JP2021091083A - ロボットハンド - Google Patents
ロボットハンド Download PDFInfo
- Publication number
- JP2021091083A JP2021091083A JP2020194376A JP2020194376A JP2021091083A JP 2021091083 A JP2021091083 A JP 2021091083A JP 2020194376 A JP2020194376 A JP 2020194376A JP 2020194376 A JP2020194376 A JP 2020194376A JP 2021091083 A JP2021091083 A JP 2021091083A
- Authority
- JP
- Japan
- Prior art keywords
- robot hand
- swing
- claw
- rotating shaft
- members
- 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.)
- Granted
Links
- 210000000078 claw Anatomy 0.000 claims abstract description 73
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 description 8
- 239000002184 metal Substances 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
- 239000000126 substance Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000009291 secondary effect Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0475—Exchangeable fingers
-
- 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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0226—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by cams
-
- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
-
- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
- B25J15/0425—Connections means having cams
-
- 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
- B25J15/10—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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
10 ブラケット(収容部材)
20a、20b 支持部材
21 シム
30a〜30c 爪部材
40 回転軸
41 ウォームギヤ部
43 貫通孔
50 揺動部材
51 ウォームホイール部
55 規制溝(規制部)
P5 規制ピン(規制突起、規制部)
Claims (8)
- 回転軸を有したモータと、
前記回転軸の先端部を収容した収容部材と、
前記回転軸が回転することにより前記収容部材に対して揺動する複数の揺動部材と、
複数の前記揺動部材のそれぞれと共に揺動する複数の爪部材と、
を備え、
前記回転軸は、外周にウォームギヤ部が形成されており、
前記揺動部材は、外周の一部に前記ウォームギヤ部に噛み合うウォームホイール部と、外周の一部に当該揺動部材の揺動中心を介して前記回転軸とは反対側に設けられた固定面と、を含み、
前記爪部材は、第1固定部材により取り外し可能に前記固定面に固定され、
前記収容部材は、前記第1固定部材を取り外し可能に露出している、ロボットハンド。 - 前記揺動部材を支持する支持部材を備え、
前記支持部材は、第2固定部材により取り外し可能に前記収容部材に固定され、
前記収容部材は、前記第2固定部材を取り外し可能に露出している、請求項1のロボットハンド。 - 前記揺動部材の揺動範囲を規制する規制部を備えた、請求項1又は2のロボットハンド。
- 前記規制部は、前記揺動部材及び収容部材の一方に形成された規制溝と、前記揺動部材及び収容部材の他方に形成され前記揺動部材の揺動により前記規制溝内を相対移動する規制突起と、を含む、請求項3のロボットハンド。
- 前記ウォームホイール部は、前記揺動部材の揺動中心から270°以下の角度範囲内に形成されている、請求項1乃至4の何れかのロボットハンド。
- 前記ウォームホイール部は、前記揺動部材の揺動中心から180°以下の角度範囲内に形成されている、請求項1乃至5の何れかのロボットハンド。
- m(mは2以上の整数)対の前記爪部材及び揺動部材を備え、
前記ウォームギヤ部の条数は、前記mの倍数である、請求項1乃至6の何れかのロボットハンド。 - 前記回転軸は、中空軸状である、請求項1乃至7の何れかのロボットハンド。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2020/044078 WO2021107039A1 (ja) | 2019-11-29 | 2020-11-26 | ロボットハンド |
US17/635,271 US11691295B2 (en) | 2019-11-29 | 2020-11-26 | Robot hand |
DE112020005867.0T DE112020005867T5 (de) | 2019-11-29 | 2020-11-26 | Roboterhand |
CN202080063137.5A CN114364499A (zh) | 2019-11-29 | 2020-11-26 | 机器人手 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019217305 | 2019-11-29 | ||
JP2019217305 | 2019-11-29 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP6858301B1 JP6858301B1 (ja) | 2021-04-14 |
JP2021091083A true JP2021091083A (ja) | 2021-06-17 |
Family
ID=75378034
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020194376A Active JP6858301B1 (ja) | 2019-11-29 | 2020-11-24 | ロボットハンド |
Country Status (5)
Country | Link |
---|---|
US (1) | US11691295B2 (ja) |
JP (1) | JP6858301B1 (ja) |
CN (1) | CN114364499A (ja) |
DE (1) | DE112020005867T5 (ja) |
