WO2023168465A3 - A robot gripper mechanism - Google Patents

A robot gripper mechanism Download PDF

Info

Publication number
WO2023168465A3
WO2023168465A3 PCT/VN2023/000003 VN2023000003W WO2023168465A3 WO 2023168465 A3 WO2023168465 A3 WO 2023168465A3 VN 2023000003 W VN2023000003 W VN 2023000003W WO 2023168465 A3 WO2023168465 A3 WO 2023168465A3
Authority
WO
WIPO (PCT)
Prior art keywords
gripping
driving electric
gripped
electric motor
rotational axis
Prior art date
Application number
PCT/VN2023/000003
Other languages
French (fr)
Other versions
WO2023168465A2 (en
Inventor
Dinh Si QUANG
Original Assignee
Dtt Technology Joint Stock Company
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 Dtt Technology Joint Stock Company filed Critical Dtt Technology Joint Stock Company
Publication of WO2023168465A2 publication Critical patent/WO2023168465A2/en
Publication of WO2023168465A3 publication Critical patent/WO2023168465A3/en

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
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/024—Gripping heads and other end effectors servo-actuated comprising articulated grippers having fingers directly connected to actuator
    • 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
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B25J15/0042—V-shaped gripping surfaces
    • 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
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members

Landscapes

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

Abstract

A robot gripper mechanism comprising first and second gripping members made of elastic material is provided. Each of the gripping members, which is mounted on a rotational axis of a driving electric motor, is rotationally driven from an approach position to an object to be grippedgripped, elastically deformed to gradually press the object to be gripped to a gripping position. In the gripping position, elastic forces, caused by the elastic deformation, each has a direction through the center of the rotational axis of the driving electric motor respectively, such that no torque is produced on the rotational axis of the driving electric motor. As a result, when reaching the gripping position, the rotational axes of the drive electric motors can be left free and without maintaining power consumption, while maintaining a stable gripping state of the object to be gripped, based on the elastic forces and relative positions between the first and second gripping members, the rotational axes of the driving electric motors, and the object to be gripped.
PCT/VN2023/000003 2022-03-02 2023-03-02 A robot gripper mechanism WO2023168465A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
VN1-2022-01315 2022-03-02
VN1202201315 2022-03-02
VN1202203513 2022-06-03
VN1-2022-03513 2022-06-03

Publications (2)

Publication Number Publication Date
WO2023168465A2 WO2023168465A2 (en) 2023-09-07
WO2023168465A3 true WO2023168465A3 (en) 2023-12-07

Family

ID=87884410

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/VN2023/000003 WO2023168465A2 (en) 2022-03-02 2023-03-02 A robot gripper mechanism

Country Status (1)

Country Link
WO (1) WO2023168465A2 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170036354A1 (en) * 2015-08-03 2017-02-09 Massachusetts Institute Of Technology Two-Phase Gripper to Reorient and Grasp
US20180117773A1 (en) * 2015-03-05 2018-05-03 President And Fellows Of Harvard College Compliant Adaptive Robot Grasper
CN110421591A (en) * 2019-09-05 2019-11-08 成都易爪机器人科技有限公司 A kind of passive finger and the two finger grippers using the structure
CN112008751A (en) * 2020-08-19 2020-12-01 卢芒 Mechanical gripper at tail end of mechanical arm

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180117773A1 (en) * 2015-03-05 2018-05-03 President And Fellows Of Harvard College Compliant Adaptive Robot Grasper
US20170036354A1 (en) * 2015-08-03 2017-02-09 Massachusetts Institute Of Technology Two-Phase Gripper to Reorient and Grasp
CN110421591A (en) * 2019-09-05 2019-11-08 成都易爪机器人科技有限公司 A kind of passive finger and the two finger grippers using the structure
CN112008751A (en) * 2020-08-19 2020-12-01 卢芒 Mechanical gripper at tail end of mechanical arm

Also Published As

Publication number Publication date
WO2023168465A2 (en) 2023-09-07

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