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JPH05301191A - Articulated robot hand - Google Patents

Articulated robot hand

Info

Publication number
JPH05301191A
JPH05301191A JP5357192A JP5357192A JPH05301191A JP H05301191 A JPH05301191 A JP H05301191A JP 5357192 A JP5357192 A JP 5357192A JP 5357192 A JP5357192 A JP 5357192A JP H05301191 A JPH05301191 A JP H05301191A
Authority
JP
Japan
Prior art keywords
joint
finger
robot hand
plural
joints
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.)
Withdrawn
Application number
JP5357192A
Other languages
Japanese (ja)
Inventor
Hideo Kawakami
日出生 河上
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.)
Sanyo Electric Co Ltd
Original Assignee
Sanyo 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 Sanyo Electric Co Ltd filed Critical Sanyo Electric Co Ltd
Priority to JP5357192A priority Critical patent/JPH05301191A/en
Publication of JPH05301191A publication Critical patent/JPH05301191A/en
Withdrawn legal-status Critical Current

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Abstract

PURPOSE:To realize a simplification of structure and a light weight by reducing the number of driving sources, by providing rotation bodies to joints of an articulated robot hand, and connecting the rotation bodies to a driving source through transmission means, while placing clutching mechanisms between the rotation bodies and finger rods. CONSTITUTION:Plural finger rods 71 to 75 are connected in series through plural joints 21 to 25 each other to a base board 1. To the joints 21 to 25, plural pulleys 61 are fitted rotatably to plural shafts 6 fixed to the basic ends of the finger rods 71 to 75. Furthermore, between the shafts 6 and the pulleys 61, clutch mechanisms 5 which are removed when the rotation driving loads of the shafts 6 exceed a specific torque are placed. While the pulleys 61 are connected to each other with belts 64, a driving motor 4 is connected to the pulley 61 of the first joint 21 closest to the base board 1. Consequently, all the finger rods 71 to 75 are rotated at the angle corresponding to the unevenness of the surface of a substance respectively by using only a single driving motor 4, so as to surely grasp the substance.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【産業上の利用分野】本発明は、種々の輪郭を有する物
体を把持、或いは挟持するためのロボットハンドに関す
るものである。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand for gripping or pinching objects having various contours.

【0002】[0002]

【従来の技術】斯種ロボットハンドとして、複数の指杆
が互いに関節を介して直列に連結された多関節ロボット
ハンドが知られている。例えば図3の如く不規則な凹凸
が表面に存在する物体(8)を確実に挟持するには、挟持
すべき物体の輪郭に応じて各関節の回転角度を調節し、
図3(c)の如く、各指杆を物体の表面に沿わせる必要が
ある。
2. Description of the Related Art As such a robot hand, a multi-joint robot hand in which a plurality of finger rods are connected in series via joints is known. For example, in order to reliably clamp an object (8) having irregular irregularities on the surface as shown in FIG. 3, the rotation angle of each joint is adjusted according to the contour of the object to be clamped,
As shown in FIG. 3 (c), it is necessary to bring each finger rod along the surface of the object.

【0003】このため、従来の多関節ロボットハンドに
おいては、例えば各関節毎に制御モータ等の駆動源を配
備すると共に、各指杆には、物体との接触を感知するた
めのセンサーを設け、該センサーからの信号に基づいて
各駆動源を制御していた。
For this reason, in the conventional articulated robot hand, for example, a drive source such as a control motor is provided for each joint, and a sensor for detecting contact with an object is provided on each finger rod. Each drive source was controlled based on the signal from the sensor.

【0004】[0004]

【発明が解決しようとする課題】ところが、従来の如く
各関節毎に駆動源を設けることによって、ロボットハン
ド自体の重量が増大するばかりでなく、各駆動源を物体
の輪郭に応じて独立に制御するための制御機構や回路構
成が複雑となる問題があった。
However, by providing a drive source for each joint as in the conventional case, not only the weight of the robot hand itself increases but also each drive source is independently controlled according to the contour of the object. However, there is a problem that the control mechanism and circuit configuration for doing so become complicated.

