公开(公告)号：EP1704970A1

公开(公告)日：2006-09-27

申请号：EP04724422.3

申请日：2004-03-30

申请人： HARMONIC DRIVE SYSTEMS INC.

发明人： KOYAMA, Junji, c/o HARMONIC DRIVE SYSTEMS INC.

IPC分类号： B25J15/08

CPC分类号： B25J15/0009 ,  B25J15/10 ,  Y10S294/907

摘要： A multi-finger grasping mechanism (300), comprising three two-joint finger units (1-1 to 1-3). Each two-joint finger unit further comprises a finger root part (2), a finger root side joint part (5), a finger intermediate part (3), a finger tip side joint part (6), and a finger tip part (4).
The finger intermediate part (3) can be swung about the joint axis (5a) of the finger root side joint part (5), and the finger tip part (4) can be swung about the joint axis (6a) of the finger tip side joint part (6). The finger tip part (4) can be swung about the center axis thereof.
When a bolt (W) is held by the finger tip part (4) and the finger part (4) is rotated, the tightening operation of the bolt (W) can be performed.

摘要翻译： 一种多指抓握机构（300），包括三个双关节手指单元（1-1至1-3）。 每个双关节手指单元还包括手指根部（2），手指根侧接合部（5），手指中间部（3），指尖侧接合部（6）和指尖部（ 4）。 手指中间部分（3）可以围绕指根侧接合部分（5）的关节轴线（5a）摆动，指尖部分（4）能够围绕指尖的关节轴线（6a）摆动 侧接合部（6）。 指尖部分（4）可围绕其中心轴线摆动。 当螺钉（W）被指尖部分（4）保持并且指状部分（4）旋转时，可以执行螺栓（W）的紧固操作。

公开(公告)号：EP1701825A2

公开(公告)日：2006-09-20

申请号：EP04815340.7

申请日：2004-12-20

申请人： Strider Labs, Inc.

发明人： ANDERSON, Perry ,  ALCORTA, J. Efrain ,  DEWINTER, Scott ,  JENSEN, Joel ,  SALISBURY, JR, J. Kenneth ,  WEGBREIT, Eliot

IPC分类号： B25J15/08 ,  B25J19/02

CPC分类号： B25J15/08 ,  B25J15/0009 ,  B25J15/0028

摘要： A robotic hand (100) comprises a base (101) having fingers (102-105) and a palm (105). The fingers define a working volume. The hand is able to grasp objects between the fingers and the palm by varying a distance from the palm to the working volume. Varying this distance can be achieved by either moving the palm towards the working volume or by moving the working volume towards the palm. Robotic hands that move the palm comprise an actuator that extends the palm from the base towards the working volume. Robotic hands that move the working volume relative to the palm have the fingers mounted to a common finger support unit that is configured to translate relative to the base.

公开(公告)号：EP1645374A1

公开(公告)日：2006-04-12

申请号：EP05021848.6

申请日：2005-10-06

申请人： FANUC LTD

发明人： Nihei, Ryo ,  Ban, Kazunori ,  Sato, Takashi Room8-107, FANUC Manshonharimomi ,  Tamura, Toshinari ,  Hatanaka, Kokoro Room6-305, FANUC Manshonharimomi

IPC分类号： B25J13/08 ,  B25J9/16 ,  B25J15/08

CPC分类号： B25J9/1612 ,  B25J13/082 ,  B25J15/08 ,  Y10S294/907

摘要： A gripping type hand including a plurality of finger mechanisms (18) provided respectively with finger joints (12), actuators (14) for driving the finger joints, and links (16) supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section (20) capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section (22) for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections (24) provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms. The operation controlling section coordinately controls the actuators of the plurality of finger mechanisms to adjust gripping force generated by the plurality of finger mechanisms, based on the operating positions of the finger joints detected by the position detecting section and the strains of the links detected by the strain detecting sections.

摘要翻译： 夹持型手包括分别设置有手指接头（12）的指状机构（18），用于驱动手指接头的致动器（14）和由手指接头支撑并且在致动器的驱动力下操作的连杆（16） 。 夹持型手包括能够彼此独立地分别地控制多个手指机构的致动器的操作控制部（20） 位置检测部分（22），用于分别检测多个手指机构的手指关节的操作位置; 和应变检测部分（24），分别为多个手指机构提供并且由于施加到手指机构的力而检测在链节中产生的应变。 操作控制部分基于由位置检测部检测到的手指关节的操作位置和由该检测部分检测到的链节的应变来协调地控制多个手指机构的致动器来调整由多个手指机构产生的夹紧力 应变检测部分。

公开(公告)号：EP1190819B1

公开(公告)日：2004-10-13

申请号：EP01908284.1

申请日：2001-03-02

申请人： SEIKO EPSON CORPORATION

发明人： SETO, Takeshi, c/o SEIKO EPSON CORPORATION ,  TAKAGI, Kunihiko, c/o SEIKO EPSON CORPORATION

