JPS59102587A - Robot hand - Google Patents
Robot handInfo
- Publication number
- JPS59102587A JPS59102587A JP21133382A JP21133382A JPS59102587A JP S59102587 A JPS59102587 A JP S59102587A JP 21133382 A JP21133382 A JP 21133382A JP 21133382 A JP21133382 A JP 21133382A JP S59102587 A JPS59102587 A JP S59102587A
- Authority
- JP
- Japan
- Prior art keywords
- pulley
- fingers
- wire rope
- finger
- robot
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の属する技術分野〕
本発明はロボットノ１ンドに係り、特に指の開閉機構に
関する。DETAILED DESCRIPTION OF THE INVENTION [Technical field to which the invention pertains] The present invention relates to a robot node, and particularly to a finger opening/closing mechanism.
従来のロボットハンドでは指の閉動作にワイヤロープ、
スチールテープあるいはチェーン等を用い、開動作では
スプリングの復元力によるものが多い。しかしながら、
このようなロボットハンドにおいては閉動作の時にスプ
リングをたわませるための余分の力が必要であると同時
に、開動作の力に限界があり、２つの指で押し広げるよ
うな作業を行なうことができない不具合があった。Conventional robot hands use wire ropes to close the fingers,
Steel tape or chains are used, and the opening action is often based on the restoring force of a spring. however,
In such a robot hand, extra force is required to bend the spring during the closing operation, and at the same time, there is a limit to the force of the opening operation, making it difficult to perform tasks such as pushing the hand apart with two fingers. There was a problem that I couldn't do it.
本発明は上記の不具合を改良するためになされたもので
、指の開閉動作をスプリングを使用せず、能動的に行な
うことができるロボットノ・ンドを提供することを目的
とする。The present invention has been made to improve the above-mentioned problems, and an object of the present invention is to provide a robot node that can actively open and close fingers without using springs.
この本発明は指駆動リンクにプーリもしくは平歯車を装
着し、これらをワイヤロープを用いて互に逆方向に回転
させることによって達成される。This invention is accomplished by attaching pulleys or spur gears to the finger drive links and rotating them in opposite directions using wire ropes.
本発明によればワイヤロープもしくはスチールテープ駆
動のロボットハンドにおいて指の開閉動作を能動的に行
なうことができ、例えば遠隔操作のマニピュレータに使
用した場合操作性が著しく向上する。According to the present invention, it is possible to actively open and close the fingers of a robot hand driven by a wire rope or steel tape, and when used in a remote-controlled manipulator, for example, the operability is significantly improved.
仁発明の実施例〕 以下本発明を図面を参照して詳細に説明する。Embodiment of Jin invention] The present invention will be explained in detail below with reference to the drawings.
第１図は本発明の１実施例を示すもので、１本のワイヤ
ロープで指を開閉する場合のものである。FIG. 1 shows one embodiment of the present invention, in which a single wire rope is used to open and close a finger.
指１ａ、ｌｂは！ｊンク２ａ〜２ｄで支承されており、
リンク２ａ 、 ２ｄはブー１，１３ａ、３ｄにそれぞ
れ固着されている。またリンク２ｂ 、 ２ｃ 、プー
リ３ａ、ａｂはハンドケース４に回転自在に支承されて
いる。なおプーリ５ａ、５ｂはアイドラーである。この
ような構成でワイヤロープ６を例えば図示するようにプ
ーリにかけ、矢印人のようにワイヤロープを駆動すると
指を閉じることができる。逆に矢印Ｂのようにワイヤロ
ープを駆動すると指を開くことができる。Fingers 1a and lb are! It is supported by links 2a to 2d,
Links 2a and 2d are fixed to boots 1, 13a and 3d, respectively. Further, the links 2b, 2c and pulleys 3a, ab are rotatably supported by the hand case 4. Note that the pulleys 5a and 5b are idlers. With this configuration, the wire rope 6 is placed on a pulley as shown in the figure, and the fingers can be closed by driving the wire rope in the direction of an arrow. Conversely, if the wire rope is driven as shown by arrow B, the fingers can be opened.
