JP2019198946A - 把持装置およびロボット - Google Patents
把持装置およびロボット Download PDFInfo
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- JP2019198946A JP2019198946A JP2018096228A JP2018096228A JP2019198946A JP 2019198946 A JP2019198946 A JP 2019198946A JP 2018096228 A JP2018096228 A JP 2018096228A JP 2018096228 A JP2018096228 A JP 2018096228A JP 2019198946 A JP2019198946 A JP 2019198946A
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- pinion
- gripping
- gripping device
- piezoelectric
- robot
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- 239000000463 material Substances 0.000 abstract description 6
- 239000000919 ceramic Substances 0.000 description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 4
- 239000000470 constituent Substances 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- GWEVSGVZZGPLCZ-UHFFFAOYSA-N Titan oxide Chemical compound O=[Ti]=O GWEVSGVZZGPLCZ-UHFFFAOYSA-N 0.000 description 2
- XLOMVQKBTHCTTD-UHFFFAOYSA-N Zinc monoxide Chemical compound [Zn]=O XLOMVQKBTHCTTD-UHFFFAOYSA-N 0.000 description 2
- MCMNRKCIXSYSNV-UHFFFAOYSA-N Zirconium dioxide Chemical compound O=[Zr]=O MCMNRKCIXSYSNV-UHFFFAOYSA-N 0.000 description 2
- 229910002113 barium titanate Inorganic materials 0.000 description 2
- JRPBQTZRNDNNOP-UHFFFAOYSA-N barium titanate Chemical compound [Ba+2].[Ba+2].[O-][Ti]([O-])([O-])[O-] JRPBQTZRNDNNOP-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229910052451 lead zirconate titanate Inorganic materials 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000010453 quartz Substances 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000005549 size reduction Methods 0.000 description 2
- WSMQKESQZFQMFW-UHFFFAOYSA-N 5-methyl-pyrazole-3-carboxylic acid Chemical compound CC1=CC(C(O)=O)=NN1 WSMQKESQZFQMFW-UHFFFAOYSA-N 0.000 description 1
- 239000002033 PVDF binder Substances 0.000 description 1
- 229910052581 Si3N4 Inorganic materials 0.000 description 1
- NRTOMJZYCJJWKI-UHFFFAOYSA-N Titanium nitride Chemical compound [Ti]#N NRTOMJZYCJJWKI-UHFFFAOYSA-N 0.000 description 1
- VNSWULZVUKFJHK-UHFFFAOYSA-N [Sr].[Bi] Chemical compound [Sr].[Bi] VNSWULZVUKFJHK-UHFFFAOYSA-N 0.000 description 1
- PNEYBMLMFCGWSK-UHFFFAOYSA-N aluminium oxide Inorganic materials [O-2].[O-2].[O-2].[Al+3].[Al+3] PNEYBMLMFCGWSK-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- PMHQVHHXPFUNSP-UHFFFAOYSA-M copper(1+);methylsulfanylmethane;bromide Chemical compound Br[Cu].CSC PMHQVHHXPFUNSP-UHFFFAOYSA-M 0.000 description 1
- NKZSPGSOXYXWQA-UHFFFAOYSA-N dioxido(oxo)titanium;lead(2+) Chemical compound [Pb+2].[O-][Ti]([O-])=O NKZSPGSOXYXWQA-UHFFFAOYSA-N 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- HFGPZNIAWCZYJU-UHFFFAOYSA-N lead zirconate titanate Chemical compound [O-2].[O-2].[O-2].[O-2].[O-2].[Ti+4].[Zr+4].[Pb+2] HFGPZNIAWCZYJU-UHFFFAOYSA-N 0.000 description 1
- GQYHUHYESMUTHG-UHFFFAOYSA-N lithium niobate Chemical compound [Li+].[O-][Nb](=O)=O GQYHUHYESMUTHG-UHFFFAOYSA-N 0.000 description 1
- 150000004767 nitrides Chemical class 0.000 description 1
- 229910052574 oxide ceramic Inorganic materials 0.000 description 1
- 239000011224 oxide ceramic Substances 0.000 description 1
- 229920002981 polyvinylidene fluoride Polymers 0.000 description 1
- UKDIAJWKFXFVFG-UHFFFAOYSA-N potassium;oxido(dioxo)niobium Chemical compound [K+].[O-][Nb](=O)=O UKDIAJWKFXFVFG-UHFFFAOYSA-N 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 229910052594 sapphire Inorganic materials 0.000 description 1
- 239000010980 sapphire Substances 0.000 description 1
- 229910052706 scandium Inorganic materials 0.000 description 1
- SIXSYDAISGFNSX-UHFFFAOYSA-N scandium atom Chemical compound [Sc] SIXSYDAISGFNSX-UHFFFAOYSA-N 0.000 description 1
- 239000000377 silicon dioxide Substances 0.000 description 1
- HQVNEWCFYHHQES-UHFFFAOYSA-N silicon nitride Chemical compound N12[Si]34N5[Si]62N3[Si]51N64 HQVNEWCFYHHQES-UHFFFAOYSA-N 0.000 description 1
- XMVONEAAOPAGAO-UHFFFAOYSA-N sodium tungstate Chemical compound [Na+].[Na+].[O-][W]([O-])(=O)=O XMVONEAAOPAGAO-UHFFFAOYSA-N 0.000 description 1
- 238000003980 solgel method Methods 0.000 description 1
- 238000004544 sputter deposition Methods 0.000 description 1