【0005】本発明の目的は、軽量化及び構成の簡略化
が可能な多関節ロボットハンドを提供することである。
An object of the present invention is to provide an articulated robot hand which can be made lighter in weight and simple in construction.

【0006】[0006]

【課題を解決する為の手段】本発明に係る多関節ロボッ
トハンドは、基台に対し、複数の指杆が互いに関節を介
して直列に連結され、各関節には、ハンド先端側の指杆
の基端部に、該指杆の回転軸を中心として回転自由な回
転体が配備されている。又、該指杆の基端部と回転体の
間には、該指杆の回転駆動負荷が所定トルク以下のとき
は係合し、所定トルクを上回るときは離脱するクラッチ
機構を介在せしめる。各関節の回転体は互いに動力伝達
手段によって連結されると共に、基台に最も近い関節の
回転体に回転駆動源が連繋している
In the articulated robot hand according to the present invention, a plurality of finger rods are connected to a base in series through joints, and each joint has a finger rod on the tip side of the hand. At the base end of the, there is provided a rotating body which is rotatable about the rotation axis of the finger rod. Further, a clutch mechanism is interposed between the base end portion of the finger rod and the rotating body, which engages when the rotational driving load of the finger rod is less than a predetermined torque and disengages when the rotational driving load of the finger rod exceeds the predetermined torque. The rotating bodies of the joints are connected to each other by power transmission means, and the rotary drive source is connected to the rotating body of the joint closest to the base.

【0007】[0007]

【作用】回転駆動源の回転トルクは、基台に最も近い関
節の回転体からハンド最先端の関節の回転体へ順次伝達
される。ロボットハンドが物体に接触するまでの無負荷
状態では、各関節のクラッチ機構は係合状態にあって、
基台に最も近い関節(第1関節)の回転体が回転駆動され
ることによって、該関節より先端側の各指杆は一体とな
って回転する(図3(a)参照)。
The rotary torque of the rotary drive source is sequentially transmitted from the rotary body of the joint closest to the base to the rotary body of the joint at the most advanced hand. In the no-load state until the robot hand contacts the object, the clutch mechanism of each joint is in the engaged state,
When the rotating body of the joint (first joint) closest to the base is rotationally driven, the finger rods on the tip side of the joint rotate together (see FIG. 3A).

【0008】ロボットハンドの一部、例えば第1関節に
連結された第1指杆が物体に接触すると、第1関節の回
転体に対する駆動負荷が増大して、該関節のクラッチ機
構が離脱し、次は第2関節の回転体の回転によって第2
指杆が物体表面へ向かって駆動される(図3(b)参照)。
When a part of the robot hand, for example, the first finger rod connected to the first joint comes into contact with the object, the driving load on the rotating body of the first joint increases and the clutch mechanism of the joint disengages. Next, the rotation of the rotating body of the second joint causes the second
The finger rod is driven toward the surface of the object (see FIG. 3 (b)).

【0009】この結果、第2指杆は物体表面に接触し、
第2関節の回転体に対する駆動負荷が増大して、該関節
のクラッチ機構が離脱し、次は第3関節の回転体の回転
によって第3指杆が物体表面へ向かって駆動される。以
後、同様にして先端側の指杆が順次駆動されて、最終的
に全ての指杆が物体表面に接触することになる(図3
(c)参照)。
As a result, the second finger rod contacts the surface of the object,
The driving load on the rotating body of the second joint increases, the clutch mechanism of the joint is disengaged, and then the third finger rod is driven toward the object surface by the rotation of the rotating body of the third joint. Thereafter, similarly, the finger rods on the tip side are sequentially driven, and finally all the finger rods come into contact with the object surface (Fig. 3).
(See (c)).

