ハンド
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
JPS59107887A (ja) * 1982-12-08 1984-06-22 広瀬　茂男 柔軟把握機構
US4598942A (en) * 1984-07-23 1986-07-08 Westinghouse Electric Corp. Force-controlled gripper with adaptive accommodation
SU1337251A1 (ru) 1985-01-07 1987-09-15 Экспериментальный научно-исследовательский институт металлорежущих станков Захватное устройство
JPH0418795Y2 (enExample) * 1985-04-25 1992-04-27
DE3623586A1 (de) * 1986-07-12 1988-01-28 Heller Geb Gmbh Maschf Greifvorrichtung
US4728137A (en) * 1986-07-22 1988-03-01 American Engineering And Trade, Inc. Compound toggle robotic gripper
DE8800888U1 (de) * 1988-01-26 1988-03-10 Prämeta Präzisionsmetall- und Kunststofferzeugnisse G. Baumann & Co, 5000 Köln Handhabungsgerät zum Transportieren und Positionieren von Gegenständen
JPH03131489A (ja) * 1989-10-16 1991-06-05 Fujitsu Ltd ２指ハンド
JP2807006B2 (ja) * 1989-12-21 1998-09-30 中部電力株式会社 電線切断・接続装置
DE4014002A1 (de) 1990-04-27 1991-10-31 Noell Gmbh Roboter und robotgreifer
US5072652A (en) * 1990-11-16 1991-12-17 Blatt John A Gripping device having impact cushioning means
JP2531910Y2 (ja) * 1992-03-31 1997-04-09 株式会社スガイ 物品把持装置
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
JP3749315B2 (ja) * 1996-09-06 2006-02-22 Ｓｍｃ株式会社 チャック装置
US5884952A (en) * 1997-06-02 1999-03-23 Rubberline Products Ltd Gripper device
US6244644B1 (en) * 1999-01-25 2001-06-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Compact dexterous robotic hand
JP3906445B2 (ja) * 2003-01-10 2007-04-18 Ｓｍｃ株式会社 電動チャック装置
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

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
US8235438B2 (en) 2012-08-07
DE112008002849A5 (de) 2010-11-25
EP2190633A2 (de) 2010-06-02
WO2009024138A2 (de) 2009-02-26
JP2010536589A (ja) 2010-12-02
DE102007039399A1 (de) 2009-02-26
WO2009024138A3 (de) 2009-04-30
WO2009024138A8 (de) 2010-04-29
JP5603772B2 (ja) 2014-10-08
ATE516118T1 (de) 2011-07-15
EP2190633B1 (de) 2011-07-13
US20100096870A1 (en) 2010-04-22

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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