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1. 发明授权

EP2433760B1 Hand and robot 有权
标题翻译：手和机器人
公开(公告)号：EP2433760B1
公开(公告)日：2013-02-13
申请号：EP11180431.6
申请日：2011-09-07
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Kubota, Yoshiaki , Dan, Yoichiro , Tijiwa, Jun
IPC分类号： B25J15/00 , B25J15/02
CPC分类号： B25J15/026 , B25J15/0004 , B25J15/0028

2. 发明公开

EP2433760A1 Hand and robot 有权
标题翻译：手和机器人
公开(公告)号：EP2433760A1
公开(公告)日：2012-03-28
申请号：EP11180431.6
申请日：2011-09-07
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Kubota, Yoshiaki , Dan, Yoichiro , Tijiwa, Jun
IPC分类号： B25J15/00 , B25J15/02
CPC分类号： B25J15/026 , B25J15/0004 , B25J15/0028
摘要： A hand 20 according to an embodiment of the present invention includes: a pair of supporters 22a and 22b; first and second gripping claws 21a and 21b which are supported inside of the pair of supporters 22a and 22b, respectively, so as to grip a bolt B; an oscillating mechanism 29 which oscillates the first and second gripping claws 21a and 21b on an oscillatory axis crossing a longitudinal direction of each of the supporters 22a and 22b, so as to change the orientation of a tip of each of the first and second gripping claws 21a and 21b; and a bolt rotating mechanism 30 for rotating, on the axis of the bolt B, the bolt B gripped by the first and second gripping claws 21a and 21b.
摘要翻译：根据本发明的实施例的手20包括：一对支撑件22a和22b; 分别支撑在一对支撑件22a和22b内部以夹紧螺栓B的第一和第二夹爪21a和21b; 摆动机构29，其使第一夹爪21a和第二夹爪21b在与支撑体22a和22b的纵向方向交叉的振荡轴上摆动，以便改变第一和第二抓爪中的每一个的尖端的取向 21a和21b; 以及螺栓旋转机构30，用于在螺栓B的轴线上旋转由第一和第二夹紧爪21a和21b夹紧的螺栓B.

3. 发明公开

EP2428336A1 Hand and robot 审中-公开
标题翻译：手和机器人
公开(公告)号：EP2428336A1
公开(公告)日：2012-03-14
申请号：EP11180402.7
申请日：2011-09-07
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Motonaga, Kenichi , Baba, Takashi , Harada, Toshiyuki , Dan, Yoichiro , Kubota, Yoshiaki , Tijiwa, Jun
IPC分类号： B25J15/00 , B25J15/02
CPC分类号： B25J15/026 , B25J15/0004
摘要： A hand according to an embodiment includes a pair of supporting units (42), a pair of capturing claws (36), an opening-and-closing mechanism (400), and a reciprocating mechanism (500). The pair of capturing claws (36) are supported on the inner surfaces of the pair of respective supporting units (42) and capture a part. The opening-and-closing mechanism (400) opens and closes the pair of supporting units (42) along a reciprocating axis intersecting with longitudinal directions of the supporting units (42). The reciprocating mechanism (500) causes the pair of capturing claws (36) to rotate about the reciprocating axis to change the direction of each tip of the capturing claws (36).
摘要翻译：根据实施例的手包括一对支撑单元（42），一对捕获爪（36），开闭机构（400）和往复机构（500）。一对捕获爪（36）被支撑在一对相应的支撑单元（42）的内表面上并捕获一部分。开闭机构400沿着与支撑单元42的长度方向交叉的往复运动轴开闭一对支承单元42。往复运动机构（500）使得一对捕获爪（36）围绕往复运动轴线旋转以改变捕获爪（36）的每个尖端的方向。

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