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    HAND MECHANISM
    3.
    发明公开
    HAND MECHANISM 审中-公开
    HANDMECHANISMUS

    公开(公告)号：EP3081350A1

    公开(公告)日：2016-10-19

    申请号：EP14868854.2

    申请日：2014-12-08

    申请人： THK Co., Ltd.

    发明人： NAGATSUKA, Masaki

    IPC分类号： B25J15/08

    CPC分类号： B25J15/0009 ,  B25J15/0616 ,  B25J15/10 ,  Y10S901/40

    摘要： A hand mechanism comprises a first multi-joint finger and a second multi-joint finger as well as a single-joint finger which is rotatable about a center of a predetermined connecting portion together with the first multi-joint finger and the second multi-joint finger, wherein the mechanism executes a first mode in which the respective entire fingers of the first multi-joint finger and the second multi-joint finger are rotated in an identical direction by the aid of a connecting portion with respect to an attachment member when a driving force is applied from a driving actuator and a second mode in which a finger section other than a first predetermined finger section included in the first multi-joint finger is rotated with respect to the first predetermined finger section and a finger section other than a second predetermined finger section included in the second multi-joint finger is rotated with respect to the second predetermined finger section, when the rotation of the first predetermined finger section included in the first multi-joint finger and the rotation of the second predetermined finger section included in the second multi-joint finger are inhibited in the first mode. Accordingly, it is possible to realize a variety of gripping actions and it is also possible to realize preferred durability or tolerance and maintainability by simplifying the structure.

    摘要翻译： 手动机构包括第一多关节指状物和第二多关节指状物以及单指关节手指，其可以与第一多关节指状物和第二多关节部分一起围绕预定连接部分的中心旋转 手指，其中所述机构执行第一模式，其中当所述第一模式中的所述第一多关节手指和所述第二多关节手指的相应整个手指相对于附接构件通过连接部分沿同一方向旋转时， 从驱动致动器和第二模式施加驱动力，其中除了包括在第一多关节手指中的第一预定手指部分之外的手指部分相对于第一预定手指部分旋转，并且除了第二模式之外的手指部分 包括在第二多关节手指中的预定手指部分相对于第二预定手指部分旋转，当第一预定部分 在第一模式中禁止包括在第一多关节手指中的包含在第二多关节手指中的第二预定手指部分的转动， 因此，可以实现各种夹持动作，并且通过简化结构也可以实现优选的耐久性或公差和可维护性。

    PARALLEL LINK ROBOT
    4.
    发明公开
    PARALLEL LINK ROBOT 审中-公开
    ROBOTER MIT平行机VERKNÜPFUNG

    公开(公告)号：EP2789432A1

    公开(公告)日：2014-10-15

    申请号：EP12856546.2

    申请日：2012-11-29

    申请人： THK Co., Ltd.

    发明人： NAGATSUKA, Masaki

    IPC分类号： B25J11/00

    摘要： Provided is a parallel link robot which has increased rigidity and which can be reduced in size. The parallel link robot includes: a base (1); a movable portion (2); a plurality of link portions (5) connecting the base (1) and the movable portion (2); and a plurality of actuators (6) for driving the plurality of link portions (5), wherein each of the plurality of actuators (6) is a linear actuator (6) supported on the base (1) to be rotatable about a predetermined axis (A1) and has a main body portion (8) and a shaft portion (7) for linearly moving relative to the main body portion (8), and each of the plurality of link portions (5) has a driving link (3) supported on the base (1) to be rotatable about a predetermined axis (A2) and connected to the linear actuator (6) and a driven link (4) connecting the driving link (3) and the movable portion (2). When the linear actuator (6) extends and contracts, the driving link (3) rotates relative to the base (1) about the predetermined axis (A2) of the driving link (3).

    摘要翻译： 提供了一种具有增加的刚性并且可以减小尺寸的平行连杆机器人。 并联机器人包括：基座（1）; 可移动部分（2）; 连接所述基座（1）和所述可动部（2）的多个连杆部（5）。 以及用于驱动所述多个连杆部分（5）的多个致动器（6），其中所述多个致动器（6）中的每一个是支撑在所述基座（1）上以能够围绕预定轴线旋转的线性致动器（6） （A1），并具有主体部（8）和轴部（7），用于相对于主体部（8）线性移动，并且所述多个连杆部（5）中的每一个具有驱动连杆（3） 支撑在所述基座（1）上以围绕预定轴线（A2）旋转并连接到所述线性致动器（6）和连接所述驱动连杆（3）和所述可动部分（2）的从动连杆（4）。 当线性致动器（6）延伸和收缩时，驱动连杆（3）围绕驱动连杆（3）的预定轴线（A2）相对于基座（1）旋转。