JP6858302B1 - ロボットハンド - Google Patents
ロボットハンド Download PDFInfo
- Publication number
- JP6858302B1 JP6858302B1 JP2020194377A JP2020194377A JP6858302B1 JP 6858302 B1 JP6858302 B1 JP 6858302B1 JP 2020194377 A JP2020194377 A JP 2020194377A JP 2020194377 A JP2020194377 A JP 2020194377A JP 6858302 B1 JP6858302 B1 JP 6858302B1
- Authority
- JP
- Japan
- Prior art keywords
- swing
- screw gear
- rotating shaft
- robot hand
- gear portion
- 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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Links
- 210000000078 claw Anatomy 0.000 claims abstract description 75
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 abstract description 3
- 230000002093 peripheral effect Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 239000002184 metal Substances 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 230000005540 biological transmission Effects 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
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 239000000428 dust Substances 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
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- 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
-
- 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
- B25J15/08—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
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 軸ねじ歯車部
43 貫通孔
50 揺動部材
51 揺動ねじ歯車部
55 規制溝(規制部)
P5 規制ピン(規制突起、規制部)
Claims (7)
- 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、外周に軸ねじ歯車部が形成されており、
前記揺動部材は、外周の一部に前記軸ねじ歯車部に噛み合う揺動ねじ歯車部と、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、
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、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2のロボットハンド。
- 前記揺動ねじ歯車部は、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3の何れかのロボットハンド。
- 前記揺動ねじ歯車部は、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4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、
前記軸ねじ歯車部の歯数は、前記mの倍数である、請求項1乃至5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6の何れかのロボットハンド。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202080073391.3A CN114599490A (zh) | 2019-11-29 | 2020-11-27 | 机器人手 |
US17/764,835 US20220314464A1 (en) | 2019-11-29 | 2020-11-27 | Robot hand |
PCT/JP2020/044144 WO2021107071A1 (ja) | 2019-11-29 | 2020-11-27 | ロボットハンド |
DE112020005852.2T DE112020005852T5 (de) | 2019-11-29 | 2020-11-27 | Roboterhand |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019217306 | 2019-11-29 | ||
JP2019217306 | 2019-11-29 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP6858302B1 true JP6858302B1 (ja) | 2021-04-14 |
JP2021091084A JP2021091084A (ja) | 2021-06-17 |
Family
ID=75378038
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020194377A Active JP6858302B1 (ja) | 2019-11-29 | 2020-11-24 | ロボットハンド |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220314464A1 (ja) |
JP (1) | JP6858302B1 (ja) |
CN (1) | CN114599490A (ja) |
DE (1) | DE112020005852T5 (ja) |
WO (1) | WO2021107071A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6858301B1 (ja) * | 2019-11-29 | 2021-04-14 | シナノケンシ株式会社 | ロボットハンド |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59167687U (ja) * | 1983-04-11 | 1984-11-09 | ミカド金属工業株式会社 | つかみ装置 |
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 |
JP6408260B2 (ja) * | 2014-06-10 | 2018-10-17 | Kyb株式会社 | ロボットハンド |
CN105538306A (zh) * | 2016-01-27 | 2016-05-04 | 岳凌云 | 气动的机械手 |
KR101862023B1 (ko) * | 2016-06-29 | 2018-05-30 | (주)로보티즈 | 적응형 파지가 가능한 로봇 핸드용 그리퍼 |
TWM537168U (zh) * | 2016-11-09 | 2017-02-21 | Gmt Global Inc | 具配合間隙調整功能之電動蝸桿式夾爪 |
CN207359108U (zh) * | 2017-09-28 | 2018-05-15 | 深圳市优必选科技有限公司 | 一种机器人手臂 |
CN107598961A (zh) * | 2017-09-28 | 2018-01-19 | 深圳市优必选科技有限公司 | 一种机器人手臂 |
JP6342567B1 (ja) * | 2017-11-16 | 2018-06-13 | 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 |
CN108748233A (zh) * | 2018-06-08 | 2018-11-06 | 广州聚芳阁服饰有限公司 | 一种用于服装生产的机器人手臂 |
-
2020
- 2020-11-24 JP JP2020194377A patent/JP6858302B1/ja active Active
- 2020-11-27 US US17/764,835 patent/US20220314464A1/en active Pending
- 2020-11-27 WO PCT/JP2020/044144 patent/WO2021107071A1/ja active Application Filing
- 2020-11-27 DE DE112020005852.2T patent/DE112020005852T5/de active Pending
- 2020-11-27 CN CN202080073391.3A patent/CN114599490A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
CN114599490A (zh) | 2022-06-07 |
US20220314464A1 (en) | 2022-10-06 |
WO2021107071A1 (ja) | 2021-06-03 |
DE112020005852T5 (de) | 2022-10-20 |
JP2021091084A (ja) | 2021-06-17 |
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