DE602006017891D1 - Fingereinheit für roboterhand und verfahren zu deren montage - Google Patents

Fingereinheit für roboterhand und verfahren zu deren montage

Info

Publication number
DE602006017891D1
DE602006017891D1 DE602006017891T DE602006017891T DE602006017891D1 DE 602006017891 D1 DE602006017891 D1 DE 602006017891D1 DE 602006017891 T DE602006017891 T DE 602006017891T DE 602006017891 T DE602006017891 T DE 602006017891T DE 602006017891 D1 DE602006017891 D1 DE 602006017891D1
Authority
DE
Germany
Prior art keywords
assembling
robot hand
finger unit
finger
unit
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.)
Active
Application number
DE602006017891T
Other languages
English (en)
Inventor
Masashi Horiuchi
Toshihiro Hirabayashi
Hirokazu Ohta
Morihiko Ohkura
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.)
Harmonic Drive Systems Inc
Toyota Motor Corp
Original Assignee
Harmonic Drive Systems Inc
Toyota Motor 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 Harmonic Drive Systems Inc, Toyota Motor Corp filed Critical Harmonic Drive Systems Inc
Publication of DE602006017891D1 publication Critical patent/DE602006017891D1/de
Active 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
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • 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
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
  • Transmission Devices (AREA)
  • General Details Of Gearings (AREA)
DE602006017891T 2005-12-28 2006-11-30 Fingereinheit für roboterhand und verfahren zu deren montage Active DE602006017891D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2005379771A JP4614878B2 (ja) 2005-12-28 2005-12-28 ロボットハンドの指ユニットおよび組立方法
PCT/JP2006/323893 WO2007077697A1 (ja) 2005-12-28 2006-11-30 ロボットハンドの指ユニットおよび組立方法

Publications (1)

Publication Number Publication Date
DE602006017891D1 true DE602006017891D1 (de) 2010-12-09

Family

ID=38228055

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602006017891T Active DE602006017891D1 (de) 2005-12-28 2006-11-30 Fingereinheit für roboterhand und verfahren zu deren montage

Country Status (7)

Country Link
US (1) US7959199B2 (de)
EP (1) EP1977865B1 (de)
JP (1) JP4614878B2 (de)
CN (1) CN101232980B (de)
CA (1) CA2621221C (de)
DE (1) DE602006017891D1 (de)
WO (1) WO2007077697A1 (de)

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JP4614879B2 (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 密閉型のウォームギヤ式指関節ユニット
DE102007039398B4 (de) * 2007-08-21 2009-11-12 Saadat, Mohammad Mohsen, Prof. Dr.-Ing. Greifmechanismus für Roboter, Maschinen und Handhabungsgeräte
DE102007039399B4 (de) * 2007-08-21 2010-05-12 Saadat, Mohammad Mohsen, Prof. Dr.-Ing. Greifmechanismus mit dreiteiliger Getriebewelle
TWI418452B (zh) * 2009-11-20 2013-12-11 Ind Tech Res Inst 機械手臂之腕關節結構
CN102107434B (zh) * 2009-12-29 2013-10-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN102233585A (zh) * 2010-04-29 2011-11-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件
TWI405650B (zh) * 2010-12-24 2013-08-21 Univ Nat Taiwan Science Tech 機器人系統及利用該機器人系統彈奏和弦的方法
KR101296860B1 (ko) * 2011-05-12 2013-08-14 주식회사 로보멕 로봇 손가락기구
CN103192375A (zh) * 2012-01-05 2013-07-10 沈阳新松机器人自动化股份有限公司 侧翻式机械手
US9579806B2 (en) * 2012-08-23 2017-02-28 Rethink Robotics, Inc. Robotic power and signal distribution using laminated cable with separator webs
KR101469493B1 (ko) * 2013-12-03 2014-12-05 한국과학기술연구원 차동 기어 특성을 이용한 로봇 핑거 구동 모듈 및 이를 포함하는 로봇 핸드
JP2015196237A (ja) * 2014-04-03 2015-11-09 ナブテスコ株式会社 ヒューマノイドロボットの関節機構
CN104842363B (zh) * 2015-06-12 2017-02-01 浙江大学 一种齿轮齿条传动的欠驱动三关节手指
JP1568669S (de) * 2015-10-08 2017-02-06
USD880548S1 (en) * 2017-04-23 2020-04-07 Franka Emika Gmbh Robot pilothead controller
USD829249S1 (en) * 2017-07-11 2018-09-25 Intel Corporation Robotic finger
JP1605291S (de) * 2017-07-18 2019-11-25
USD847243S1 (en) * 2017-07-18 2019-04-30 Mitsubishi Electric Corporation Manipulator for robot
USD846615S1 (en) * 2017-07-18 2019-04-23 Mitsubishi Electric Corporation Manipulator for robot
JP1605294S (de) * 2017-07-18 2019-11-25
JP1605292S (de) * 2017-07-18 2019-11-25
USD852859S1 (en) * 2017-07-18 2019-07-02 Mitsubishi Electric Corporation Manipulator for robot
USD839332S1 (en) * 2017-08-23 2019-01-29 Brent Andrew BAILEY End effector
USD827006S1 (en) * 2017-09-06 2018-08-28 Hiwin Technologies Corp. Robotic arm
USD827005S1 (en) * 2017-09-06 2018-08-28 Hwin Technologies Corp. Robotic arm
JP1613032S (de) * 2018-03-29 2020-03-02
JP1613980S (de) * 2018-03-29 2020-03-09
JP6912425B2 (ja) 2018-07-25 2021-08-04 ファナック株式会社 ロボットアームとその製造方法およびロボット
WO2020043276A1 (en) * 2018-08-29 2020-03-05 Abb Schweiz Ag Robot joint and method for sealing a joint gap of a robot joint
CN114227742B (zh) * 2022-01-06 2023-08-29 中国科学技术大学 转向机械臂