【0010】[0010]

【発明の効果】本発明に係る多関節ロボットハンドによ
れば、基台に1つの回転駆動源を設けるだけで全ての指
杆を物体表面の凹凸に応じた回転角度ずつ回転させ、物
体表面に沿わせることが可能である。従って、全ての関
節に動力源を配置していた従来装置に比べて大幅な軽量
化が可能である。又、各関節に設けたクラッチ機構によ
り、各関節の回転角度が物体の凹凸に応じて自動的に可
変設定されるから、従来の如き複数のセンサーに基づく
複雑な制御は不要となり、構成の簡略化が図られる。
According to the articulated robot hand of the present invention, all the finger rods are rotated by a rotation angle corresponding to the unevenness of the object surface by providing only one rotary drive source on the base, and the object surface is rotated. It is possible to go along. Therefore, the weight can be significantly reduced as compared with the conventional device in which the power source is arranged in all the joints. Also, the rotation angle of each joint is automatically variably set according to the unevenness of the object by the clutch mechanism provided in each joint, so that complicated control based on multiple sensors as in the past is not required and the configuration is simplified. Be promoted.

【0011】[0011]

【実施例】以下、本発明の一実施例につき、図面に沿っ
て詳述する。本実施例は、図3(a)(b)(c)の如く基台
(1)上に2本のロボットハンド(2)(3)を突設し、両ロ
ボットハンドによって物体(8)を両側から挟持するもの
である。
An embodiment of the present invention will be described in detail below with reference to the drawings. This embodiment is based on a base as shown in FIGS. 3 (a) (b) (c).
(1) Two robot hands (2) and (3) are projectingly provided on the upper side, and the object (8) is sandwiched from both sides by both robot hands.

【0012】各ロボットハンド(2)(3)は、基台(1)に
固定された支持指杆(7)に対し、第1乃至第5指杆(71)
(72)(73)(74)(75)を夫々第1乃至第5関節(31)(32)(33)
(34)(35)により屈曲可能に連結している。
Each of the robot hands (2) and (3) has first to fifth finger rods (71) with respect to the support finger rod (7) fixed to the base (1).
(72) (73) (74) (75) to the first to fifth joints (31) (32) (33) respectively
(34) and (35) are bendably connected.

【0013】図1は各ロボットハンド(2)(3)の具体的
な構成例を示している。支持指杆(7)の先端部には軸受
(65)を介して第1指杆(71)が回転自由に軸支され、更に
第1指杆(71)の先端部には軸受(65)を介して第2指杆(7
2)が回転自由に軸支され、最先端の第5指杆(75)まで同
様な軸支、連結構造を具えている。
FIG. 1 shows a concrete configuration example of the robot hands (2) and (3). A bearing is provided at the tip of the supporting finger rod (7).
The first finger rod (71) is rotatably supported via the (65), and the tip of the first finger rod (71) is further supported by the second finger rod (7) via the bearing (65).
2) is rotatably supported and has the same support and connection structure up to the most advanced 5th finger rod (75).

【0014】各関節(21)(22)…(25)には、各指杆の基端
部に固定されたシャフト(6)に対して、左右一対のプー
リ溝(62)(63)を有するプーリ(61)が回転自由に嵌まって
おり、シャフト(6)とプーリ(61)の間に摩擦クラッチ機
構(5)が介在している。
Each joint (21) (22) ... (25) has a pair of left and right pulley grooves (62) (63) with respect to the shaft (6) fixed to the proximal end of each finger rod. The pulley (61) is freely rotatably fitted, and the friction clutch mechanism (5) is interposed between the shaft (6) and the pulley (61).

【0015】基台(1)には駆動モータ(4)が配備され、
該モータ軸にプーリ(41)を取り付けている。そして、該
プーリ(41)がベルト(64)を介して第1関節(21)のプーリ
(61)と連結されている。更に、該プーリ(61)はベルト(6
4)を介して第2関節(22)のプーリ(61)へ連結され、最先
端の第5関節(25)まで同様な動力伝達機構が設けられて
いる。これによって、駆動モータ(4)の動力は最終的に
第5関節(25)のプーリ(61)まで伝達されることになる。
A drive motor (4) is provided on the base (1),
A pulley (41) is attached to the motor shaft. The pulley (41) is connected to the pulley of the first joint (21) via the belt (64).
Concatenated with (61). Further, the pulley (61) is a belt (6
It is connected to the pulley (61) of the second joint (22) via 4), and a similar power transmission mechanism is provided up to the most advanced fifth joint (25). As a result, the power of the drive motor (4) is finally transmitted to the pulley (61) of the fifth joint (25).

