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公开(公告)号：US20160263748A1
公开(公告)日：2016-09-15
申请号：US14442202
申请日：2013-08-28
申请人： THK CO., LTD.
发明人： Masaki Nagatsuka , Yoshimasa Endo
CPC分类号： B25J15/0009 , B25J15/10
摘要： Provided is a robot hand that is capable of gripping an object and manipulating the gripped object in a manner similar to that of a human hand, and that makes it possible to reduce the number of actuators. This robot hand is provided with: a first actuator (31) that imparts driving force to a first finger link (11) so that the first finger link (11) pivots relative to a base section (1); and a second actuator (32) that imparts driving force to at least one of a second finger link (12) and a third finger link (13) so that the second finger link (12) pivots relative to the first finger link (11) and the third finger link (13) pivots relative to the second finger link (12).
摘要翻译： 本发明提供一种机械手，其能够以与人的手相同的方式夹持物体和操纵被抓握的物体，并且能够减少致动器的数量。 该机器人手设置有：第一致动器（31），其向第一指状连杆（11）施加驱动力，使得第一指状连杆（11）相对于基部部分（1）枢转; 以及第二致动器（32），其向第二指状连杆（12）和第三指状连杆（13）中的至少一个施加驱动力，使得所述第二指状连杆（12）相对于所述第一指状连杆（11）枢转， 并且第三指状连杆（13）相对于第二手指连杆（12）枢转。
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公开(公告)号：USD975155S1
公开(公告)日：2023-01-10
申请号：US29823832
申请日：2022-01-20
申请人： THK CO., LTD.
设计人： Yoshimasa Endo , Kenji Hidaka , Daisuke Kawabata
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公开(公告)号：US11485025B2
公开(公告)日：2022-11-01
申请号：US16754417
申请日：2018-09-21
申请人： THK CO., LTD.
发明人： Yoshimasa Endo , Kenji Hidaka
摘要： In order to extend a life span of a flexible cable passing through a movable portion, provided is a hand mechanism which has a plurality of fingers and grips an object with the fingers, including: a flexible cable; a joint which flexes or extends with the grip of the object, has a path for the flexible cable, and has a first surface and a second surface that is a surface bending from the first surface at a bending portion in the path; and a sheet which is provided between the first surface and the flexible cable to have flexibility and is formed such that a gap is provided between the second surface and the sheet.
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公开(公告)号：US20200171677A1
公开(公告)日：2020-06-04
申请号：US16636414
申请日：2018-08-07
申请人： THK CO., LTD.
发明人： Yoshimasa Endo
摘要： In a configuration in which a plurality of pressure sensors axe arranged on each finger portion of a hand mechanism, a state of contact between the finger portion and an object, a contact position in which the finger portion contacts the object, and so on are recognized more accurately. In a hand mechanism that includes a plurality of finger portions and grips an object using the finger portions, a plurality of pressure sensors are mounted on the outer surface of each finger portion, and two adjacent pressure sensors, among the plurality of pressure sensors, are arranged close to each other. Further, a flexible cover formed from a flexible, membranous member is attached to each finger portion so as to cover the plurality of pressure sensors. According to this configuration, even when the object contacts a dead zone, contact between the finger portion and the object can be detected accurately.
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公开(公告)号：US09468540B2
公开(公告)日：2016-10-18
申请号：US14421704
申请日：2013-04-04
申请人： THK CO., LTD.
发明人： Masaki Nagatsuka , Yoshimasa Endo
CPC分类号： A61F2/583 , A61F2/588 , A61F2/68 , A61F2/70 , A61F2002/5039 , A61F2002/701 , A61F2220/0041 , A61F2220/0091 , B25J15/0009 , Y10S901/39
摘要： An articulated mechanism system includes a plurality of fingers (articulated mechanisms) arranged in parallel, each of which has a mounting member, a first digital part rotatably connected to the mounting member by a first connecting part, a second digital part rotatably connected to the first digital part by a second connecting part, and a first driving part rotatably connected to the second digital part by a fourth connecting part and connected to a third connecting part. By extruding the third connecting part toward the fourth connecting part, the first digital part and the second digital part are integrally rotated about the first connecting part, or the second digital part is rotated about the second connecting part when the rotation of the first digital part is blocked. The third connecting parts are driven by a single driving mechanism for the same distance and in the same direction at a time.