IPC分类号： B25J15/08 ,  F15B15/18

CPC分类号： B25J9/142 ,  B25J15/12 ,  F15B15/103 ,  F15B15/18

摘要： Flexible actuators (4) formed of a pair of actuators, each having a base end part supported by a hard rubber fixed part (2), comprising a movable part (6) performing a curving operation, a pump part (8) connected integrally with one end side of the movable part (6) and movably controlling the hydraulic oil sealed in the movable part, and a pump driving part (10) drivingly controlling the pump part (8), the movable part (6) further comprising two slender tubes (12) and (14) having a bellows-shaped wall surface, a core material (16) holding the parallel arrangement of these tubes, and a thin film bag-shaped covering member (18) covering the outer peripheral surfaces of the tubes (12) and (14), wherein the tube (12) in contact with an objective (B) is formed of a soft material, and the movable part having the tube (12) comes in contact softly with the objective with a plurality of application points provided in surface contact state, whereby the objective can be held without being subjected to a damage.

公开(公告)号：EP0709169B1

公开(公告)日：1999-01-27

申请号：EP95401700.0

申请日：1995-07-18

申请人： FUJITSU LIMITED

发明人： Nakajima, Kenji, c/o Fujitsu Limited ,  Inokuchi, Tsuyoshi, c/o Fujitsu Limited

IPC分类号： B25J15/08 ,  G11B17/22 ,  G11B15/68

CPC分类号： G11B17/225 ,  G11B15/688

公开(公告)号：EP0834382A3

公开(公告)日：1998-11-25

申请号：EP97203275.9

申请日：1995-07-18

申请人： FUJITSU LIMITED

发明人： Nakajima, Kenji ,  Inokuchi, Tsuyoshi

IPC分类号： B25J15/08 ,  G11B17/22 ,  G11B15/68

CPC分类号： G11B17/225 ,  G11B15/688

摘要： The library device comprises a cartridge load/unload mechanism (5, 18, 288) for loading a recording medium cartridge (30) into the library device and unloading the cartridge from the library device; a cell unit (3) having a plurality of cells each for containing the cartridge; a drive unit (6) for reading and writing data from and to a recording medium contained in the cartridge, the drive unit having ejecting means for ejecting the cartridge from the drive unit; an accessor (2) for carrying the cartridge between the cartridge load/unload mechanism, the cell unit, and the drive unit; and a stopper means (250) provided in opposition of a cartridge inlet/outlet end of the drive unit, for inhibiting excess ejection of the cartridge from the drive unit, wherein in inserting the cartridge into the drive unit by means of the accessor, the stopper means is lowered to allow insertion of the cartridge into the drive unit, whereas in ejecting the cartridge from the drive unit, the stopper means comes into collision with the cartridge to stop the cartridge.

摘要翻译： 所述存取手柄机构包括可旋转地安装在基座（44）上的托架（50），固定在托架上的一对平行滑动轴以及可滑动地安装在滑动轴（112）上的第一和第二滑动件 ，114）。 第一和第二滑块通过相应的螺旋弹簧（146,148）弹性连接在一起。 存取手柄机构还包括用于沿着滑动轴移动第一滑块的驱动机构（48,62-68），一对指状物（174,176），每个指状物的前端部分形成有盒夹持部分（174a， 176a），形成有突起（182,184）的后端部和形成在前端部和后端部之间的枢转部分（170,172,178,180），并且可枢转地连接到第二滑块（ 140），以及弹簧，用于使手指沿其关闭方向偏压。 载体框架具有一对手指开/关槽（186,188），其中手指的突起分别接合。

公开(公告)号：EP0531811B1

公开(公告)日：1997-04-23

申请号：EP92114608.0

申请日：1992-08-27

申请人： CANON KABUSHIKI KAISHA

发明人： Machino, Masaki, c/o Canon Kabushiki Kaisha ,  Ito, Sumiyoshi, c/o Canon Kabushiki Kaisha ,  Danomoto, Shojiro, c/o Canon Kabushiki Kaisha ,  Kanno, Fumio, c/o Canon Kabushiki Kaisha ,  Komiya, Takao, c/o Canon Kabushiki Kaisha

IPC分类号： B25J15/08 ,  B25J15/00

CPC分类号： B25J9/0009 ,  B25J9/023 ,  B25J9/08 ,  B25J9/105 ,  B25J15/0253 ,  B25J17/0208 ,  B25J17/0241 ,  B25J18/02 ,  B25J19/0091 ,  Y10T74/20335

公开(公告)号：EP0625410A1

公开(公告)日：1994-11-23

申请号：EP94104807.6

申请日：1994-03-25

申请人： Agency of Industrial Science and Technology of Ministry of International Trade and Industry

