JP7573794B2 - 把持具及び把持装置 - Google Patents

把持具及び把持装置 Download PDF

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Publication number
JP7573794B2
JP7573794B2 JP2024546373A JP2024546373A JP7573794B2 JP 7573794 B2 JP7573794 B2 JP 7573794B2 JP 2024546373 A JP2024546373 A JP 2024546373A JP 2024546373 A JP2024546373 A JP 2024546373A JP 7573794 B2 JP7573794 B2 JP 7573794B2
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JP
Japan
Prior art keywords
gripping
arm
gripping tool
tool
grip
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.)
Active
Application number
JP2024546373A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2024084534A1 (https=
Inventor
凜 伊藤
ミナス リアロカピス
ジョアオ ペドロ サンサオ ブッザット
ジュンバン リィァン
モジタバ シャモハマディ
利貞 毬山
沙織 松永
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.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric 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 Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of JPWO2024084534A1 publication Critical patent/JPWO2024084534A1/ja
Application granted granted Critical
Publication of JP7573794B2 publication Critical patent/JP7573794B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible 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
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/007—Means or methods for designing or fabricating manipulators
    • 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
    • B25J9/104—Program-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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Program-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
  • Manipulator (AREA)
JP2024546373A 2022-10-17 2022-10-17 把持具及び把持装置 Active JP7573794B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/038496 WO2024084534A1 (ja) 2022-10-17 2022-10-17 把持具及び把持装置

Publications (2)

Publication Number Publication Date
JPWO2024084534A1 JPWO2024084534A1 (https=) 2024-04-25
JP7573794B2 true JP7573794B2 (ja) 2024-10-25

Family

ID=90737239

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2024546373A Active JP7573794B2 (ja) 2022-10-17 2022-10-17 把持具及び把持装置

Country Status (5)

Country Link
US (1) US20250205909A1 (https=)
JP (1) JP7573794B2 (https=)
CN (1) CN119998087A (https=)
DE (1) DE112022007658B4 (https=)
WO (2) WO2024084534A1 (https=)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001219392A (ja) 2000-02-09 2001-08-14 Kawasaki Heavy Ind Ltd 把持装置
US20100215473A1 (en) 2007-08-28 2010-08-26 Scanvaegt International A/S Gripping device, for example for a robot
JP2011189415A (ja) 2010-03-12 2011-09-29 Ihi Corp ロボットハンドとその爪部材交換方法
JP2018079550A (ja) 2016-11-18 2018-05-24 住友重機械工業株式会社 把持装置および把持方法
WO2020237058A1 (en) 2019-05-21 2020-11-26 Trustees Of Boston University Gripping devices and methods for making the same

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3610670A (en) 1968-07-30 1971-10-05 Karl M Keck Holders for safety razor blade carriers or other objects
JPS5870892U (ja) * 1981-11-06 1983-05-13 クラリオン株式会社 産業用ロボツトにおける把持装置
JPS61244480A (ja) * 1985-04-22 1986-10-30 オムロン株式会社 ワ−クハンド装置
JP2000157088A (ja) * 1998-11-25 2000-06-13 Index Japan:Kk 汚物処理袋
JP2000263487A (ja) 1999-03-17 2000-09-26 Ngk Insulators Ltd 外周ならい式チャック装置
EP3035873A4 (en) 2013-08-20 2017-04-26 Brigham Young University Surgical forceps

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001219392A (ja) 2000-02-09 2001-08-14 Kawasaki Heavy Ind Ltd 把持装置
US20100215473A1 (en) 2007-08-28 2010-08-26 Scanvaegt International A/S Gripping device, for example for a robot
JP2011189415A (ja) 2010-03-12 2011-09-29 Ihi Corp ロボットハンドとその爪部材交換方法
JP2018079550A (ja) 2016-11-18 2018-05-24 住友重機械工業株式会社 把持装置および把持方法
WO2020237058A1 (en) 2019-05-21 2020-11-26 Trustees Of Boston University Gripping devices and methods for making the same

Also Published As

Publication number Publication date
WO2024084723A1 (ja) 2024-04-25
CN119998087A (zh) 2025-05-13
US20250205909A1 (en) 2025-06-26
JPWO2024084534A1 (https=) 2024-04-25
DE112022007658B4 (de) 2026-03-05
DE112022007658T5 (de) 2025-06-12
WO2024084534A1 (ja) 2024-04-25

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