【0016】各関節に配備された摩擦クラッチ機構(5)
は、伝達トルクが所定値以下であれば摩擦面が係合して
動力を伝達し、所定値を上回れば摩擦面が滑って動力伝
達を中断する周知の構成を有するものである。
Friction clutch mechanism provided in each joint (5)
Has a well-known configuration in which the friction surface engages to transmit power when the transmission torque is equal to or less than a predetermined value, and the friction surface slides to interrupt power transmission when the transmission torque exceeds a predetermined value.

【0017】図2はクラッチ機構(5)の具体例を示し、
前記シャフト(6)に対して筒体(53)が回転自由に支持さ
れ、該筒体(53)の内部に、シャフト(6)の外周面と噛合
して一体回転する第1摩擦板(51)と、筒体(53)の内周面
と噛合して一体回転する第2摩擦板(52)を交互に配置し
ており、これら複数の摩擦板(51)(52)は、圧力板(56)を
介して波板バネ(55)によって互いに圧接されている。
又、シャフト(6)には予圧調整リング(54)が嵌まってお
り、波板バネ(55)の端部を圧力板(56)側へ押圧してい
る。
FIG. 2 shows a concrete example of the clutch mechanism (5).
A cylindrical body (53) is rotatably supported by the shaft (6), and a first friction plate (51) that rotates integrally with the outer peripheral surface of the shaft (6) is provided inside the cylindrical body (53). ) And second friction plates (52) that mesh with the inner peripheral surface of the tubular body (53) and rotate integrally with each other are alternately arranged. The plurality of friction plates (51) (52) are pressure plates ( The corrugated leaf springs (55) are pressed against each other via 56).
A preload adjusting ring (54) is fitted on the shaft (6) to press the end of the corrugated leaf spring (55) toward the pressure plate (56).

【0018】筒体(53)の外周面には前記一対のプーリ溝
(62)(63)を有するプーリ(61)が一体に取り付けられてい
る。
The outer peripheral surface of the cylindrical body (53) is provided with the pair of pulley grooves.
A pulley (61) having (62) and (63) is integrally attached.

【0019】従って、プーリ(61)に対して前記駆動モー
タ(4)の回転が伝達されると、筒体(53)が一体に回転
し、第1摩擦板(51)を回転させる。このとき、シャフト
(6)の回転駆動負荷が所定値以下であれば、第1摩擦板
(51)と第2摩擦板(52)の摩擦係合によって、第1摩擦板
(51)の回転が第2摩擦板(52)を介してシャフト(6)へ伝
達される。
Therefore, when the rotation of the drive motor (4) is transmitted to the pulley (61), the cylindrical body (53) rotates integrally and the first friction plate (51) rotates. At this time, the shaft
If the rotational drive load of (6) is less than a predetermined value, the first friction plate
By the frictional engagement of the (51) and the second friction plate (52), the first friction plate
The rotation of (51) is transmitted to the shaft (6) via the second friction plate (52).

【0020】一方、シャフト(6)の回転駆動負荷が所定
値を上回ると、第1摩擦板(51)と第2摩擦板(52)の間に
スリップが生じて、シャフト(6)は回転しない。尚、ク
ラッチ機構(5)の係脱の境界となる前記所定値(スリッ
プトルク)は予圧調整リング(54)の軸方向の固定位置に
よって調節出来る。
On the other hand, when the rotational driving load of the shaft (6) exceeds a predetermined value, a slip occurs between the first friction plate (51) and the second friction plate (52), and the shaft (6) does not rotate. .. The predetermined value (slip torque), which is the boundary of engagement and disengagement of the clutch mechanism (5), can be adjusted by the axially fixed position of the preload adjusting ring (54).

【0021】図3(a)(b)(c)の如く両ロボットハンド
(2)(3)によって物体(8)を挟持する過程で、前記モー
タの回転トルクは、第1関節(21)から第5関節(25)へ向
かって順次伝達される。
Both robot hands as shown in FIGS. 3 (a) (b) (c)
In the process of pinching the object (8) by (2) and (3), the rotational torque of the motor is sequentially transmitted from the first joint (21) to the fifth joint (25).