WO (1) | WO2021107039A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4342643A1 (en) * | 2022-09-26 | 2024-03-27 | Mettler-Toledo GmbH | Gripping appliance, and systems and method utilizing said gripping appliance |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3202449A (en) * | 1963-04-29 | 1965-08-24 | Jerome H Lemelson | Article manipulation device |
JPS59167687U (ja) * | 1983-04-11 | 1984-11-09 | ミカド金属工業株式会社 | つかみ装置 |
US4600357A (en) * | 1984-02-21 | 1986-07-15 | Heath Company | Gripper force sensor/controller for robotic arm |
JP2000288971A (ja) * | 1999-04-01 | 2000-10-17 | Souki Sekkei:Kk | ロボットハンド |
CN201376279Y (zh) * | 2009-04-08 | 2010-01-06 | 南京工程学院 | 一种机器人末端执行器 |
CN102431037A (zh) * | 2011-09-30 | 2012-05-02 | 孙衡 | 一种轴承分类机械手爪 |
US9782902B1 (en) * | 2016-06-29 | 2017-10-10 | Robotis Co., Ltd. | Gripper for robot hand capabel of adaptive grasp |
JP3214039U (ja) * | 2016-11-09 | 2017-12-14 | 高明▲てぃえ▼企業股▲ふん▼有限公司Gmt Global Inc. | 隙間調整機能を持つ電動アクチュエータ付きグリッパ |
CN207788984U (zh) * | 2017-12-15 | 2018-08-31 | 重庆市树德科技有限公司 | 手爪及教学机器人 |
US20190091876A1 (en) * | 2017-09-28 | 2019-03-28 | Ubtech Robotics Corp | Robotic hand |
JP2019089186A (ja) * | 2017-11-16 | 2019-06-13 | シナノケンシ株式会社 | カム型ハンド機構 |
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DE2607499C3 (de) * | 1976-02-25 | 1982-04-08 | Messerschmitt-Bölkow-Blohm GmbH, 8000 München | Antriebseinrichtung für die Finger einer künstlichen Hand |
JPS6076986A (ja) * | 1983-09-30 | 1985-05-01 | 株式会社東芝 | ロボツト |
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-
2020
- 2020-11-24 JP JP2020194376A patent/JP6858301B1/ja active Active
- 2020-11-26 CN CN202080063137.5A patent/CN114364499A/zh active Pending
- 2020-11-26 US US17/635,271 patent/US11691295B2/en active Active
- 2020-11-26 WO PCT/JP2020/044078 patent/WO2021107039A1/ja active Application Filing
- 2020-11-26 DE DE112020005867.0T patent/DE112020005867T5/de active Pending
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3202449A (en) * | 1963-04-29 | 1965-08-24 | Jerome H Lemelson | Article manipulation device |
JPS59167687U (ja) * | 1983-04-11 | 1984-11-09 | ミカド金属工業株式会社 | つかみ装置 |
US4600357A (en) * | 1984-02-21 | 1986-07-15 | Heath Company | Gripper force sensor/controller for robotic arm |
JP2000288971A (ja) * | 1999-04-01 | 2000-10-17 | Souki Sekkei:Kk | ロボットハンド |
CN201376279Y (zh) * | 2009-04-08 | 2010-01-06 | 南京工程学院 | 一种机器人末端执行器 |
CN102431037A (zh) * | 2011-09-30 | 2012-05-02 | 孙衡 | 一种轴承分类机械手爪 |
US9782902B1 (en) * | 2016-06-29 | 2017-10-10 | Robotis Co., Ltd. | Gripper for robot hand capabel of adaptive grasp |
JP3214039U (ja) * | 2016-11-09 | 2017-12-14 | 高明▲てぃえ▼企業股▲ふん▼有限公司Gmt Global Inc. | 隙間調整機能を持つ電動アクチュエータ付きグリッパ |
US20190091876A1 (en) * | 2017-09-28 | 2019-03-28 | Ubtech Robotics Corp | Robotic hand |
JP2019089186A (ja) * | 2017-11-16 | 2019-06-13 | シナノケンシ株式会社 | カム型ハンド機構 |
CN207788984U (zh) * | 2017-12-15 | 2018-08-31 | 重庆市树德科技有限公司 | 手爪及教学机器人 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4342643A1 (en) * | 2022-09-26 | 2024-03-27 | Mettler-Toledo GmbH | Gripping appliance, and systems and method utilizing said gripping appliance |
Also Published As
Publication number | Publication date |
---|---|
US20220288794A1 (en) | 2022-09-15 |
CN114364499A (zh) | 2022-04-15 |
WO2021107039A1 (ja) | 2021-06-03 |
US11691295B2 (en) | 2023-07-04 |
JP6858301B1 (ja) | 2021-04-14 |
DE112020005867T5 (de) | 2022-10-13 |
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