JP7151166B2 - 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 PDF

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Publication number
JP7151166B2
JP7151166B2 JP2018096228A JP2018096228A JP7151166B2 JP 7151166 B2 JP7151166 B2 JP 7151166B2 JP 2018096228 A JP2018096228 A JP 2018096228A JP 2018096228 A JP2018096228 A JP 2018096228A JP 7151166 B2 JP7151166 B2 JP 7151166B2
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JP
Japan
Prior art keywords
pinion
gripping device
gripping
piezoelectric
rotating
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Active
Application number
JP2018096228A
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English (en)
Japanese (ja)
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JP2019198946A (ja
JP2019198946A5 (https=
Inventor
友寿 岩▲崎▼
豊 荒川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seiko Epson Corp
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Seiko Epson Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2018096228A priority Critical patent/JP7151166B2/ja
Priority to CN201910408703.0A priority patent/CN110497441B/zh
Priority to US16/414,922 priority patent/US11014250B2/en
Publication of JP2019198946A publication Critical patent/JP2019198946A/ja
Publication of JP2019198946A5 publication Critical patent/JP2019198946A5/ja
Application granted granted Critical
Publication of JP7151166B2 publication Critical patent/JP7151166B2/ja
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    • 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
    • B25J15/08—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
    • B25J15/026—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—Program-controlled manipulators
    • B25J9/10—Program-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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-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)
JP2018096228A 2018-05-18 2018-05-18 把持装置およびロボット Active JP7151166B2 (ja)

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 JP2019198946A (ja) 2019-11-21
JP2019198946A5 JP2019198946A5 (https=) 2021-06-17
JP7151166B2 true 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 (https=)
JP (1) JP7151166B2 (https=)
CN (1) CN110497441B (https=)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7205823B2 (ja) * 2018-12-05 2023-01-17 株式会社ニックス 把持機構及び運搬物搬送装置
JP7388089B2 (ja) * 2019-09-25 2023-11-29 オムロン株式会社 線状部材把持装置
FR3103128B1 (fr) * 2019-11-19 2022-07-29 Meropy Robot autonome
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
IT202000005257A1 (it) * 2020-03-11 2021-09-11 Aea Srl Dispositivo di afferraggio
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
AU2021365157B2 (en) * 2020-10-22 2025-11-06 Gen-Probe Incorporated Automated gripping mechanism
JP7537230B2 (ja) 2020-10-30 2024-08-21 セイコーエプソン株式会社 ハンドの駆動方法およびハンド
JP2022113263A (ja) * 2021-01-25 2022-08-04 セイコーエプソン株式会社 ロボット及びエンドエフェクター
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
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
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

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP2008149402A (ja) 2006-12-18 2008-07-03 Iai:Kk 把持装置と把持力制御方法
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

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4600357A (en) * 1984-02-21 1986-07-15 Heath Company Gripper force sensor/controller for robotic arm
US4707013A (en) * 1986-05-30 1987-11-17 The United States Of America As Represented By The Secretary Of Commerce Split rail parallel gripper
US4808898A (en) * 1987-09-30 1989-02-28 Keith Pearson Gripper assembly for robot arm
US5080415A (en) * 1988-04-22 1992-01-14 Beckman Instruments, Inc. Robot gripper having auxiliary degree of freedom
JPH09109081A (ja) * 1995-10-11 1997-04-28 Canon Inc 把持装置および把持力発生方法
CN101313456B (zh) * 2006-01-12 2011-09-21 松下电器产业株式会社 超声波执行机构
JP2012253921A (ja) * 2011-06-03 2012-12-20 Seiko Epson Corp モーター、ロボットハンドおよびロボット
DE202011106379U1 (de) * 2011-10-07 2011-11-16 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Greif- oder Spannvorrichtung
JP2013121193A (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、印刷装置、ロボットハンド、およびロボット
CN103684036A (zh) * 2012-09-18 2014-03-26 精工爱普生株式会社 压电马达、机器人手、机器人、电子部件搬运装置、电子部件检查装置、送液泵、打印装置
DE102013211528A1 (de) * 2013-06-19 2014-12-24 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Greif- oder Spannvorrichtung zum Greifen oder Spannen von Gegenständen und Verfahren hierfür
DE102013110216A1 (de) * 2013-09-17 2015-03-19 gomtec GmbH Endeffektor für ein chirurgisches Instrument und chirurgisches Instrument mit einem Endeffektor
CN105538288B (zh) * 2014-10-22 2020-08-28 精工爱普生株式会社 机器人
JP6511900B2 (ja) * 2015-03-25 2019-05-15 セイコーエプソン株式会社 圧電駆動装置及びその駆動方法、ロボット及びその駆動方法

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP2008149402A (ja) 2006-12-18 2008-07-03 Iai:Kk 把持装置と把持力制御方法
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
CN106059379A (zh) 2011-12-06 2016-10-26 精工爱普生株式会社 压电马达、驱动装置、机器人及打印机
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
US20170173801A1 (en) 2014-04-04 2017-06-22 Siemens Healthcare Diagnostics Inc. Robotic pick and place device with combined gripping and rotational functionality
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

Also Published As

Publication number Publication date
JP2019198946A (ja) 2019-11-21
CN110497441B (zh) 2023-03-21
US11014250B2 (en) 2021-05-25
US20190351562A1 (en) 2019-11-21
CN110497441A (zh) 2019-11-26

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