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    • 88. 发明授权
    • Handling robot system having robot hand
    • 处理具有机器人手的机器人系统
    • US07118147B2
    • 2006-10-10
    • US10965204
    • 2004-10-15
    • Takashi Fujii
    • Takashi Fujii
    • B25J15/04B25J9/10
    • B25J15/0253
    • In a robot hand according to the present invention, a first-type grasping claw driven by a servo motor on a hand base and a second-type grasping claw having no actuator are used with the grasping claws mounted on each holding unit. The second-type grasping claw is movable in a direction perpendicular to a moving direction of the first-type grasping claw. The robot is operated so that an external force is applied to the grasping claw by bringing the grasping claw into contact with a contact surface of a stationary stand member, thereby to change a position of the grasping claw relative to the hand base and that grasping claw is locked at that position by a brake mechanism. Each grasping claw is adapted to be able to be mounted or dismounted on or from the holding unit using a pull bolt and a retaining mechanism, and can be automatically changed by the robot operation. By attaching the pull bolt to the workpiece in advance, the retaining mechanism also can be used for holding the workpiece.
    • 在根据本发明的机器人手中,使用由手持基座上的伺服电动机驱动的第一类型抓取爪和不具有致动器的第二类型抓取爪,其中夹持爪安装在每个保持单元上。 第二种抓取爪可以在与第一类型抓取爪的移动方向垂直的方向上移动。 操作机器人,使得抓握爪与固定支架的接触表面接触而将外力施加到抓取爪,从而改变抓爪相对于手基座的位置,并且抓爪 通过制动机构锁定在该位置。 每个抓取爪适于能够使用拉螺栓和保持机构从保持单元安装或拆卸,并且可以通过机器人操作自动地改变。 通过将拉螺栓预先安装到工件上,保持机构也可以用于保持工件。