第２図は２つのリンク機構の逆方向回転に平歯車８ａ、
８ｂを用いた場合で、プーリ７は一方の指のリンク機構
部にのみ装着される。このプーリ７と平歯車８ａは固着
されており、プーリ７を回転させることによって歯車ｇ
ａ、８ｂは逆方向に回転し、それぞれの歯車もしくはプ
ーリに固着されたリンク２ａ、２ｄの回転によって指の
開閉動作が実現される。Fig. 2 shows a spur gear 8a, which rotates the two link mechanisms in opposite directions.
8b, the pulley 7 is attached only to the link mechanism of one finger. This pulley 7 and spur gear 8a are fixed, and by rotating the pulley 7, the gear g
a and 8b rotate in opposite directions, and opening and closing operations of the fingers are realized by rotation of links 2a and 2d fixed to respective gears or pulleys.
第１図は本発明の１実施例で１本のワイヤロープで指の
開閉を行なうロボットハンドのハンド部の概略図、第２
図は本発明の他の実施例で歯車を用いて指の開閉を行な
うロボットハンドのハンド部の概略図である。
１・・・指 ２・・・リンク ３・・・プーリ
６・・・ロープ ８・・・歯車
代理人 弁理士 則近憲佑
（ほか１名）FIG. 1 is a schematic diagram of the hand section of a robot hand that opens and closes the fingers using a single wire rope in one embodiment of the present invention;
The figure is a schematic diagram of a hand portion of a robot hand that uses gears to open and close fingers in another embodiment of the present invention. 1...Finger 2...Link 3...Pulley 6...Rope 8...Gear agent Patent attorney Kensuke Norichika (and 1 other person)
Claims (2)
るロボットノ１ンドにおいて、一方の指のリンク機構部
にプーリと第１の平歯車を装着し、他方の指のリンク機
構部に第１の平歯車とかみ合う第２の平歯車を装着し、
前記プーリを駆動することによって２つの指の開閉動作
を行なうことを特徴とするロボットハンド。(1) In a robot node driven by a wire rope or steel tape, a pulley and a first spur gear are attached to the link mechanism of one finger, and a first spur gear is attached to the link mechanism of the other finger. Attach a second spur gear that meshes with the
A robot hand characterized in that the two fingers open and close by driving the pulley.
いて、第１．第２の指のリンク機構部に第１゜第２のプ
ーリを装着し、一本のワイヤロープで前記第１．第２の
プーリを逆方向に回転させて指の開閉動作を行なうこと
を特徴とする特許請求の範囲第１項記載のロボットノ１
ンド。(2) In a robot node driven by a wire rope, the first. A first and second pulley is attached to the link mechanism of the second finger, and a single wire rope is used to connect the first and second pulleys. Robot No. 1 according to Claim 1, characterized in that the second pulley is rotated in the opposite direction to perform opening and closing operations of the fingers.
nd.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21133382A JPS59102587A (en) | 1982-12-03 | 1982-12-03 | Robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21133382A JPS59102587A (en) | 1982-12-03 | 1982-12-03 | Robot hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59102587A true JPS59102587A (en) | 1984-06-13 |
Family
ID=16604211
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21133382A Pending JPS59102587A (en) | 1982-12-03 | 1982-12-03 | Robot hand |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59102587A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018149299A (en) * | 2014-04-24 | 2018-09-27 | リブスメド インコーポレーテッド | Surgical instrument |
| US10695141B2 (en) | 2011-11-23 | 2020-06-30 | Livsmed Inc. | Surgical instrument |
| US10709467B2 (en) | 2014-10-02 | 2020-07-14 | Livsmed Inc. | Surgical instrument |
| JP2020111180A (en) * | 2019-01-11 | 2020-07-27 | ダブル技研株式会社 | Aerial transport device and method for the same |
| US10722315B2 (en) | 2015-02-17 | 2020-07-28 | Livsmed Inc. | Instrument for surgery |
| US11129637B2 (en) | 2019-12-09 | 2021-09-28 | Livsmed Inc. | Instrument for surgery |
