US20010017528A1 - Electric hand with torque limiter - Google Patents
Electric hand with torque limiter Download PDFInfo
- Publication number
- US20010017528A1 US20010017528A1 US09/768,606 US76860601A US2001017528A1 US 20010017528 A1 US20010017528 A1 US 20010017528A1 US 76860601 A US76860601 A US 76860601A US 2001017528 A1 US2001017528 A1 US 2001017528A1
- Authority
- US
- United States
- Prior art keywords
- cam member
- drive shaft
- jaw members
- hub
- friction plate
- 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.)
- Granted
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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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/028—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S388/00—Electricity: motor control systems
- Y10S388/923—Specific feedback condition or device
- Y10S388/93—Load or torque
Definitions
- the present invention relates to an electric hand having a pair of workpiece-grasping jaw members which are opened and closed by an electric motor, and more particularly, to an electric hand with a torque limiter in which no impact is applied to a motor drive shaft when the jaw members are stopped at an opening or closing end or a workpiece-grasping position.
- a conventional hand of such a structure requires an air piping with respect to the air cylinder and additional devices such as a direction-switching valve for controlling the supply and discharge of compressed air to the piping, and the number of parts constituting the hand itself is increased. For this reason, it is difficult to make the hand compact, and to make the entire apparatus including the additional devices for operating the hand compact.
- the present inventors proposed an electric hand for opening and closing a pair of workpiece-grasping jaw members using an electric motor (Japanese Patent Application No. 11-66528).
- a conversion mechanism using a cam is provided between a drive shaft of the electric motor and the jaw members for converting a normal-reverse rotational motion of the drive shaft into an opening and closing motion of the jaw members.
- the present invention provides an electric hand comprising: a pair of jaw members which can be opened and closed for grasping a workpiece; an electric motor having a rotating drive shaft; a converter mechanism provided between the drive shaft and the jaw members for converting a normal or reverse rotation motion of the drive shaft into an opening and closing motion of the pair of jaw members, the converter mechanism having a cam member which is normally or reversely rotated by the drive shaft, a pair of cam grooves formed in the cam member, and drive pins respectively mounted to the jaw members and fitted to the pair of cam grooves, the drive pins are displaced in the cam groove by a normal or reverse rotation of the cam member in an opening or closing direction of the jaw members; and a torque limiter provided between the drive shaft of the electric motor and the cam member for limiting a torque of the drive shaft transmitted to the cam member.
- the electric hand of the invention having the above structure, since a torque transmitted from the drive shaft of the electric motor to the cam member is limited by the torque limiter, it is possible to absorb an inertial force of a rotor of the motor applied to a motor drive shaft when the jaw members stop at an opening or closing end or a workpiece-grasping position, thereby reliably preventing a motor part such as a gear from being damaged by the impact.
- the torque limiter includes friction means for connecting the drive shaft and the cam member by a frictional force.
- the friction means includes a disc-like hub fixed to the drive shaft, a friction plate fixed to one of the hub and the cam member and abutted against the other in a friction state, and spring means for biasing the friction plate in a direction abutting against the hub or the cam member.
- the cam member is of circular cup-like shape
- the hub is coaxially fitted into the cam member
- the friction plate is of an annular shape
- an outer periphery of the friction plate is fixed to an annular mounting face of the cam member surrounding the hub
- an inner periphery of the friction plate abuts against the hub
- the spring means comprises a Belleville spring
- the Belleville spring is interposed between a spring seat mounted to the drive shaft and the friction plate.
- FIG. 1 is a sectional view showing an embodiment of an electric hand according to the present invention
- FIG. 2 is a sectional view taken along a line II-II in FIG. 1;
- FIG. 3 is a plan view of a cam member
- FIG. 4 is a sectional view taken along a line IV-IV in FIG. 1;
- FIG. 5 is a sectional view taken along a line V-V in FIG. 2.
- FIGS. 1 and 2 show a representative embodiment of an electric hand according to the present invention.
- this electric hand comprises a pair of opening/closing jaw members 2 and 2 for grasping a workpiece, an electric motor 3 having a speed reducer 4 , a converter mechanism 5 for converting a normal/reverse rotational motion of a drive shaft 3 a of the electric motor 3 into an opening/closing motion of the jaw members 2 and 2 , a torque limiter 6 provided between the drive shaft 3 a and the converter mechanism 5 for limiting a torque of the drive shaft 3 a transmitted to the converter mechanism 5 , a position detecting mechanism 7 for detecting operating positions of the jaw members 2 and 2 , and a housing 1 in which the above members and mechanism are assembled.
