WO2008136402A1 - Joint structure of robot and robot finger - Google Patents

Joint structure of robot and robot finger 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
Application number
PCT/JP2008/058055
Other languages
French (fr)
Japanese (ja)
Inventor
Masaki Nagatsuka
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/en
Publication of WO2008136402A1 publication Critical patent/WO2008136402A1/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
    • B25J15/0009—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

Abstract

A joint structure of a robot includes a drive means (15) for rotating first and second structural members (11, 12) relative to each other through a hinge part (13). A V-shaped link (14) having a first link member (16) one end of which is rotatably connected to the first structural member (11), a second link member (18) one end of which is rotatably connected to the second structural member (12), and a connection part (20) rotatably connecting the other ends of the first and second link members (16, 18) to each other is provided between the first and second structural members (11, 12). The V-shaped link (14) is opened and closed by linearly moving the connection part (20) by the drive means (15) so as to rotate the first structural member (11) and the second structural member (12) relative to each other.
PCT/JP2008/058055 2007-04-27 2008-04-25 Joint structure of robot and robot finger WO2008136402A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2009512975A JPWO2008136402A1 (en) 2007-04-27 2008-04-25 Robot joint structure and robot finger

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 (en) 2008-11-13

Family

ID=39943509

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/058055 WO2008136402A1 (en) 2007-04-27 2008-04-25 Joint structure of robot and robot finger

Country Status (2)

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

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101072818B1 (en) 2009-03-16 2011-10-14 한국과학기술원 Manipulators with Distributed Actuation Mechanism
JP2011255467A (en) * 2010-06-10 2011-12-22 Seiko Epson Corp Electric actuator
JP2012066351A (en) * 2010-09-24 2012-04-05 Yaskawa Electric Corp Hand unit for robot and robot
JP2014054720A (en) * 2012-09-14 2014-03-27 Gifu Univ Humanoid motor-driven hand
KR101383141B1 (en) 2012-09-14 2014-04-09 강영길 a robot finger having micro control and robot hand using the same
US20180290295A1 (en) * 2014-10-28 2018-10-11 Thk Co., Ltd. Rotational driving mechanism in a robot
WO2020031772A1 (en) * 2018-08-08 2020-02-13 ソニー株式会社 Link structure
CN111095158A (en) * 2018-06-20 2020-05-01 华为技术有限公司 Equipment with opening and closing performance
CN113573859A (en) * 2019-03-14 2021-10-29 川崎重工业株式会社 Joint structure of robot

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5997878A (en) * 1982-11-25 1984-06-05 日産自動車株式会社 Battery gripping hand of industrial robot
JPH03126967U (en) * 1990-04-05 1991-12-20
JPH0890477A (en) * 1994-09-29 1996-04-09 Shimadzu Corp Microgrip
JP2005169602A (en) * 2003-12-15 2005-06-30 Thk Co Ltd Robot joint structure

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS614630A (en) * 1984-06-19 1986-01-10 Mitsubishi Electric Corp Hand for assembly work

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5997878A (en) * 1982-11-25 1984-06-05 日産自動車株式会社 Battery gripping hand of industrial robot
JPH03126967U (en) * 1990-04-05 1991-12-20
JPH0890477A (en) * 1994-09-29 1996-04-09 Shimadzu Corp Microgrip
JP2005169602A (en) * 2003-12-15 2005-06-30 Thk Co Ltd Robot joint structure

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101072818B1 (en) 2009-03-16 2011-10-14 한국과학기술원 Manipulators with Distributed Actuation Mechanism
US8091448B2 (en) 2009-03-16 2012-01-10 Korea Advanced Institute Of Science And Technology Manipulator with distributed actuation mechanism
JP2011255467A (en) * 2010-06-10 2011-12-22 Seiko Epson Corp Electric actuator
JP2012066351A (en) * 2010-09-24 2012-04-05 Yaskawa Electric Corp Hand unit for robot and robot
JP2014054720A (en) * 2012-09-14 2014-03-27 Gifu Univ Humanoid motor-driven hand
KR101383141B1 (en) 2012-09-14 2014-04-09 강영길 a robot finger having micro control and robot hand using the same
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 (en) * 2018-06-20 2020-05-01 华为技术有限公司 Equipment with opening and closing performance
CN111095158B (en) * 2018-06-20 2021-07-16 华为技术有限公司 Equipment with opening and closing performance
US11409334B2 (en) 2018-06-20 2022-08-09 Huawei Technologies Co., Ltd. Device with opening and closing performance
WO2020031772A1 (en) * 2018-08-08 2020-02-13 ソニー株式会社 Link structure
JPWO2020031772A1 (en) * 2018-08-08 2021-08-26 ソニーグループ株式会社 Link structure
JP7331854B2 (en) 2018-08-08 2023-08-23 ソニーグループ株式会社 link structure
US11813747B2 (en) 2018-08-08 2023-11-14 Sony Corporation Link structure
CN113573859A (en) * 2019-03-14 2021-10-29 川崎重工业株式会社 Joint structure of robot

Also Published As

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

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