EP0104871A2
Expired / Lapsed
EP
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Supporting device
Assignee: Fujitsu Ltd
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Filing: 1983-09-20
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Granted: —
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Expires: 2003-09-20
Abstract
Abstract A supporting device, such as a robot (4), comprises a first member, i.e. an arm (5), which supports resilient means (3;302) for resiliently supporting a second member, i.e. a hand (6). The supporting device includes detection means (305) for detecting displacement of the resilient means (302) with respect to the first member in accordance with the movement of the second member, and biasing means (306,308,321) which applies a force to the resilient means from the same direction as, or from a direction opposite to, that of the displacement, for changing the elasticity of the resilient means in accordance with the movement of the second member.
Inventors
- 👤 Kazuo Miyamaedaira Aberia 3-403 Asakawa
- 👤 Fumiaki Akiya
- 👤 Fumio Tabata
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-27 21:04
CPC Classifications
B; B23; B23P; B23P19/00; B23P19/10; B23P19/102; B23P19/12; B25; B25J; B25J15/00; B25J15/06; B25J15/0616; B25J17/00; B25J17/02; B25J17/0208; B25J19/00; B25J9/00; B25J9/0009; B25J9/0015; G; G01; G01L; G01L5/00; G01L5/16; G01L5/161; G01L5/1627; G01L5/22; G01L5/226; Y; Y10; Y10T; Y10T403/00; Y10T403/20; Y10T403/45; Y10T403/54
Claims Analysis
Total Claims: 17
Claim 1
Independent Claim
91 words
A supporting device comprising a first member (5) which supports resilient means (3) for resiliently supporting a second member (6), characterised by detection means (11) for detecting displacement of the resilient means with respect to the first member in accordance with the movement of the second member; and biasing means (306,308,321) which applies a force to the resilient means from the same direction as, or from a direction opposite to, that of the displacement, for changing the elasticity of the springy means in accordance with the movement of the second member.
Claim 2
Dependent Claim
91 words
A supporting device comprising a first member (5) which supports resilient means (3) for resiliently supporting a second member (6), characterised by detection means (11) for detecting displacement of the resilient means with respect to the first member in accordance with the movement of the second member; and biasing means (306,308,321) which applies a force to the resilient means from the same direction as, or from a direction opposite to, that of the displacement, for changing the elasticity of the springy means in accordance with the movement of the second member.
Claim 3
Dependent Claim
36 words
A device as claimed in Claim 1, characterised in that the second member (6) is a holder means for holding an article and the first member (5) is an arm means for moving the holder means.
Claim 4
Dependent Claim
47 words
A device as claimed in Claim 1 or Claim 2, characterised in that the biasing means is a DC plain motor which comprises at least one plain coil (306) and at least one magnet (308) arranged so as to apply a force to the resilient means (3).
Claim 5
Independent Claim
30 words
A device as claimed in any preceding claim, characterised in that the resilient means (3) comprises two pairs of parallel leaf springs (1,2) which can move perpendicularly to each other.
Claim 6
Dependent Claim
130 words
A supporting device comprising a first member (5) which supports resilient means for resiliently supporting a second member (6), characterised in that the resilient means comprises a first pair of parallel leaf springs (2), an end of which is connected to the first member (5), and a second pair of parallel leaf springs (1), an end of which is connected to the second member (6), the other end of the first pair of leaf springs and the other end of the second pair of leaf springs being interconnected in such a manner that the direction of displacement of the first pair of leaf springs with respect to the first member is perpendicular to the direction of displacement of the second pair of leaf springs with respect to the first member.
Claim 7
Dependent Claim
130 words
A supporting device comprising a first member (5) which supports resilient means for resiliently supporting a second member (6), characterised in that the resilient means comprises a first pair of parallel leaf springs (2), an end of which is connected to the first member (5), and a second pair of parallel leaf springs (1), an end of which is connected to the second member (6), the other end of the first pair of leaf springs and the other end of the second pair of leaf springs being interconnected in such a manner that the direction of displacement of the first pair of leaf springs with respect to the first member is perpendicular to the direction of displacement of the second pair of leaf springs with respect to the first member.