【0022】図3(a)の如くロボットハンド(2)(3)が
物体(8)に接触するまでの無負荷状態では、各関節のク
ラッチ機構は係合状態にあって、第1関節(21)を中心と
して第1指杆(71)が内側へ回転駆動されることにより、
第2乃至第5指杆(72)(73)(74)(75)は一体となって回転
する。
In the unloaded state until the robot hands (2) and (3) come into contact with the object (8) as shown in FIG. 3A, the clutch mechanism of each joint is in the engaged state and the first joint ( By the first finger rod (71) being driven to rotate inward about 21),
The second to fifth finger rods (72) (73) (74) (75) rotate integrally.

【0023】その後、ロボットハンドの一部、例えば図
3(b)の如く第1指杆(71)が物体(8)に接触すると、そ
の時点で第1指杆(71)に対する回転駆動負荷が増大し、
第1関節(31)のクラッチ機構は滑って、第1指杆(71)の
回転は停止する。
After that, when a part of the robot hand, for example, the first finger rod (71) comes into contact with the object (8) as shown in FIG. 3 (b), the rotational driving load on the first finger rod (71) is applied at that time. Increased,
The clutch mechanism of the first joint (31) slips and the rotation of the first finger rod (71) stops.

【0024】次に、第2関節(22)の回転によって第2指
杆(72)が内側へ回転駆動され、この結果、第2指杆(72)
が物体(8)に接触することになる。
Next, the second finger rod (72) is rotationally driven inward by the rotation of the second joint (22), as a result, the second finger rod (72).
Comes into contact with the object (8).

【0025】以後、同様にして、順次先端側の指杆が内
側へ回転駆動されて、最終的には、図3(c)の如く全て
の指杆(71)(72)(73)(74)(75)が物体(8)の凹凸に応じて
屈曲し、これらの指杆は夫々、各関節のクラッチ機構に
設定したスリップトルクに応じた力で物体(8)に圧接さ
れる。
Thereafter, similarly, the finger rods on the front end side are sequentially driven to rotate inward, and finally all the finger rods (71) (72) (73) (74) as shown in FIG. 3 (c). ) (75) bends according to the unevenness of the object (8), and these finger rods are pressed against the object (8) by a force according to the slip torque set in the clutch mechanism of each joint.

【0026】この結果、物体(8)は、両ロボットハンド
(2)(3)によって両側から安定した状態で挟持されるの
である。尚、物体(8)の挟持を解放する際はモータを逆
回転させればよい。
As a result, the object (8) is attached to both robot hands.
By (2) and (3), it is sandwiched in a stable state from both sides. The motor may be rotated in the reverse direction to release the pinching of the object (8).

【0027】上記ロボットハンドによれば、各関節のク
ラッチ機構のスリップトルクを適宜調節することによ
り、重量や形状の異なる種々の物体を確実に支持するこ
とが可能である。又、各ロボットハンドの基端部に1つ
のモータを装備するだけで、全ての指杆を物体の輪郭に
応じた角度まで回転駆動出来、従来の如く各関節に独立
の制御モータを設ける必要はない。
According to the robot hand, it is possible to reliably support various objects having different weights and shapes by appropriately adjusting the slip torque of the clutch mechanism of each joint. In addition, by equipping each robot hand with a single motor at the base end, all the finger rods can be driven to rotate up to an angle according to the contour of the object. Absent.

【0028】従って、従来装置に比べてロボットハンド
を大幅に小形化、軽量化することが可能となる。
Therefore, the robot hand can be made much smaller and lighter than the conventional device.

【0029】上記実施例の説明は、本発明を説明するた
めのものであって、特許請求の範囲に記載の発明を限定
し、或は範囲を減縮する様に解すべきではない。又、本
発明の各部構成は上記実施例に限らず、特許請求の範囲
に記載の技術的範囲内で種々の変形が可能である。
The above description of the embodiments is for explaining the present invention and should not be construed as limiting the invention described in the claims or reducing the scope. Further, the configuration of each part of the present invention is not limited to the above embodiment, and various modifications can be made within the technical scope described in the claims.

