JPS6213153B2 - - Google Patents

Info

Publication number
JPS6213153B2
JPS6213153B2 JP59063508A JP6350884A JPS6213153B2 JP S6213153 B2 JPS6213153 B2 JP S6213153B2 JP 59063508 A JP59063508 A JP 59063508A JP 6350884 A JP6350884 A JP 6350884A JP S6213153 B2 JPS6213153 B2 JP S6213153B2
Authority
JP
Japan
Prior art keywords
bevel gear
shaft
bevel gears
sub
main shaft
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.)
Expired
Application number
JP59063508A
Other languages
English (en)
Japanese (ja)
Other versions
JPS60207793A (ja
Inventor
Shoichi Iikura
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.)
Toshiba Corp
Original Assignee
Tokyo Shibaura Electric Co Ltd
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 Tokyo Shibaura Electric Co Ltd filed Critical Tokyo Shibaura Electric Co Ltd
Priority to JP59063508A priority Critical patent/JPS60207793A/ja
Priority to US06/652,591 priority patent/US4573727A/en
Priority to EP84306503A priority patent/EP0157980B1/en
Priority to DE8484306503T priority patent/DE3467986D1/de
Publication of JPS60207793A publication Critical patent/JPS60207793A/ja
Publication of JPS6213153B2 publication Critical patent/JPS6213153B2/ja
Granted legal-status Critical Current

Links

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP59063508A 1984-03-31 1984-03-31 ロボツトハンド Granted JPS60207793A (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP59063508A JPS60207793A (ja) 1984-03-31 1984-03-31 ロボツトハンド
US06/652,591 US4573727A (en) 1984-03-31 1984-09-20 Robot hand
EP84306503A EP0157980B1 (en) 1984-03-31 1984-09-24 Robot hand
DE8484306503T DE3467986D1 (en) 1984-03-31 1984-09-24 Robot hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59063508A JPS60207793A (ja) 1984-03-31 1984-03-31 ロボツトハンド

Publications (2)

Publication Number Publication Date
JPS60207793A JPS60207793A (ja) 1985-10-19
JPS6213153B2 true JPS6213153B2 (US07642317-20100105-C00010.png) 1987-03-24

Family

ID=13231235

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59063508A Granted JPS60207793A (ja) 1984-03-31 1984-03-31 ロボツトハンド

Country Status (4)

Country Link
US (1) US4573727A (US07642317-20100105-C00010.png)
EP (1) EP0157980B1 (US07642317-20100105-C00010.png)
JP (1) JPS60207793A (US07642317-20100105-C00010.png)
DE (1) DE3467986D1 (US07642317-20100105-C00010.png)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB8505746D0 (en) * 1985-03-06 1985-04-11 Universal Machine Intelligence Robotic wrist & gripper
FR2589770B1 (fr) * 1985-11-07 1988-03-11 Normandie Ste Indle Basse Dispositif perfectionne de pince ou main de robot.
US4718709A (en) * 1986-12-16 1988-01-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Orbital maneuvering vehicle end effectors
US4766844A (en) * 1987-05-28 1988-08-30 Westinghouse Electric Corp. Robotic tinning station for axial lead electronic components
CN101803938B (zh) * 2002-06-14 2012-06-20 Tyco医疗健康集团 用于夹紧、切割及缝合组织的器械
JP4030011B2 (ja) * 2002-10-07 2008-01-09 株式会社ハーモニック・ドライブ・システムズ ロボットハンド用掌機構
JP4133188B2 (ja) * 2002-10-07 2008-08-13 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
ITBS20030049A1 (it) * 2003-05-22 2004-11-23 Gimatic Spa Struttura di pinza pneumatica angolare.
US20050036408A1 (en) * 2003-08-15 2005-02-17 Quantum Corporation Automated storage library cartridge gripper with cartridge detector
US7212375B2 (en) * 2003-08-15 2007-05-01 Quantum Corporation Automated storage library gripper apparatus and method
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
US20080073922A1 (en) * 2006-09-27 2008-03-27 Oceaneering International, Inc. Double Sided Rack Manipulator Jaw Actuator System
EP2233081B2 (en) 2007-09-21 2018-03-28 Covidien LP Surgical device
CN101801283B (zh) 2007-09-21 2012-07-18 Tyco医疗健康集团 手术器械
CN102166753B (zh) * 2011-05-20 2012-07-25 清华大学 锥齿轮柔性件复合抓取机器人手指装置
KR101469493B1 (ko) * 2013-12-03 2014-12-05 한국과학기술연구원 차동 기어 특성을 이용한 로봇 핑거 구동 모듈 및 이를 포함하는 로봇 핸드
US9486925B1 (en) * 2016-02-22 2016-11-08 Jeffrey A. Stroop Mechanical arm
EP3546142B1 (en) * 2016-11-24 2024-01-24 Kawasaki Jukogyo Kabushiki Kaisha Joint structure for robot
CN110421550B (zh) * 2019-08-06 2024-09-13 浙江长兴初日环保机械设备有限公司 一种移动式机械手
JP2022129023A (ja) * 2021-02-24 2022-09-05 株式会社ソニー・インタラクティブエンタテインメント 回転装置
CN113305868A (zh) * 2021-06-25 2021-08-27 哈尔滨工业大学 一种多自由度机器人手指基关节

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3345647A (en) * 1963-10-07 1967-10-10 Joseph A Gentiluomo Mechanical hand having computer-type drive mechanisms for producing numerous hand articulations similar to a human hand
US3572807A (en) * 1969-06-06 1971-03-30 Central Research Lab Inc Rotary tong squeeze system
US3866966A (en) * 1973-05-14 1975-02-18 Ii Frank R Skinner Multiple prehension manipulator
US3904234A (en) * 1973-10-15 1975-09-09 Stanford Research Inst Manipulator with electromechanical transducer means
DE2513539A1 (de) * 1975-03-26 1976-10-14 Siemens Ag Greifer fuer industrie-roboter
SU598749A1 (ru) * 1975-11-20 1978-03-25 Предприятие П/Я Р-6930 Кисть манипул тора
JPS53357A (en) * 1976-06-24 1978-01-05 Mitsubishi Heavy Ind Ltd Bearing support device
SU627059A1 (ru) * 1977-04-27 1978-10-05 Всесоюзный Проектно-Технологический Институт Тяжелого Машиностроения Захватное устройство
AT371993B (de) * 1979-05-21 1983-08-25 Bock Orthopaed Ind Kuenstliche hand
IT1123216B (it) * 1979-09-19 1986-04-30 Alberto Rovetta Mano meccanica multiscopo
US4353677A (en) * 1980-03-05 1982-10-12 Thermwood Corporation Wrist construction for industrial robots

Also Published As

Publication number Publication date
US4573727A (en) 1986-03-04
EP0157980B1 (en) 1987-12-09
EP0157980A1 (en) 1985-10-16
DE3467986D1 (en) 1988-01-21
JPS60207793A (ja) 1985-10-19

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