| US11154316B2 (en) | 2018-06-08 | 2021-10-26 | Livsmed Inc. | Surgical instrument |
| US11172999B2 (en) | 2017-11-14 | 2021-11-16 | Livsmed Inc. | Roll joint member for surgical instrument |
| US11278302B2 (en) | 2019-10-31 | 2022-03-22 | Livsmed Inc. | End tool of surgical instrument and surgical instrument including the same |
| US11344381B2 (en) | 2015-02-17 | 2022-05-31 | Livsmed Inc. | Instrument for surgery |
| US11426188B2 (en) | 2020-12-09 | 2022-08-30 | Livsmed Inc. | End tool for surgical instrument and method of manufacturing the same |
| US11529188B2 (en) | 2020-10-27 | 2022-12-20 | Livsmed Inc. | Surgical instrument for electrocautery |
| US11896336B2 (en) | 2015-02-17 | 2024-02-13 | Livsmed Inc. | Instrument for surgery |
-
1982
- 1982-12-03 JP JP21133382A patent/JPS59102587A/en active Pending
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11490979B2 (en) | 2011-11-23 | 2022-11-08 | Livsmed Inc. | Surgical instrument |
| US10695141B2 (en) | 2011-11-23 | 2020-06-30 | Livsmed Inc. | Surgical instrument |
| US11723736B2 (en) | 2011-11-23 | 2023-08-15 | Livsmed Inc. | Surgical instrument |
| US11684440B2 (en) | 2011-11-23 | 2023-06-27 | Livsmed Inc. | Surgical instrument |
| US11628027B2 (en) | 2011-11-23 | 2023-04-18 | Livsmed Inc. | Surgical instrument |
| JP2020044347A (en) * | 2014-04-24 | 2020-03-26 | リブスメド インコーポレーテッド | Surgical instrument |
| US10631886B2 (en) | 2014-04-24 | 2020-04-28 | Livsmed Inc. | Surgical instrument |
| JP2018149299A (en) * | 2014-04-24 | 2018-09-27 | リブスメド インコーポレーテッド | Surgical instrument |
| US11246615B2 (en) | 2014-04-24 | 2022-02-15 | Livsmed Inc. | Surgical instrument |
| US10709467B2 (en) | 2014-10-02 | 2020-07-14 | Livsmed Inc. | Surgical instrument |
| US11793538B2 (en) | 2014-10-02 | 2023-10-24 | Livsmed Inc. | Surgical instrument |
| US10722315B2 (en) | 2015-02-17 | 2020-07-28 | Livsmed Inc. | Instrument for surgery |
| US11344381B2 (en) | 2015-02-17 | 2022-05-31 | Livsmed Inc. | Instrument for surgery |
| US11998295B2 (en) | 2015-02-17 | 2024-06-04 | Livsmed Inc. | Instrument for surgery |
| US11896337B2 (en) | 2015-02-17 | 2024-02-13 | Livsmed Inc. | Instrument for surgery |
| US11490980B2 (en) | 2015-02-17 | 2022-11-08 | Livsmed Inc. | Instrument for surgery |
| US11510746B2 (en) | 2015-02-17 | 2022-11-29 | Livsmed Inc. | Instrument for surgery |
| US11896336B2 (en) | 2015-02-17 | 2024-02-13 | Livsmed Inc. | Instrument for surgery |
| US11172999B2 (en) | 2017-11-14 | 2021-11-16 | Livsmed Inc. | Roll joint member for surgical instrument |
| US11154316B2 (en) | 2018-06-08 | 2021-10-26 | Livsmed Inc. | Surgical instrument |
| JP2020111180A (en) * | 2019-01-11 | 2020-07-27 | ダブル技研株式会社 | Aerial transport device and method for the same |
| US11278302B2 (en) | 2019-10-31 | 2022-03-22 | Livsmed Inc. | End tool of surgical instrument and surgical instrument including the same |
| US11129637B2 (en) | 2019-12-09 | 2021-09-28 | Livsmed Inc. | Instrument for surgery |
| US11529188B2 (en) | 2020-10-27 | 2022-12-20 | Livsmed Inc. | Surgical instrument for electrocautery |
| US11426188B2 (en) | 2020-12-09 | 2022-08-30 | Livsmed Inc. | End tool for surgical instrument and method of manufacturing the same |
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