【0030】例えば、図1に示すベルト伝達機構に替わ
りに、歯車機構等の周知の種々の回転伝達機構を採用出
来るのは勿論である。又、図3に示す2本のロボットハ
ンド(2)(3)を共通の1個のモータで駆動することも可
能である。
For example, in place of the belt transmission mechanism shown in FIG. 1, it is a matter of course that various known rotation transmission mechanisms such as a gear mechanism can be adopted. It is also possible to drive the two robot hands (2) and (3) shown in FIG. 3 with a single common motor.

【図面の簡単な説明】[Brief description of drawings]

【図1】本発明に係る多関節ロボットハンドの断面図で
ある。
FIG. 1 is a sectional view of an articulated robot hand according to the present invention.

【図2】クラッチ機構の断面図である。FIG. 2 is a sectional view of a clutch mechanism.

【図3】一対のロボットハンドによる物体挟持動作を説
明する一連の平面図である。
FIG. 3 is a series of plan views illustrating an object pinching operation performed by a pair of robot hands.

【符号の説明】[Explanation of symbols]

(1) 基台 (2) ロボットハンド (21) 関節 (4) 駆動モータ (5) クラッチ機構 (6) シャフト (61) プーリ (64) ベルト (71) 指杆 (1) Base (2) Robot hand (21) Joint (4) Drive motor (5) Clutch mechanism (6) Shaft (61) Pulley (64) Belt (71) Finger bar

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】 基台に対し、複数の指杆が互いに関節を
介して直列に連結された多関節ロボットハンドにおい
て、各関節には、ハンド先端側の指杆の基端部に、該指
杆の回転軸を中心として回転自由な回転体が配備され、
該指杆の基端部と回転体の間には、該指杆の回転駆動負
荷が所定トルク以下のときは係合し所定トルクを上回る
ときは離脱するクラッチ機構を介在せしめ、各関節の回
転体は互いに動力伝達手段によって連結されると共に、
基台に最も近い関節の回転体に回転駆動源が連繋してい
ることを特徴とする多関節ロボットハンド。
1. A multi-joint robot hand in which a plurality of finger rods are connected to a base in series via joints, and each joint has a finger end at a base end portion of the finger rod on the hand tip side. A rotating body that can rotate freely around the rotation axis of the rod is deployed,
A clutch mechanism is interposed between the base end portion of the finger rod and the rotating body to engage when the rotational drive load of the finger rod is less than or equal to a predetermined torque, and disengage when the load exceeds the predetermined torque to rotate each joint. The bodies are connected to each other by power transmission means,
A multi-joint robot hand characterized in that a rotary drive source is connected to the rotary body of the joint closest to the base.
JP5357192A 1992-03-12 1992-03-12 Articulated robot hand Withdrawn JPH05301191A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP5357192A JPH05301191A (en) 1992-03-12 1992-03-12 Articulated robot hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP5357192A JPH05301191A (en) 1992-03-12 1992-03-12 Articulated robot hand

Publications (1)

Publication Number Publication Date
JPH05301191A true JPH05301191A (en) 1993-11-16

Family

ID=12946524

Family Applications (1)

Application Number Title Priority Date Filing Date
JP5357192A Withdrawn JPH05301191A (en) 1992-03-12 1992-03-12 Articulated robot hand

Country Status (1)

Country Link
JP (1) JPH05301191A (en)

Cited By (13)

