[go: up one dir, main page]

WO2008136402A1 - Structure d'articulation d'un robot et doigt de robot - Google Patents

Structure d'articulation d'un robot et doigt de robot Download PDF

Info

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)
Japanese (ja)
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/fr
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—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-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)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une structure d'articulation d'un robot, laquelle structure d'articulation comprend un moyen d'entraînement (15) pour faire tourner des premier et second éléments structurels (11, 12) l'un par rapport à l'autre par une partie de charnière (13). Une liaison en forme de V (14), ayant un premier élément de liaison (16) dont une extrémité est raccordée en rotation au premier élément structurel (11), un second élément de liaison (18) dont une extrémité est raccordée en rotation au second élément structurel (12) et une partie de raccordement (20) raccordant en rotation les autres extrémités des premier et second éléments de liaison (16, 18) les unes aux autres, est disposée entre les premier et second éléments structurels (11, 12). La liaison en forme de V (14) est ouverte et fermée par déplacement linéaire de la partie de raccordement (20) par le moyen d'entraînement (15) de façon à faire tourner le premier élément structurel (11) et le second élément structurel (12) l'un par rapport à l'autre.
PCT/JP2008/058055 2007-04-27 2008-04-25 Structure d'articulation d'un robot et doigt de robot Ceased WO2008136402A1 (fr)

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
JP2007119457 2007-04-27
JP2007-119457 2007-04-27

Publications (1)

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

Family

ID=39943509

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/058055 Ceased WO2008136402A1 (fr) 2007-04-27 2008-04-25 Structure d'articulation d'un robot et doigt de robot

Country Status (2)

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

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 (fr) * 2018-08-08 2020-02-13 ソニー株式会社 Structure de liaison
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 (fr) * 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 (fr) * 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 (fr) * 2018-08-08 2020-02-13 ソニー株式会社 Structure de liaison
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

Also Published As

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

Similar Documents

Publication Publication Date Title
WO2008136402A1 (fr) Structure d'articulation d'un robot et doigt de robot
WO2009123439A3 (fr) Dispositif articulé
WO2007120350A3 (fr) Entraînements de sangles multi-plis destinés aux bras robotiques
WO2007121238A3 (fr) Pince a charniere
WO2012129288A3 (fr) Main robotique avec doigt conforme
WO2010075595A3 (fr) Charnière de meuble avec amortisseur de rotation
WO2006097186A8 (fr) Equipement de communication radio portable articule dote d'une double articulation active
WO2007072206A3 (fr) Dispositif de charniere de porte avec pivot a positon variable
WO2008002373A3 (fr) Suspension à parallélogramme
WO2011126226A3 (fr) Structure de doigt de robot
WO2007120952A3 (fr) Bras robotique possédant une tringlerie sphérique à cinq barres
WO2009076648A3 (fr) Système d'entraînement par le haut
TW200732110A (en) Multi-joint manipulator
DE502008002078D1 (de) Orthese
WO2013009699A3 (fr) Outil chirurgical
ATE530822T1 (de) Ventilbaueinheit mit zwei drehklappenventilen
ATE470541T1 (de) Gelenkroboter mit redundanten funktionselementen
WO2008076276A3 (fr) Ensemble de rotor et son procédé de raccordement
WO2009008655A3 (fr) Actionneur et ressort utilisé pour celui-ci
WO2008065510A3 (fr) Unité articulée pour unités de fenêtres à soufflet/auvent
WO2011020593A3 (fr) Mécanisme de réglage d'un dispositif de réglage servant à accoupler un volet de réglage à une aile principale et dispositif de réglage associé
WO2008142251A3 (fr) Mécanisme de propulsion pourvu de deux actionneurs indépendants
WO2012037312A3 (fr) Robot à dépression à double bras et à profil bas
ATE488334T1 (de) Robotermanipulator mit drehantrieb
WO2007140147A3 (fr) Agencement d'actionneurs et volet avec interconnexion d'actionneurs

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08740857

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2009512975

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 08740857

Country of ref document: EP

Kind code of ref document: A1