- 229910052712 strontium Inorganic materials 0.000 description 1
- CIOAGBVUUVVLOB-UHFFFAOYSA-N strontium atom Chemical compound [Sr] CIOAGBVUUVVLOB-UHFFFAOYSA-N 0.000 description 1
- 239000011787 zinc oxide 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
- B25J15/08—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
- B25J15/02—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—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
-
- 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
- B25J9/12—Programme-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)
Abstract
Description
圧電体が振動する振動部と、前記回転部材と当接して前記振動を前記回転部材に伝達する凸部と、を有する駆動部と、
前記ピニオンと噛み合い、前記ピニオンの回転によって移動するラックと、
前記ラックに接続されている把持部と、を備え、
前記凸部と前記回転部材とが当接する当接部は、前記回転部材の回転軸方向からの平面視で、前記ピニオンの外周よりも外側に位置していることを特徴とする。
まず、本発明の第1実施形態に係る把持装置について説明する。
図6は、本発明の第2実施形態に係る把持装置を示す断面図である。
次に、本発明の第3実施形態に係る把持装置について説明する。
次に、本発明の第4実施形態に係るロボットについて説明する。
Claims (5)
- ピニオンを有する回転部材と、
圧電体が振動する振動部と、前記回転部材と当接して前記振動を前記回転部材に伝達する凸部と、を有する駆動部と、
前記ピニオンと噛み合い、前記ピニオンの回転によって移動するラックと、
前記ラックに接続されている把持部と、を備え、
前記凸部と前記回転部材とが当接する当接部は、前記回転部材の回転軸方向からの平面視で、前記ピニオンの外周よりも外側に位置していることを特徴とする把持装置。 - 前記振動部と前記凸部とが並ぶ方向は、前記回転軸に沿っている請求項1に記載の把持装置。
- 前記振動部と前記凸部とが並ぶ方向は、前記回転軸と直交する方向に沿っている請求項1に記載の把持装置。
- 前記ラックを複数有し、
前記複数のラックは互いの歯が向き合って配置されている請求項1ないし3のいずれか1項に記載の把持装置。 - 請求項1ないし4のいずれか1項に記載の把持装置を有することを特徴とするロボット。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018096228A JP7151166B2 (ja) | 2018-05-18 | 2018-05-18 | 把持装置およびロボット |
CN201910408703.0A CN110497441B (zh) | 2018-05-18 | 2019-05-16 | 把持装置以及机器人 |
US16/414,922 US11014250B2 (en) | 2018-05-18 | 2019-05-17 | Gripping device and robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018096228A JP7151166B2 (ja) | 2018-05-18 | 2018-05-18 | 把持装置およびロボット |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2019198946A true JP2019198946A (ja) | 2019-11-21 |
JP2019198946A5 JP2019198946A5 (ja) | 2021-06-17 |
JP7151166B2 JP7151166B2 (ja) | 2022-10-12 |
Family
ID=68532724
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018096228A Active JP7151166B2 (ja) | 2018-05-18 | 2018-05-18 | 把持装置およびロボット |
Country Status (3)
Country | Link |
---|---|
US (1) | US11014250B2 (ja) |
JP (1) | JP7151166B2 (ja) |
CN (1) | CN110497441B (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
CN116690624A (zh) * | 2023-07-05 | 2023-09-05 | 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 |
US11772263B2 (en) | 2020-10-30 | 2023-10-03 | Seiko Epson Corporation | Method for driving hand, and hand |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
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 |
WO2022087233A1 (en) * | 2020-10-22 | 2022-04-28 | Gen-Probe Incorporated | Automated gripping mechanism |
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 |
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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 |
JP2004106095A (ja) * | 2002-09-17 | 2004-04-08 | Mach Eng:Kk | 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 |
JP2013121191A (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、ロボットおよびプリンター |
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 |
JP2016025670A (ja) * | 2014-07-16 | 2016-02-08 | キヤノン株式会社 | 回転駆動装置及び関節形ロボット |
US20170173801A1 (en) * | 2014-04-04 | 2017-06-22 | Siemens Healthcare Diagnostics Inc. | Robotic pick and place device with combined gripping and rotational functionality |
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JP2001341091A (ja) * | 2000-03-30 | 2001-12-11 | Kondo Seisakusho:Kk | 把持装置 |
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US11772263B2 (en) | 2020-10-30 | 2023-10-03 | Seiko Epson Corporation | Method for driving hand, and hand |
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 |
CN116690624A (zh) * | 2023-07-05 | 2023-09-05 | 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 |
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 |
Also Published As
Publication number | Publication date |
---|---|
US20190351562A1 (en) | 2019-11-21 |
JP7151166B2 (ja) | 2022-10-12 |
US11014250B2 (en) | 2021-05-25 |
CN110497441A (zh) | 2019-11-26 |
CN110497441B (zh) | 2023-03-21 |
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