JP2010536589A - 分割された駆動軸を備えた把持機構 - Google Patents
分割された駆動軸を備えた把持機構 Download PDFInfo
- Publication number
- JP2010536589A JP2010536589A JP2010521299A JP2010521299A JP2010536589A JP 2010536589 A JP2010536589 A JP 2010536589A JP 2010521299 A JP2010521299 A JP 2010521299A JP 2010521299 A JP2010521299 A JP 2010521299A JP 2010536589 A JP2010536589 A JP 2010536589A
- Authority
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- Prior art keywords
- gripping
- drive shaft
- gripping mechanism
- bearing
- axial
- 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.)
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- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 238000005553 drilling Methods 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 7
- 230000015572 biosynthetic process Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 230000004308 accommodation Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
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)
Abstract
【選択図】図2
Description
2a 円筒形キャビティ
2b 伝達キャビティ
3 作動ユニット、駆動ユニット
4a スライダ
4b 歯ラック
4c スライダ
4d 線形作動ユニット
4e 直線被駆動スライダ
5 カップラ部材
6 駆動軸
6a クランク
6b ネック軸受
6c 端部支持軸受
6d 歯付駆動軸
7a、7b 軸方向軸受面
8 ピン
9 軸方向密封リング
10 把持フィンガ
10a、10b 把持フィンガ半分
10c 顎取付部材
10d、10e 連結棒
11a、11b、11c カバー
12a、12b ねじ
13a、13b 摺動リンク機構
14a、14b 把持フィンガ
Claims (6)
- 機械、ロボットおよび取扱い装置のための把持機構であって、被駆動軸、クランク、ベルト車または歯車軸によって作動される少なくとも1本の可動把持フィンガを含み、
前記駆動軸(6)、クランク、ベルト車または歯車軸が、複数のセクションから成り、およびお互いに対する前記セクションの心出し、同じく1つのセクションからの次のセクションへのトルクの伝達が、軸方向歯部噛み合い、好ましくはピン(8)およびボアによる低歯噛み合い、によって実行される、ことを特徴とする、把持機構。 - 請求項1に記載の把持機構であって、
前記駆動中心セクションの前記端面において、X−形状で前記駆動軸の前記軸方向ジャーナル軸受取付けの役に立つ、軸方向軸受面(7)が設けられる、ことを特徴とする把持機構。 - 請求項1に記載の把持機構であって、
前記把持フィンガ(10a、10b)の前記内部端面または前記端部支持軸受(6c)または前記把持フィンガを作動させる前記連結棒(10d)において、O−形状で前記駆動軸の前記軸方向ジャーナル軸受取付けとして役立つ軸方向軸受面が設けられる、ことを特徴とする把持機構。 - 請求項1ないし3のいずれか1つに記載の把持機構であって、
前記把持ケーシングが、一方のキャビティ(2a)内の作動ユニット(3)およびもう一方のキャビティ(2b)内の伝達ユニットの収容のための2つの相互に連結したキャビティ(2a、2b)を備えた1つの統合された部材から成る、ことを特徴とする把持機構。 - 請求項1ないし4のいずれか1つに記載の把持機構であって、
前記把持フィンガが、複数セクション設計の2本の駆動軸によって同時に作動され、かつまた、その限界の最終および延伸位置で明白におよびしっかりと制御される、制御伝達装置のカップラとして制御される、ことを特徴とする把持機構。 - 請求項1ないし5のいずれか1つに記載の把持機構であって、
前記複数の把持フィンガが、前記中心作動ユニット(3)のまわりに配置され、かつ後者によって同期して駆動される、ことを特徴とする把持機構。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007039399.9 | 2007-08-21 | ||
DE102007039399A DE102007039399B4 (de) | 2007-08-21 | 2007-08-21 | Greifmechanismus mit dreiteiliger Getriebewelle |
PCT/DE2008/001365 WO2009024138A2 (de) | 2007-08-21 | 2008-08-19 | Greifmechanismus mit geteilter antriebswelle für einen greiferfinger |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2010536589A true JP2010536589A (ja) | 2010-12-02 |
JP2010536589A5 JP2010536589A5 (ja) | 2013-06-20 |
JP5603772B2 JP5603772B2 (ja) | 2014-10-08 |
Family
ID=40254764
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2010521299A Active JP5603772B2 (ja) | 2007-08-21 | 2008-08-19 | 分割された駆動軸を備えた把持機構 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8235438B2 (ja) |
EP (1) | EP2190633B1 (ja) |
JP (1) | JP5603772B2 (ja) |
AT (1) | ATE516118T1 (ja) |
DE (2) | DE102007039399B4 (ja) |
WO (1) | WO2009024138A2 (ja) |
Families Citing this family (14)
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 |
CN110253608A (zh) * | 2019-07-23 | 2019-09-20 | 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 |