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JPS5224659A (en) * 1975-08-18 1977-02-24 Gardner Denver Co Angle driving unit
JPS60207793A (ja) * 1984-03-31 1985-10-19 株式会社東芝 ロボツトハンド
JPS61182789A (ja) * 1985-02-08 1986-08-15 フアナツク株式会社 産業用ロボツトの手首
JPS62287991A (ja) * 1986-06-09 1987-12-14 ファナック株式会社 産業用ロボツトの手首駆動機構
JPH0224151U (de) * 1988-08-01 1990-02-16
JPH0569374A (ja) * 1991-09-14 1993-03-23 Toyota Central Res & Dev Lab Inc 指モジユール、指モジユール構造、ロボツトハンドおよび指モジユールの信号検出取出方法
CN2241963Y (zh) * 1995-12-22 1996-12-11 四川拖拉机总厂 一种旋耕机传动装置
JP4023886B2 (ja) * 1998-01-12 2007-12-19 株式会社ショーワ ベベルギヤ装置のダストカバー組付構造
JP2000035106A (ja) * 1998-07-17 2000-02-02 Sumitomo Heavy Ind Ltd 直交歯車減速機
JP2001124155A (ja) * 1999-10-28 2001-05-08 Shibaura Densan Kk ハイポイドギヤ式減速機を用いた電動機
US7168748B2 (en) 2002-09-26 2007-01-30 Barrett Technology, Inc. Intelligent, self-contained robotic hand
JP4030011B2 (ja) 2002-10-07 2008-01-09 株式会社ハーモニック・ドライブ・システムズ ロボットハンド用掌機構
JP4133188B2 (ja) 2002-10-07 2008-08-13 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
JPWO2005102619A1 (ja) * 2004-03-30 2008-03-13 株式会社ハーモニック・ドライブ・システムズ 指ユニットおよび多指型把持機構

Also Published As

Publication number Publication date
US7959199B2 (en) 2011-06-14
JP4614878B2 (ja) 2011-01-19
CA2621221C (en) 2011-02-22
EP1977865A1 (de) 2008-10-08
CA2621221A1 (en) 2007-07-12
JP2007175844A (ja) 2007-07-12
US20090114054A1 (en) 2009-05-07
CN101232980A (zh) 2008-07-30
WO2007077697A1 (ja) 2007-07-12
CN101232980B (zh) 2010-09-29
EP1977865B1 (de) 2010-10-27
EP1977865A4 (de) 2009-01-28

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