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591 条记录 (耗时 0.014 秒)

    Gripping device
    103.
    发明公开
    Gripping device 失效
    Greifvorrichtungen。

    公开(公告)号：EP0268341A2

    公开(公告)日：1988-05-25

    申请号：EP87202262.9

    申请日：1987-11-19

    申请人： SECRETARY OF STATE FOR DEFENCE IN HER BRITANNIC MAJESTY'S GOV. OF THE UNITED KINGDOM OF GREAT BRITAIN AND NORTHERN IRELAND

    发明人： Crowder, Richard Michael ,  Whatley, David Reginald

    IPC分类号： B25J15/08 ,  G21C19/00 ,  A61F2/54

    CPC分类号： A61F2/583 ,  B25J15/0009 ,  G21F7/06

    摘要： A gripping device which simulates the action of a human finger comprises three pivotted sections 3, 5, 7 having the middle section 5 linked to the top section 7 by a bar 9 so that its rotation causes rotation of the tip section. Rotation of the lower section 3 is preferentially effected by a motor 11 via a sliding cross-head 15, an equaliser bar 18 and a rod 19. If this rotation is stopped by an object 25 to be gripped, the drive transfers via rod 20, crank 21 and rod 23 to the middle section 5, causing the middle and tip sections to rotate and grip the object against the lower portion as shown at 26. A robotic hand comprising four such fingers and a thumb is usable as a substitute for a human hand in a glove-box glove.

    摘要翻译： 模拟人类手指的作用的夹持装置包括三个枢转部分3,5,7，其具有通过杆9连接到顶部部分7的中间部分5，使得其旋转引起尖端部分的旋转。 下部3的旋转优选地通过滑动十字头15，均衡杆18和杆19由马达11实现。如果该旋转被被夹持的物体25停止，则驱动器经由杆20传递， 曲柄21和杆23到中间部分5，如图26所示，使中间部分和顶部部分旋转并将物体夹在下部。包括四个这样的手指和拇指的机器人手可用作人的替代物 手套手套手套。

    Apparatus and method for handling articles in automated assembly processes
    104.
    发明公开
    Apparatus and method for handling articles in automated assembly processes 失效
    设备和自动化生产处理制品的方法。

    公开(公告)号：EP0237336A2

    公开(公告)日：1987-09-16

    申请号：EP87302079.6

    申请日：1987-03-11

    申请人： LORD CORPORATION

    发明人： Goumas, Peter G. ,  Wolfe, Paul T.

    IPC分类号： B25J15/08 ,  B25J15/00

    CPC分类号： H05K13/0404 ,  B25J13/082 ,  B25J13/085 ,  B25J13/086 ,  B25J15/026 ,  Y10S294/907

    摘要： An accurate high speed gripper assembly (12) for use in handling articles in an automated manu­facturing process. The gripper assembly (12) includes a pair of movable fingers (14, 15) which depend from movable carriages (18, 19) mounted in a housing (13) rotatably mounted on the end of a robot arm (11). A pair of stepper motors (31, 33) are mounted in the housing (13) and are connected to rotary actuators (26, 27) which displace the fingers (14, 15) in discrete incremental steps toward or away from one another when rotated. Compliant elements (51) provided on each finger cooperate with force/torque sensors (52, 53) for determining the proximity of the fingers to an article to be gripped and the gripping force applied by the fingers (14, 15). The sensors (52, 53) generate signals which are processed in a controller (35) that regulates operation of the stepper motors (31, 33) so as to achieve desired finger move­ments and gripper forces.

    CONTROL DEVICE, ROBOT CONTROL SYSTEM, AND ROBOT CONTROL METHOD
    106.
    发明公开
    CONTROL DEVICE, ROBOT CONTROL SYSTEM, AND ROBOT CONTROL METHOD 审中-公开

    公开(公告)号：EP4442410A1

    公开(公告)日：2024-10-09

    申请号：EP22898709.5

    申请日：2022-11-29

    申请人： KYOCERA CORPORATION

    发明人： ONO, Kazuki ,  YAMAGISHI, Yuki ,  ANAN, Naohiro ,  ISHIDA, Takayuki ,  MIYAMURA, Hiroaki

    IPC分类号： B25J13/08 ,  B25J15/08

    CPC分类号： B25J15/08 ,  B25J13/08

    摘要： A control apparatus includes a hand controller that controls a hand capable of grasping an object to be grasped and including a plurality of sensors. The hand controller is configured to be able to obtain information regarding grasping force acting on the object to be grasped from the hand or information regarding a moment acting on the object to be grasped in the hand, the information regarding the grasping force and the information regarding the moment being based on outputs of the plurality of sensors. The hand controller estimates, on a basis of the information regarding the grasping force or the information regarding the moment, a grasping state in which the hand is grasping the object to be grasped.