- the jaw members 2 and 2 have an inverted T-shaped cross section, and slidably fitted into a guide groove 10 formed in the housing 1 , and straightly opened and closed along the guide groove 10 .
- the jaw members 2 and 2 grasp a workpiece using attachments 2 a and 2 a mounted to the jaw members 2 and 2 , respectively.
- the electric motor 3 includes the speed reducer 4 having a speed reducing mechanism having a plurality of gears, and a rotational speed of a rotor is reduced by the speed reducer 4 and the reduced speed is transmitted to a drive shaft 3 a .
- the drive shaft 3 a projects into a recess 11 formed in the housing 1 .
- a cam member 12 which is a constituting part of the converter mechanism 5 is connected to a tip end of the drive shaft 3 a through the torque limiter 6 .
- the cam member 12 has a shallow circular cup-shape. As shown in FIG. 3, a pair of semi-circular cam grooves 15 and 15 are formed in an upper face of the cam member 12 such that the cam grooves 15 and 15 are symmetrical about the center. These cam grooves 15 and 15 are positioned such that opposite ends 15 a and 15 b of each of the cam grooves 15 and 15 are astride a rotation center O of the cam member 12 on a straight line L passing through the rotation center O, and the one end 15 a is located close to the rotation center O, and the other end 15 b is located apart from the rotation center O.
- Drive pins 13 which are constituting parts of the converter mechanism 5 are fixed to each of the jaw members 2 and 2 .
- the drive pins 13 are fitted into the cam grooves 15 and 15 .
- the pair of jaw members 2 and 2 are opened and closed by normally or reversely rotating the cam member 12 using the drive shaft 3 a of the motor 3 , thereby grasping the workpiece between the attachments 2 a and 2 a respectively mounted to the jaw members 2 and 2 or releasing the grasped workpiece.
- an inertial force due to the rotor of the motor 3 is applied to the drive shaft 3 a.
- the torque limiter 6 for absorbing and restricting this inertial force is provided.
- the torque limiter 6 has friction means 17 between the drive shaft 3 a and the cam member 12 , and connects the drive shaft 3 a and the cam member 12 with each other using a friction force of the friction means 17 .
- the torque limiter 6 is formed such that if a torque exceeding the friction force is applied to the drive shaft 3 a , the drive shaft 3 a idles.
- the friction means 17 includes a disc-like hub 18 fixed to the drive shaft 3 a and coaxially fitted in the cam member 12 , and a friction plate 19 of an annular shape fitted to the hub 18 .
- An outer periphery of the friction plate 19 is fixed to an annular mounting face 12 a surrounding the hub 18 of the cam member 12 by screws 20 .
- An inner periphery of the friction plate 19 abuts against a lower face of the hub 18 such that the inner periphery can slide on the lower face with friction.
- a spring seat 21 is mounted to the drive shaft 3 a
- a Belleville spring 22 is interposed between the spring seat 21 and the friction plate 19 , and the friction plate 19 is pushed toward the hub 18 by a spring force of the Belleville spring 22 .
- the friction plate 19 is fixed to the cam member 12 side, and the friction plate 19 abuts against the hub 18 side, but the friction plate 19 may be fixed to the hub 18 side and the may abut against the cam member 12 side on the contrary.
- the position detecting mechanism 7 includes a moving member 23 disposed between the jaw members 2 and 2 and the cam member 12 in a state in which the position detecting mechanism 7 is assembled to the drive pins 13 of one of the jaw members 2 and 2 .
- the moving member 23 includes a base 23 a mounted to the drive pins 13 , a pair of moving guide portion 23 b and 23 b extending in parallel to each other from the base 23 a to sandwich a projection 12 b on the cam member 12 , and a mounting portion 23 c extending sideway from one of the moving guide portion 23 b and provided at its tip end with a to-be-detected body 24 .
- the mounting portion 23 c is bent into a substantially L-shape along an inner face of the recess 11 of the housing 1 , and the to-be-detected body 24 is mounted to a tip end of the mounting portion 23 c.
- the to-be-detected body 24 is opposed to a mounting groove 26 of a position sensor 25 formed on an outer peripheral face of the housing 1 .
- the position sensor 25 is formed into a long and thin cylindrical shape, and is inserted into a predetermined position in the mounting groove 26 having a circular cross section, and is fixed by means of screw.
- the position detecting mechanism 7 is constituted by the position sensor 25 and the to-be-detected body 24 mounted to the moving member 23 .