AU2022376882A1 (en) * | 2021-10-27 | 2024-05-09 | 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 (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4734768U (ja) * | 1971-05-06 | 1972-12-18 | ||
JPS4959257U (ja) * | 1972-09-04 | 1974-05-24 | ||
JPS5566792U (ja) * | 1978-10-27 | 1980-05-08 | ||
JPS57147443A (en) * | 1981-03-06 | 1982-09-11 | Sakado Kousakushiyo Kk | Gripper |
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 |
JPS6133883A (ja) * | 1984-07-23 | 1986-02-17 | ユニメーション・インコーポレーテッド | ロボツトの把持装置 |
JPS61178697U (ja) * | 1985-04-25 | 1986-11-07 | ||
JPH03131489A (ja) * | 1989-10-16 | 1991-06-05 | Fujitsu Ltd | 2指ハンド |
JPH0579941U (ja) * | 1992-03-31 | 1993-10-29 | 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 |
JPH1080888A (ja) * | 1996-09-06 | 1998-03-31 | Smc Corp | チャック装置 |
JP2004216482A (ja) * | 2003-01-10 | 2004-08-05 | Smc Corp | 電動チャック装置 |
JP2005074621A (ja) * | 2003-08-29 | 2005-03-24 | Gimatic Spa | 角運動式空気式グリッパー |
JP2007175844A (ja) * | 2005-12-28 | 2007-07-12 | Harmonic Drive Syst Ind Co Ltd | ロボットハンドの指ユニットおよび組立方法 |
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DE102004056229A1 (de) * | 2004-11-22 | 2006-05-24 | Günter Neumann GmbH | Kraftspanner |
-
2007
- 2007-08-21 DE DE102007039399A patent/DE102007039399B4/de not_active Expired - Fee Related
-
2008
- 2008-08-19 AT AT08801188T patent/ATE516118T1/de active
- 2008-08-19 WO PCT/DE2008/001365 patent/WO2009024138A2/de active Application Filing
- 2008-08-19 US US12/531,285 patent/US8235438B2/en active Active
- 2008-08-19 DE DE112008002849T patent/DE112008002849A5/de not_active Withdrawn
- 2008-08-19 JP JP2010521299A patent/JP5603772B2/ja active Active
- 2008-08-19 EP EP08801188A patent/EP2190633B1/de active Active
Patent Citations (16)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS4734768U (ja) * | 1971-05-06 | 1972-12-18 | ||
JPS4959257U (ja) * | 1972-09-04 | 1974-05-24 | ||
JPS5566792U (ja) * | 1978-10-27 | 1980-05-08 | ||
JPS57147443A (en) * | 1981-03-06 | 1982-09-11 | Sakado Kousakushiyo Kk | Gripper |
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 |
JPS6133883A (ja) * | 1984-07-23 | 1986-02-17 | ユニメーション・インコーポレーテッド | ロボツトの把持装置 |
JPS61178697U (ja) * | 1985-04-25 | 1986-11-07 | ||
JPH03131489A (ja) * | 1989-10-16 | 1991-06-05 | Fujitsu Ltd | 2指ハンド |
JPH0579941U (ja) * | 1992-03-31 | 1993-10-29 | 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 |
JPH1080888A (ja) * | 1996-09-06 | 1998-03-31 | Smc Corp | チャック装置 |
JP2004216482A (ja) * | 2003-01-10 | 2004-08-05 | Smc Corp | 電動チャック装置 |
JP2005074621A (ja) * | 2003-08-29 | 2005-03-24 | Gimatic Spa | 角運動式空気式グリッパー |
JP2007175844A (ja) * | 2005-12-28 | 2007-07-12 | Harmonic Drive Syst Ind Co Ltd | ロボットハンドの指ユニットおよび組立方法 |
Also Published As
Publication number | Publication date |
---|---|
DE102007039399B4 (de) | 2010-05-12 |
DE102007039399A1 (de) | 2009-02-26 |
WO2009024138A3 (de) | 2009-04-30 |
EP2190633A2 (de) | 2010-06-02 |
WO2009024138A2 (de) | 2009-02-26 |
ATE516118T1 (de) | 2011-07-15 |
EP2190633B1 (de) | 2011-07-13 |
US20100096870A1 (en) | 2010-04-22 |
DE112008002849A5 (de) | 2010-11-25 |
US8235438B2 (en) | 2012-08-07 |
JP5603772B2 (ja) | 2014-10-08 |
WO2009024138A8 (de) | 2010-04-29 |
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