发明人： Arai, Tatsuo

IPC分类号： B25J17/02 ,  B25J7/00 ,  B25J15/08

CPC分类号： B25J7/00 ,  B25J15/08 ,  B25J17/0216 ,  Y10T74/20354

摘要： A micromanipulator comprises a pair of hand modules (1) each of which includes a circular base plate (2) with three connection points (16), an end-effector (3) consisting of a circular moving plate (4) and a finger (5) attached to the moving plate, the moving plate being disposed above the base plate and having three connection points (17) offset 60 degrees from those of the base plate, six metal links (6) disposed between the base plate and the moving plate, six actuators (15) provided on the six metal links for extending and contracting them, six first metal wire members (11) connected between one end of the six metal links and the three connection points of the base plate so that two wire members are connected with each connection point of the base plate to be inclined in opposite directions, and six second metal wire members (11) connected between the other end of the metal links and the three connection points of the moving plate so that two wire members are connected with each connection point of the moving plate to be inclined in opposite directions.

摘要翻译： 显微操纵器包括一对手模块（1），每个手模块（1）包括具有三个连接点（16）的圆形基板（2），由圆形移动板（4）和手指（4）组成的末端执行器 5），移动板设置在基板上方，具有与底板偏离60度的三个连接点（17），六个金属连杆（6）设置在基板和移动板之间 在六个金属连杆上设置六个致动器（15），用于将它们伸展和收缩，六个第一金属丝构件（11）连接在六个金属连杆的一端和底板的三个连接点之间，使得两个线构件 与基板的每个连接点相反，以相反方向倾斜;以及六个第二金属线构件（11），其连接在金属连杆的另一端和移动板的三个连接点之间，使得两个线构件连接 与每家公司 移动板的连接点在相反方向倾斜。

公开(公告)号：EP0595833A4

公开(公告)日：1994-08-10

申请号：EP92913089

申请日：1992-05-08

申请人： NEW FOCUS INC

发明人： LUECKE FRANCIS S

IPC分类号： B25J15/08 ,  B25J15/10 ,  G02B7/00

CPC分类号： B25J15/103 ,  Y10S294/902

摘要： A holder (10) for centered round articles (A) comprises a frame (12) having a first arm (14) and a second arm (16) pivotally attached thereto. The first arm defines a single contact point (18) at its distal end while the second arm defines a pair of diverging surfaces (20, 22) at its distal end. The two arms are mechanically coupled to rotate relative to each other in a fixed relationship, and the curved surfaces on the second arm are shaped in a particular manner so that circular articles held by the two arms will be centered at a fixed location relative to the frame.

摘要翻译： 用于中心圆形物品的保持器包括具有枢转地附接到其上的第一臂和第二臂的框架。 第一臂在其远端限定单个接触点，而第二臂在其远端处限定一对发散表面。 两个臂机械连接以固定的关系相对于彼此旋转，并且第二臂上的弯曲表面以特定的方式成形，使得由两个臂保持的圆形物品将相对于固定的位置居中 帧。

公开(公告)号：EP0421167A2

公开(公告)日：1991-04-10

申请号：EP90117629.7

申请日：1990-09-13

申请人： KUKA Schweissanlagen & Roboter GmbH

发明人： Zimmer, Dieter, Dipl.-Ing. ,  Weichhard, Günther, Dipl.-Ing. ,  Hensel, Jens

IPC分类号： B65H3/22 ,  B65H5/08 ,  B65H5/16 ,  B25J15/08

CPC分类号： B65H3/22

摘要： Die Erfindung befaßt sich mit Verfahren und Greifervorrichtungen, um biegeschlaffe flächige Werkstücke (1) aus textilem Material, Kunststoff oder sonstigen mittels Nadeln (3) erfaßbaren Werkstoffen aufnehmen, transportieren und absetzen zu können. Um solche Werkstücke (1) auch bei komplizierten Raumverhältnissen schnell und sicner hantieren zu können, werden Nadelgreifer (2) mittels einer Handhabungsvorrichtung (5) in eine zum Werkstück (1) parallele Lage und nach Erfassen des Werkstückes (1) in eine die Werkstückgrundfläche reduzierende andere Lage gebracht, in der das Werkstück (1) eine etwa schlaufenartige Form einnimmt, in welcher Lage das Transportieren und Absetzen des Werkstückes (1) erfolgt.

摘要翻译： 本发明涉及用的方法和夹具装置，以使得能够拾取，运输和放下跛行片状工件（1）由纺织材料，塑料或由针的手段可抓握的其它材料（3）。 因此，没有谋求工件（1）可以快速而可靠地处理，即使在的空间复杂的条件下，（2）由一个处理装置（5）的一种方法使平行的位置到工件（1）和针夹持器，后 工件（1）已被抓住，进入这降低了工件底部区域的另一位置，并且其中所述工件（1）übernimmt在大约环状的形状，工件（1）被输送和放下在这个位置。 ... ...