- the to-be-detected body 24 uses a permanent magnet
- the position sensor 25 uses a magnet-proximity switch which senses proximity of magnet which is the to-be-detected body 24 .
- the present invention is not limited to such examples, and various modifications can be used.
- the to-be-detected body 24 may be made of metal
- the position sensor 25 may be a high frequency oscillation type proximity sensor.
Abstract
In an electric hand, a cam member 12 mounted to a drive shaft 3 a of an electric motor 3 is provided with a pair of cam grooves 15 and 15, a pair of jaw members 2 and 2 for grasping a workpiece are provided with drive pins 13 fitted to the cam grooves 15 and 15, and a normal or reverse rotation motion of the drive shaft 3 a is converted into an opening or closing motion of the jaw members 2 and 2 by the cam member 12 and the drive pins 13. A torque limiter 6 having a friction plate 19 for connecting by a frictional force the drive shaft 3 a of the electric motor 3 and the cam member 12 is provided between the drive shaft 3 a and the cam member 12, and a torque of the drive shaft 3 a transmitted to the cam member 12 is limited by this torque limiter 6.
Description
- The present invention relates to an electric hand having a pair of workpiece-grasping jaw members which are opened and closed by an electric motor, and more particularly, to an electric hand with a torque limiter in which no impact is applied to a motor drive shaft when the jaw members are stopped at an opening or closing end or a workpiece-grasping position.
- In generally, in a hand for grasping a workpiece between a pair of jaw members which can be opened and closed, the jaw members are opened and closed by an air cylinder.
- However, a conventional hand of such a structure requires an air piping with respect to the air cylinder and additional devices such as a direction-switching valve for controlling the supply and discharge of compressed air to the piping, and the number of parts constituting the hand itself is increased. For this reason, it is difficult to make the hand compact, and to make the entire apparatus including the additional devices for operating the hand compact.
- To solve such a problem, the present inventors proposed an electric hand for opening and closing a pair of workpiece-grasping jaw members using an electric motor (Japanese Patent Application No. 11-66528). In this electric hand, a conversion mechanism using a cam is provided between a drive shaft of the electric motor and the jaw members for converting a normal-reverse rotational motion of the drive shaft into an opening and closing motion of the jaw members.
- In such an electric hand, when a workpiece-grasping force by the jaw members is increased, a motor with a speed reducer having a plurality of gears is used as an electric motor. When such a motor with gears is used, however, since an inertial force due to a rotor of the motor is applied when the jaw members stop at the opening and closing end or the workpiece-grasping position and the gears of the speed reducer are damaged by the impact, the motor must be rotated as slow as possible.
- In an electric hand for opening and closing a workpiece-grasping jaw members using a motor, it is an technical object of the present invention to absorb an inertial force applied to a motor drive shaft when the jaw members stop at an opening or closing end or a workpiece-grasping position, thereby preventing a motor part such as a gear from being damaged by the impact.
- To achieve the above object, the present invention provides an electric hand comprising: a pair of jaw members which can be opened and closed for grasping a workpiece; an electric motor having a rotating drive shaft; a converter mechanism provided between the drive shaft and the jaw members for converting a normal or reverse rotation motion of the drive shaft into an opening and closing motion of the pair of jaw members, the converter mechanism having a cam member which is normally or reversely rotated by the drive shaft, a pair of cam grooves formed in the cam member, and drive pins respectively mounted to the jaw members and fitted to the pair of cam grooves, the drive pins are displaced in the cam groove by a normal or reverse rotation of the cam member in an opening or closing direction of the jaw members; and a torque limiter provided between the drive shaft of the electric motor and the cam member for limiting a torque of the drive shaft transmitted to the cam member.
- The electric hand of the invention having the above structure, since a torque transmitted from the drive shaft of the electric motor to the cam member is limited by the torque limiter, it is possible to absorb an inertial force of a rotor of the motor applied to a motor drive shaft when the jaw members stop at an opening or closing end or a workpiece-grasping position, thereby reliably preventing a motor part such as a gear from being damaged by the impact.
- According to a concrete embodiment of the invention, the torque limiter includes friction means for connecting the drive shaft and the cam member by a frictional force. The friction means includes a disc-like hub fixed to the drive shaft, a friction plate fixed to one of the hub and the cam member and abutted against the other in a friction state, and spring means for biasing the friction plate in a direction abutting against the hub or the cam member. More specifically, the cam member is of circular cup-like shape, the hub is coaxially fitted into the cam member, the friction plate is of an annular shape, an outer periphery of the friction plate is fixed to an annular mounting face of the cam member surrounding the hub, an inner periphery of the friction plate abuts against the hub, the spring means comprises a Belleville spring, the Belleville spring is interposed between a spring seat mounted to the drive shaft and the friction plate.
