WO2008136402A1 - ロボットの関節構造及びロボットフィンガ - Google Patents

ロボットの関節構造及びロボットフィンガ Download PDF

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Publication number
WO2008136402A1
WO2008136402A1 PCT/JP2008/058055 JP2008058055W WO2008136402A1 WO 2008136402 A1 WO2008136402 A1 WO 2008136402A1 JP 2008058055 W JP2008058055 W JP 2008058055W WO 2008136402 A1 WO2008136402 A1 WO 2008136402A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
link
joint structure
structural
structural member
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.)
Ceased
Application number
PCT/JP2008/058055
Other languages
English (en)
French (fr)
Inventor
Masaki Nagatsuka
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.)
THK Co Ltd
Original Assignee
THK 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 THK Co Ltd filed Critical THK Co Ltd
Priority to JP2009512975A priority Critical patent/JPWO2008136402A1/ja
Publication of WO2008136402A1 publication Critical patent/WO2008136402A1/ja
Anticipated expiration legal-status Critical
Ceased 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
    • B25J15/0009—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
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
    • F16H21/44—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying or interconverting oscillating or reciprocating motions

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

　第１及び第２構成部材（１１，１２）を、ヒンジ部（１３）を介して互いに回動させる駆動手段（１５）を備えたロボットの関節構造において、第１及び第２構成部材（１１，１２）の間に、一端が第１構成部材（１１）と回動可能に連結された第１リンク部材（１６）と、一端が第２構成部材（１２）と回動可能に連結された第２リンク部材（１８）と、これら第１及び第２リンク部材（１６，１８）の他端側を回動可能に連結する連結部（２０）とを備えるＶ字リンク（１４）を設け、駆動手段（１５）によって連結部（２０）を直線的に移動させることによりＶ字リンク（１４）を開閉させて、第１構成部材（１１）と第２構成部材（１２）とを互いに回動させる。
PCT/JP2008/058055 2007-04-27 2008-04-25 ロボットの関節構造及びロボットフィンガ Ceased WO2008136402A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2009512975A JPWO2008136402A1 (ja) 2007-04-27 2008-04-25 ロボットの関節構造及びロボットフィンガ

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-119457 2007-04-27
JP2007119457 2007-04-27

Publications (1)

Publication Number Publication Date
WO2008136402A1 true WO2008136402A1 (ja) 2008-11-13

Family

ID=39943509

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/058055 Ceased WO2008136402A1 (ja) 2007-04-27 2008-04-25 ロボットの関節構造及びロボットフィンガ

Country Status (2)

Country Link
JP (1) JPWO2008136402A1 (ja)
WO (1) WO2008136402A1 (ja)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101072818B1 (ko) 2009-03-16 2011-10-14 한국과학기술원 분산구동 메커니즘을 갖는 매니퓰레이터
JP2011255467A (ja) * 2010-06-10 2011-12-22 Seiko Epson Corp 電動アクチュエーター
JP2012066351A (ja) * 2010-09-24 2012-04-05 Yaskawa Electric Corp ロボット用ハンドユニットおよびロボット
JP2014054720A (ja) * 2012-09-14 2014-03-27 Gifu Univ 人間型電動ハンド
KR101383141B1 (ko) 2012-09-14 2014-04-09 강영길 미세 조정이 가능한 로봇 손가락 및 이를 이용한 로봇손
US20180290295A1 (en) * 2014-10-28 2018-10-11 Thk Co., Ltd. Rotational driving mechanism in a robot
WO2020031772A1 (ja) * 2018-08-08 2020-02-13 ソニー株式会社 リンク構造
CN111095158A (zh) * 2018-06-20 2020-05-01 华为技术有限公司 一种具有开合性能的设备
CN113573859A (zh) * 2019-03-14 2021-10-29 川崎重工业株式会社 机器人的关节构造体

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5997878A (ja) * 1982-11-25 1984-06-05 日産自動車株式会社 工業用ロボツトのバツテリ把持ハンド
JPH03126967U (ja) * 1990-04-05 1991-12-20
JPH0890477A (ja) * 1994-09-29 1996-04-09 Shimadzu Corp マイクログリップ
JP2005169602A (ja) * 2003-12-15 2005-06-30 Thk Co Ltd ロボット関節構造

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS614630A (ja) * 1984-06-19 1986-01-10 Mitsubishi Electric Corp 組立作業用ハンド

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5997878A (ja) * 1982-11-25 1984-06-05 日産自動車株式会社 工業用ロボツトのバツテリ把持ハンド
JPH03126967U (ja) * 1990-04-05 1991-12-20
JPH0890477A (ja) * 1994-09-29 1996-04-09 Shimadzu Corp マイクログリップ
JP2005169602A (ja) * 2003-12-15 2005-06-30 Thk Co Ltd ロボット関節構造

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101072818B1 (ko) 2009-03-16 2011-10-14 한국과학기술원 분산구동 메커니즘을 갖는 매니퓰레이터
US8091448B2 (en) 2009-03-16 2012-01-10 Korea Advanced Institute Of Science And Technology Manipulator with distributed actuation mechanism
JP2011255467A (ja) * 2010-06-10 2011-12-22 Seiko Epson Corp 電動アクチュエーター
JP2012066351A (ja) * 2010-09-24 2012-04-05 Yaskawa Electric Corp ロボット用ハンドユニットおよびロボット
JP2014054720A (ja) * 2012-09-14 2014-03-27 Gifu Univ 人間型電動ハンド
KR101383141B1 (ko) 2012-09-14 2014-04-09 강영길 미세 조정이 가능한 로봇 손가락 및 이를 이용한 로봇손
US10576624B2 (en) * 2014-10-28 2020-03-03 Thk Co., Ltd. Rotational driving mechanism in a robot
US20180290295A1 (en) * 2014-10-28 2018-10-11 Thk Co., Ltd. Rotational driving mechanism in a robot
CN111095158A (zh) * 2018-06-20 2020-05-01 华为技术有限公司 一种具有开合性能的设备
CN111095158B (zh) * 2018-06-20 2021-07-16 华为技术有限公司 一种具有开合性能的设备
US11409334B2 (en) 2018-06-20 2022-08-09 Huawei Technologies Co., Ltd. Device with opening and closing performance
WO2020031772A1 (ja) * 2018-08-08 2020-02-13 ソニー株式会社 リンク構造
JPWO2020031772A1 (ja) * 2018-08-08 2021-08-26 ソニーグループ株式会社 リンク構造
JP7331854B2 (ja) 2018-08-08 2023-08-23 ソニーグループ株式会社 リンク構造
US11813747B2 (en) 2018-08-08 2023-11-14 Sony Corporation Link structure
CN113573859A (zh) * 2019-03-14 2021-10-29 川崎重工业株式会社 机器人的关节构造体

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Publication number Publication date
JPWO2008136402A1 (ja) 2010-07-29

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