Claim 8
Dependent Claim
26 words
A device as claimed in Claim 5, characterised in that the upper ends of the first and second pairs (203, 204) of leaf springs are interconnected.
Claim 9
Dependent Claim
33 words
A device as claimed in Claim 6, characterised in that the resilient means (201) comprises limiting means (205,206,Fig.26) for limiting the movement of the first and second pairs (203,204) of parallel leaf springs.
Claim 10
Independent Claim
39 words
A device as claimed in any one of Claims 5-7, characterised in that the second member (6) is a holder means for holding an article and the first member is an arm means (5) for moving the holder means.
Claim 11
Dependent Claim
82 words
A supporting device as claimed in any one of Claims 5-8, characterised by a cross-shaped leaf spring which is disposed at the connecting portion between the resilient means and the first or second member (5,6) and which permits the second member (6) to incline with respect to the first member (5) and to shift the second member with respect to the first member in a direction perpendicular to the direction of displacement of the first and second pairs of leaf springs (2,1).
Claim 12
Dependent Claim
117 words
A robot comprising a hand (410) for holding an article and an arm (405) for moving the hand,characterised by a wrist (409) disposed between the hand and the arm, which wrist comprises a parallel leaf spring assembly comprising two pairs C417a,417b) of parallel leaf springs, which pairs of parallel leaf springs can move perpendicularly to each other in a direction X and a direction Y, respectively, and a cross-shaped leaf spring C418) which enables the hand to move with respect to the arm in a direction Z perpendicular to the direction X and the direction Y and to incline the hand with respect to the arm; and characterised in that the hand comprises a suction device (410).
Claim 13
Dependent Claim
117 words
A robot comprising a hand (410) for holding an article and an arm (405) for moving the hand,characterised by a wrist (409) disposed between the hand and the arm, which wrist comprises a parallel leaf spring assembly comprising two pairs C417a,417b) of parallel leaf springs, which pairs of parallel leaf springs can move perpendicularly to each other in a direction X and a direction Y, respectively, and a cross-shaped leaf spring C418) which enables the hand to move with respect to the arm in a direction Z perpendicular to the direction X and the direction Y and to incline the hand with respect to the arm; and characterised in that the hand comprises a suction device (410).
Claim 14
Dependent Claim
75 words
A robot comprising a hand for holding an article and an arm for moving the hand, characterised by a wrist (302) disposed between the hand and the arm, which wrist comprises compliance means (303,304) which enables the hand to move with respect to the arm, and means (306,308, 321) for automatically varying the compliance of the compliance means by moving the wrist in accordance with the movement of the wrist with respect to the arm.
Claim 15
Dependent Claim
75 words
A robot comprising a hand for holding an article and an arm for moving the hand, characterised by a wrist (302) disposed between the hand and the arm, which wrist comprises compliance means (303,304) which enables the hand to move with respect to the arm, and means (306,308, 321) for automatically varying the compliance of the compliance means by moving the wrist in accordance with the movement of the wrist with respect to the arm.
Claim 16
Dependent Claim
111 words
A robot comprising a hand for holding an article and an arm for moving the hand, characterised by a wrist (201) disposed between the hand-and the arm, which wrist comprises two pairs (203,204) of parallel leaf springs, which pairs of parallel leaf springs can move perpendicularly to each other, the upper ends of the two pairs of parallel leaf springs being secured to a common plate (202) and the lower ends of the two pairs of parallel leaf springs being secured to different plates (206,205) respectively; and characterised in that the wrist comprises a limiting means (206,205,Fig.26) for defining the range of movement of the two pairs of parallel leaf springs.
Claim 17
Dependent Claim
111 words
A robot comprising a hand for holding an article and an arm for moving the hand, characterised by a wrist (201) disposed between the hand-and the arm, which wrist comprises two pairs (203,204) of parallel leaf springs, which pairs of parallel leaf springs can move perpendicularly to each other, the upper ends of the two pairs of parallel leaf springs being secured to a common plate (202) and the lower ends of the two pairs of parallel leaf springs being secured to different plates (206,205) respectively; and characterised in that the wrist comprises a limiting means (206,205,Fig.26) for defining the range of movement of the two pairs of parallel leaf springs.
References Cited (Backward Citations)
No citation records indexed.
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