- FIG. 1 is a sectional view showing an embodiment of an electric hand according to the present invention;
- FIG. 2 is a sectional view taken along a line II-II in FIG. 1;
- FIG. 3 is a plan view of a cam member;
- FIG. 4 is a sectional view taken along a line IV-IV in FIG. 1; and
- FIG. 5 is a sectional view taken along a line V-V in FIG. 2.
- The drawings show a representative embodiment of an electric hand according to the present invention. As shown in FIGS. 1 and 2, this electric hand comprises a pair of opening/
closing jaw members speed reducer 4, aconverter mechanism 5 for converting a normal/reverse rotational motion of a drive shaft 3 a of the electric motor 3 into an opening/closing motion of thejaw members torque limiter 6 provided between the drive shaft 3 a and theconverter mechanism 5 for limiting a torque of the drive shaft 3 a transmitted to theconverter mechanism 5, aposition detecting mechanism 7 for detecting operating positions of thejaw members housing 1 in which the above members and mechanism are assembled. - The
jaw members guide groove 10 formed in thehousing 1, and straightly opened and closed along theguide groove 10. Thejaw members workpiece using attachments jaw members - The electric motor3 includes the
speed reducer 4 having a speed reducing mechanism having a plurality of gears, and a rotational speed of a rotor is reduced by thespeed reducer 4 and the reduced speed is transmitted to a drive shaft 3 a. The drive shaft 3 a projects into arecess 11 formed in thehousing 1. Acam member 12 which is a constituting part of theconverter mechanism 5 is connected to a tip end of the drive shaft 3 a through thetorque limiter 6. - The
cam member 12 has a shallow circular cup-shape. As shown in FIG. 3, a pair ofsemi-circular cam grooves cam member 12 such that thecam grooves cam grooves opposite ends cam grooves cam member 12 on a straight line L passing through the rotation center O, and the oneend 15 a is located close to the rotation center O, and theother end 15 b is located apart from the rotation center O. -
Drive pins 13 which are constituting parts of theconverter mechanism 5 are fixed to each of thejaw members drive pins 13 are fitted into thecam grooves - If the
cam member 12 is rotated leftward through 180 (by the motor 3 from a state shown in FIG. 3 in which thedrive pins inner ends cam member 12 along thecam grooves drive pins jaw members cam member 12 is rotated rightward from the open state, thedrive pins cam grooves cam member 12 and therefore, thejaw members - In this manner, the pair of
jaw members cam member 12 using the drive shaft 3 a of the motor 3, thereby grasping the workpiece between theattachments jaw members jaw members - The
torque limiter 6 has friction means 17 between the drive shaft 3 a and thecam member 12, and connects the drive shaft 3 a and thecam member 12 with each other using a friction force of the friction means 17. Thetorque limiter 6 is formed such that if a torque exceeding the friction force is applied to the drive shaft 3 a, the drive shaft 3 a idles. More specifically, as shown in FIG. 4, the friction means 17 includes a disc-like hub 18 fixed to the drive shaft 3 a and coaxially fitted in thecam member 12, and afriction plate 19 of an annular shape fitted to thehub 18. An outer periphery of thefriction plate 19 is fixed to anannular mounting face 12 a surrounding thehub 18 of thecam member 12 byscrews 20. An inner periphery of thefriction plate 19 abuts against a lower face of thehub 18 such that the inner periphery can slide on the lower face with friction. When a torque equal to or greater than a given value is applied to the drive shaft 3 a, thefriction plate 19 and thehub 18 slide on each other. Aspring seat 21 is mounted to the drive shaft 3 a, a Bellevillespring 22 is interposed between thespring seat 21 and thefriction plate 19, and thefriction plate 19 is pushed toward thehub 18 by a spring force of the Bellevillespring 22. - By providing the above-described
torque limiter 6 between the drive shaft 3 a and thecam member 12, when thejaw members cam member 12 stops together with thejaw members hub 18 and thefriction plate 19 with friction, and the motor part such as the gear of thespeed reducer 4 is prevented from being damaged by the stop impact. As a result, durability of the hand is remarkably enhanced, the opening and closing speed of thejaw members - When the