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Publication number Priority date Publication date Assignee Title
JPH1110576A (en) * 1997-06-25 1999-01-19 Mitsubishi Electric Corp Industrial robot device
JP2006198748A (en) * 2005-01-24 2006-08-03 Toyo Press Kogyo Kk Joint device and mechanical universal hand using joint device
JP2008049456A (en) * 2006-08-28 2008-03-06 Kyushu Institute Of Technology Robot hand
JP2008264895A (en) * 2007-04-17 2008-11-06 Toyota Motor Corp Multi-joint finger member, robot hand, and its control method
JP2009028859A (en) * 2007-07-27 2009-02-12 Toshiba Corp Manipulator and robot
CN101670581A (en) * 2008-09-11 2010-03-17 三星电子株式会社 Robot hand and humanoid robot having the same
JP2011131299A (en) * 2009-12-22 2011-07-07 Nsk Ltd Joint section for manipulator
JP2014054705A (en) * 2012-09-13 2014-03-27 Kimigafuchi Gakuen Multi-joint mechanism and method for generating arrangement pattern by multi-joint mechanism
CN104511906A (en) * 2013-09-28 2015-04-15 沈阳新松机器人自动化股份有限公司 Multi-joint manipulator
JP2017503667A (en) * 2014-01-22 2017-02-02 ソフトバンク・ロボティクス・ヨーロッパSoftbank Robotics Europe Hands intended to be placed on humanoid robots with improved fingers
CN108274483A (en) * 2017-12-28 2018-07-13 中国科学院沈阳自动化研究所 A kind of single driving form adaptive mechanical finger
WO2019021520A1 (en) * 2017-07-26 2019-01-31 株式会社日立製作所 End effector, and object grasping system in which end effector is used
WO2020075415A1 (en) * 2018-10-09 2020-04-16 アダマンド並木精密宝石株式会社 Robot hand

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1110576A (en) * 1997-06-25 1999-01-19 Mitsubishi Electric Corp Industrial robot device
JP2006198748A (en) * 2005-01-24 2006-08-03 Toyo Press Kogyo Kk Joint device and mechanical universal hand using joint device
JP4576247B2 (en) * 2005-01-24 2010-11-04 東洋プレス工業株式会社 Joint device and finger unit using the joint device
JP2008049456A (en) * 2006-08-28 2008-03-06 Kyushu Institute Of Technology Robot hand
JP2008264895A (en) * 2007-04-17 2008-11-06 Toyota Motor Corp Multi-joint finger member, robot hand, and its control method
JP2009028859A (en) * 2007-07-27 2009-02-12 Toshiba Corp Manipulator and robot
CN101670581A (en) * 2008-09-11 2010-03-17 三星电子株式会社 Robot hand and humanoid robot having the same
JP2010064242A (en) * 2008-09-11 2010-03-25 Samsung Electronics Co Ltd Robot hand and human type robot equipped with robot hand
JP2011131299A (en) * 2009-12-22 2011-07-07 Nsk Ltd Joint section for manipulator
JP2014054705A (en) * 2012-09-13 2014-03-27 Kimigafuchi Gakuen Multi-joint mechanism and method for generating arrangement pattern by multi-joint mechanism
CN104511906A (en) * 2013-09-28 2015-04-15 沈阳新松机器人自动化股份有限公司 Multi-joint manipulator
JP2017503667A (en) * 2014-01-22 2017-02-02 ソフトバンク・ロボティクス・ヨーロッパSoftbank Robotics Europe Hands intended to be placed on humanoid robots with improved fingers
JP2018202607A (en) * 2014-01-22 2018-12-27 ソフトバンク・ロボティクス・ヨーロッパSoftbank Robotics Europe Hand intended for being provided on humanoid robot with improved fingers
KR20190018749A (en) * 2014-01-22 2019-02-25 알데바란 로보틱스 Hand intended for being provided on a humanoid robot with improved fingers
US10442089B2 (en) 2014-01-22 2019-10-15 Softbank Robotics Europe Hand intended for being provided on a humanoid robot with improved fingers
WO2019021520A1 (en) * 2017-07-26 2019-01-31 株式会社日立製作所 End effector, and object grasping system in which end effector is used
CN108274483A (en) * 2017-12-28 2018-07-13 中国科学院沈阳自动化研究所 A kind of single driving form adaptive mechanical finger
CN108274483B (en) * 2017-12-28 2020-06-26 中国科学院沈阳自动化研究所 Single-drive shape self-adaptive mechanical finger
WO2020075415A1 (en) * 2018-10-09 2020-04-16 アダマンド並木精密宝石株式会社 Robot hand
JPWO2020075415A1 (en) * 2018-10-09 2021-09-02 アダマンド並木精密宝石株式会社 Robot hand

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Effective date: 19990518