JP5603772B2 - 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 PDF

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Publication number
JP5603772B2
JP5603772B2 JP2010521299A JP2010521299A JP5603772B2 JP 5603772 B2 JP5603772 B2 JP 5603772B2 JP 2010521299 A JP2010521299 A JP 2010521299A JP 2010521299 A JP2010521299 A JP 2010521299A JP 5603772 B2 JP5603772 B2 JP 5603772B2
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Japan
Prior art keywords
drive shaft
gripping
gripping mechanism
neck portion
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.)
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JP2010521299A
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English (en)
Japanese (ja)
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JP2010536589A (ja
JP2010536589A5 (enExample
Inventor
サアダット，フェレシュテフ
Original Assignee
サアダット，エム．，モフセン
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Application filed by サアダット，エム．，モフセン filed Critical サアダット，エム．，モフセン
Publication of JP2010536589A publication Critical patent/JP2010536589A/ja
Publication of JP2010536589A5 publication Critical patent/JP2010536589A5/ja
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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)
JP2010521299A 2007-08-21 2008-08-19 分割された駆動軸を備えた把持機構 Active JP5603772B2 (ja)

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 JP2010536589A (ja) 2010-12-02
JP2010536589A5 JP2010536589A5 (enExample) 2013-06-20
JP5603772B2 true 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 (enExample)
EP (1) EP2190633B1 (enExample)
JP (1) JP5603772B2 (enExample)
AT (1) ATE516118T1 (enExample)
DE (2) DE102007039399B4 (enExample)
WO (1) WO2009024138A2 (enExample)

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* Cited by examiner, † Cited by third party
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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

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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
DE20021296U1 (de) * 2000-12-15 2001-05-23 Morawski, Boleslaw, 58515 Lüdenscheid Handhabungsgerät
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.
DE102004056229A1 (de) * 2004-11-22 2006-05-24 Günter Neumann GmbH Kraftspanner
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

Also Published As

Publication number Publication date
ATE516118T1 (de) 2011-07-15
DE102007039399B4 (de) 2010-05-12
EP2190633B1 (de) 2011-07-13
WO2009024138A8 (de) 2010-04-29
US20100096870A1 (en) 2010-04-22
JP2010536589A (ja) 2010-12-02
DE102007039399A1 (de) 2009-02-26
WO2009024138A3 (de) 2009-04-30
WO2009024138A2 (de) 2009-02-26
DE112008002849A5 (de) 2010-11-25
US8235438B2 (en) 2012-08-07
EP2190633A2 (de) 2010-06-02

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