jaw members hub 18 and thefriction plate 19 are connected to each other by friction force, the rotation of the drive shaft 3 a is reliably transmitted to thecam member 12. - In the illustrated embodiment, the
friction plate 19 is fixed to thecam member 12 side, and thefriction plate 19 abuts against thehub 18 side, but thefriction plate 19 may be fixed to thehub 18 side and the may abut against thecam member 12 side on the contrary. - As shown in FIGS. 2 and 5, the
position detecting mechanism 7 includes a movingmember 23 disposed between thejaw members cam member 12 in a state in which theposition detecting mechanism 7 is assembled to thedrive pins 13 of one of thejaw members member 23 includes abase 23 a mounted to thedrive pins 13, a pair of movingguide portion base 23 a to sandwich aprojection 12 b on thecam member 12, and amounting portion 23 c extending sideway from one of the movingguide portion 23 b and provided at its tip end with a to-be-detected body 24. Themounting portion 23 c is bent into a substantially L-shape along an inner face of therecess 11 of thehousing 1, and the to-be-detected body 24 is mounted to a tip end of themounting portion 23 c. The to-be-detected body 24 is opposed to amounting groove 26 of aposition sensor 25 formed on an outer peripheral face of thehousing 1. - The
position sensor 25 is formed into a long and thin cylindrical shape, and is inserted into a predetermined position in themounting groove 26 having a circular cross section, and is fixed by means of screw. Theposition detecting mechanism 7 is constituted by theposition sensor 25 and the to-be-detected body 24 mounted to the movingmember 23. - In the illustrated embodiment, the to-
be-detected body 24 uses a permanent magnet, and theposition sensor 25 uses a magnet-proximity switch which senses proximity of magnet which is the to-be-detected body 24. But the present invention is not limited to such examples, and various modifications can be used. For example, the to-be-detectedbody 24 may be made of metal, and theposition sensor 25 may be a high frequency oscillation type proximity sensor. - As described in detail, according to the electric hand of the present invention, it is possible to absorb by a torque limiter an inertial force applied to a motor drive shaft when the jaw members stop at an opening or closing end or a workpiece-grasping position, thereby preventing a motor part such as a gear from being damaged by the impact.
Claims (4)
1. An electric hand with a torque limiter comprising:
a pair of jaw members which can be opened and closed for grasping a workpiece;
an electric motor having a rotating drive shaft;
a converter mechanism provided between said drive shaft and said jaw members for converting a normal or reverse rotation motion of said drive shaft into an opening and closing motion of said pair of jaw members, said converter mechanism having a cam member which is normally or reversely rotated by said drive shaft, a pair of cam grooves formed in said cam member, and drive pins respectively mounted to the jaw members and fitted to the pair of cam grooves, said drive pins are displaced in said cam groove by a normal or reverse rotation of said cam member in an opening or closing direction of said jaw members; and
a torque limiter provided between said drive shaft of said electric motor and said cam member of the converter mechanism for limiting a torque of said drive shaft transmitted to said cam member.
2. An electric hand according to , wherein said torque limiter includes friction means for connecting said drive shaft and said cam member by a frictional force.
claim 1
3. An electric hand according to , wherein said friction means includes a disc-like hub fixed to said drive shaft, a friction plate fixed to one of said hub and said cam member and abutted against the other in a friction state, and spring means for biasing said friction plate in a direction abutting against said hub or said cam member.
claim 2
4. An electric hand according to , wherein said cam member is of circular cup-like shape, said hub is coaxially fitted into said cam member, said friction plate is of an annular shape, an outer periphery of said friction plate is fixed to an annular mounting face of said cam member surrounding said hub, an inner periphery of said friction plate abuts against said hub, said spring means comprises a Belleville spring, said Belleville spring is interposed between a spring seat mounted to said drive shaft and said friction plate.