摘要翻译： 铰接机构系统包括平行布置的多个指状物（关节式机构），每个手指具有安装构件，第一数字部分通过第一连接部分可旋转地连接到安装构件，第二数字部分可旋转地连接到第一 数字部分由第二连接部分和第一驱动部分通过第四连接部分可旋转地连接到第二数字部分并连接到第三连接部分。 通过将第三连接部朝向第四连接部挤出，第一数字部和第二数字部围绕第一连接部一体地旋转，或者第二数字部在第一数字部的旋转时绕第二连接部旋转 被封锁。 第三连接部件由单个驱动机构一次驱动相同的距离和相同的方向。
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公开(公告)号：US20240091958A1
公开(公告)日：2024-03-21
申请号：US18275307
申请日：2022-01-21
申请人： THK CO., LTD.
发明人： Yoshimasa Endo , Toshiya Watanabe , Min Bao
CPC分类号： B25J15/0009 , B25J15/0625 , B25J15/0666 , B25J15/0683 , B25J5/007
摘要： A hand mechanism (2) comprises a plurality of finger units. Each of the plurality finger units is equipped with a first finger link unit (211) including a fingertip, a first joint unit (22) provided at an end portion on a finger base side of the first finger link unit (211), a second finger link unit (212) connected to the first finger link unit (211) via the first joint unit (22), and a second joint unit (23) provided at an end portion on a finger base side of the second finger link unit (212). A suction mechanism (600) is provided on at least one predetermined finger unit of the plurality of finger units (21). The suction mechanism (600) is provided on a dorsal surface (216) of the first finger link unit (211) in a predetermined finger, and suctions and retains a target object by generating negative pressure.
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公开(公告)号：USD946068S1
公开(公告)日：2022-03-15
申请号：US29691967
申请日：2019-05-21
申请人： THK CO., LTD.
设计人： Yoshimasa Endo , Kenji Hidaka , Daisuke Kawabata
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公开(公告)号：USD813283S1
公开(公告)日：2018-03-20
申请号：US29548703
申请日：2015-12-16
申请人： THK CO., LTD.
设计人： Yoshimasa Endo , Fumiya Koizumi
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9.发明授权公开(公告)号：US11607803B2
公开(公告)日：2023-03-21
申请号：US17295681
申请日：2019-10-04
申请人： THK CO., LTD.
发明人： Toshiya Watanabe , Yoshikazu Matsuo , Shinji Kawabata , Yoshimasa Endo , Kenji Hidaka , Daisuke Kawabata
摘要： An object of the present invention is to ascertain parts of an object that are approachable by finger portions of a hand mechanism. In an image information processing device, a housing container is retrieved from an image by using a first retrieval frame, and an object is retrieved from the image by using a second retrieval frame. A plurality of determination points are set in advance on the second retrieval frame, and a predetermined approach direction is set for each determination point. A determination is then made as to whether or not the finger portions of the hand mechanism can be caused to approach parts of one object, existing within the second retrieval frame, that correspond respectively to the determination points set on the second retrieval frame from the predetermined approach directions set in relation to the determination points.
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公开(公告)号：US11370130B2
公开(公告)日：2022-06-28
申请号：US16763647
申请日：2018-10-25
申请人： THK CO., LTD.
发明人： Yoshimasa Endo
摘要： The present invention improves the stability while suppressing increases in the size and heat generation amount of motors used in a hand mechanism. The hand mechanism includes a first driving mechanism for driving a first joint portion of each finger portion and a second driving mechanism for driving a second joint portion of each finger portion, the second joint portion being positioned further away from a tip end portion of the finger portion than the first joint portion. Further, the second driving mechanism is a mechanism having smaller back-drivability than the first driving mechanism. When pressing force is to be exerted on the object from gripping finger portions that are in contact with the object, the motors of the first driving mechanisms are driven to rotate in a direction for bending the first joint portions while the motors of the second driving mechanisms are held in a stopped state.
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