claim 3
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000-49276 | 2000-02-25 | ||
JP2000049276A JP4150991B2 (en) | 2000-02-25 | 2000-02-25 | Electric hand with torque limiter |
JP2000-049276 | 2000-02-25 |
Publications (2)
Publication Number | Publication Date |
---|---|
US20010017528A1 true US20010017528A1 (en) | 2001-08-30 |
US6373218B2 US6373218B2 (en) | 2002-04-16 |
Family
ID=18571243
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US09/768,606 Expired - Lifetime US6373218B2 (en) | 2000-02-25 | 2001-01-25 | Electric hand with torque limiter |
Country Status (5)
Country | Link |
---|---|
US (1) | US6373218B2 (en) |
JP (1) | JP4150991B2 (en) |
KR (1) | KR100421532B1 (en) |
CN (1) | CN1261285C (en) |
GB (1) | GB2361226B (en) |
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EP1990139A1 (en) * | 2007-05-08 | 2008-11-12 | ME.C.AL. S.p.A. | Manipulator for gripping and clamping a workpiece |
WO2015039938A1 (en) * | 2013-09-17 | 2015-03-26 | gomtec GmbH | End effector for a surgical instrument and surgical instrument comprising an end effector |
JP2019072795A (en) * | 2017-10-16 | 2019-05-16 | シナノケンシ株式会社 | Cam type hand mechanism |
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KR20040036766A (en) * | 2002-10-24 | 2004-05-03 | 현대자동차주식회사 | Automatic sensor in valve for controling stream flow |
US7063017B2 (en) * | 2002-12-19 | 2006-06-20 | Panasonic Communications Co., Ltd. | Printing plate and plate making method |
DE102007057891A1 (en) | 2006-12-01 | 2008-07-03 | Ingenia Gmbh | Wafer gripper has gripper jaw which is shifted in guidance by drive, where gripper jaw grips wafer, and rotating drive has low pressure driven impeller |
DE102007057892B4 (en) | 2006-12-01 | 2012-01-12 | Ingenia Gmbh | Wafer gripper with flip-over function and method for its control |
KR20100030879A (en) | 2008-09-11 | 2010-03-19 | 삼성전자주식회사 | Robot hand and humanoid robot having the same |
EP2314344A1 (en) * | 2009-10-23 | 2011-04-27 | LIFEBRIDGE Medizintechnik AG | Electrically operated scissors clamp |
US8662552B2 (en) | 2010-02-23 | 2014-03-04 | Massachusetts Institute Of Technology | Dexterous and compliant robotic finger |
CN103386678A (en) * | 2013-07-04 | 2013-11-13 | 北京航空航天大学 | Small-scale underwater electric manipulator |
CA2942288C (en) * | 2015-09-17 | 2020-02-18 | Phd, Inc. | Gripper with indexable motor speed reducer |
JP6342567B1 (en) * | 2017-11-16 | 2018-06-13 | シナノケンシ株式会社 | Cam type hand mechanism |
KR200490933Y1 (en) | 2018-03-06 | 2020-01-30 | 주식회사 효성감속기 | Torque Limiter for Reducer |
CN112572074A (en) * | 2020-12-07 | 2021-03-30 | 机械工业第九设计研究院有限公司 | Internal expanding type tire gripper suitable for automatic automobile tire mounting system |
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- 2000-02-25 JP JP2000049276A patent/JP4150991B2/en not_active Expired - Lifetime
-
2001
- 2001-01-25 US US09/768,606 patent/US6373218B2/en not_active Expired - Lifetime
- 2001-02-12 GB GB0103396A patent/GB2361226B/en not_active Expired - Lifetime
- 2001-02-23 CN CNB011049316A patent/CN1261285C/en not_active Expired - Lifetime
- 2001-02-23 KR KR10-2001-0009368A patent/KR100421532B1/en active IP Right Grant
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1990139A1 (en) * | 2007-05-08 | 2008-11-12 | ME.C.AL. S.p.A. | Manipulator for gripping and clamping a workpiece |
WO2015039938A1 (en) * | 2013-09-17 | 2015-03-26 | gomtec GmbH | End effector for a surgical instrument and surgical instrument comprising an end effector |
US20160278872A1 (en) * | 2013-09-17 | 2016-09-29 | gomtec GmbH | End Effector For A Surgical Instrument And Surgical Instrument Comprising An End Effector |
JP2019072795A (en) * | 2017-10-16 | 2019-05-16 | シナノケンシ株式会社 | Cam type hand mechanism |
EP3486043A1 (en) * | 2017-10-16 | 2019-05-22 | Shinano Kenshi Kabushiki Kaisha | Cam-type hand mechanism |
Also Published As
Publication number | Publication date |
---|---|
GB0103396D0 (en) | 2001-03-28 |
US6373218B2 (en) | 2002-04-16 |
GB2361226A (en) | 2001-10-17 |
JP2001239491A (en) | 2001-09-04 |
CN1310076A (en) | 2001-08-29 |
KR100421532B1 (en) | 2004-03-09 |
JP4150991B2 (en) | 2008-09-17 |
GB2361226B (en) | 2002-03-06 |
CN1261285C (en) | 2006-06-28 |
KR20010086432A (en) | 2001-09-12 |
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