CN105345816B - 一种基于齿轮传动的多自由度机械手 - Google Patents
一种基于齿轮传动的多自由度机械手 Download PDFInfo
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- CN105345816B CN105345816B CN201510966170.XA CN201510966170A CN105345816B CN 105345816 B CN105345816 B CN 105345816B CN 201510966170 A CN201510966170 A CN 201510966170A CN 105345816 B CN105345816 B CN 105345816B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 230000033001 locomotion Effects 0.000 claims abstract description 56
- 230000005611 electricity Effects 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims description 4
- 230000009467 reduction Effects 0.000 abstract description 3
- 210000003811 finger Anatomy 0.000 description 85
- 238000010586 diagram Methods 0.000 description 20
- 238000009434 installation Methods 0.000 description 9
- 230000006872 improvement Effects 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000009471 action Effects 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000010405 clearance mechanism Effects 0.000 description 2
- 210000005224 forefinger Anatomy 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
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Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201510966170.XA CN105345816B (zh) | 2015-12-22 | 2015-12-22 | 一种基于齿轮传动的多自由度机械手 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN201510966170.XA CN105345816B (zh) | 2015-12-22 | 2015-12-22 | 一种基于齿轮传动的多自由度机械手 |
Publications (2)
Publication Number | Publication Date |
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CN105345816A CN105345816A (zh) | 2016-02-24 |
CN105345816B true CN105345816B (zh) | 2017-03-22 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201510966170.XA Active CN105345816B (zh) | 2015-12-22 | 2015-12-22 | 一种基于齿轮传动的多自由度机械手 |
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CN (1) | CN105345816B (zh) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106129767A (zh) * | 2016-06-16 | 2016-11-16 | 蒋清校 | 一种新型扭线槽轮旋转电线修整机 |
CN106313018B (zh) * | 2016-11-18 | 2024-04-16 | 淄博爱而生工程技术有限公司 | 一种同步轴、同步轴的加工工艺以及同步性好的机械手 |
CN108189058B (zh) * | 2017-12-20 | 2020-06-16 | 彭科植 | 具有智能机械手臂的机器人 |
CN112754519B (zh) * | 2021-01-26 | 2022-08-12 | 秦毅 | 一种超声检查辅助用托手板 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005349489A (ja) * | 2004-06-08 | 2005-12-22 | Sharp Corp | 多自由度多指ハンド |
JP4482437B2 (ja) * | 2004-12-14 | 2010-06-16 | 本田技研工業株式会社 | ロボットハンド装置 |
CN101412220B (zh) * | 2008-11-28 | 2011-01-19 | 北京邮电大学 | 可伸缩机械手 |
CN101844358B (zh) * | 2009-03-24 | 2011-07-27 | 中国科学院合肥物质科学研究院 | 变构型机械手爪的手指旋转移动装置及其工作方法 |
CN101633170B (zh) * | 2009-07-31 | 2011-02-16 | 清华大学 | 耦合式三关节机器人手指装置 |
CN102179818A (zh) * | 2011-05-20 | 2011-09-14 | 清华大学 | 差动锥齿轮系复合欠驱动双关节机器人手指装置 |
CN102717394B (zh) * | 2012-06-01 | 2014-11-26 | 清华大学 | 锥齿轮耦合式灵巧机器人手指装置 |
CN104999470A (zh) * | 2015-03-13 | 2015-10-28 | 山东科技大学 | 一种全驱动三指灵巧机械手 |
CN104908056B (zh) * | 2015-06-29 | 2016-09-21 | 哈尔滨工业大学 | 一种可变构型的三指机械手爪 |
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2015
- 2015-12-22 CN CN201510966170.XA patent/CN105345816B/zh active Active
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CN105345816A (zh) | 2016-02-24 |
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Inventor after: Liu Jin Inventor after: Liu Li Inventor before: Tang Xiaoqi |
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Effective date of registration: 20161222 Address after: Zhejiang province Jinhua City Xiguan Street 321000 Wucheng Dong Zhai community Dong Kang Lane 6, Room 203 Applicant after: JINHUA ZHICHAN WUYUAN INFORMATION TECHNOLOGY Co.,Ltd. Address before: 315000 Zhejiang, Haishu District, blue sky road, lane, room 19, No. 304, room 108 Applicant before: Tang Xiaoqi |
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Effective date of registration: 20191029 Address after: 314511 Room 401, unit 1, building 2, zitanyuan, 338 Yuanming Road, Wutong street, Tongxiang City, Jiaxing City, Zhejiang Province Patentee after: Jiaxing jinlvyan Technology Co.,Ltd. Address before: Room 203, No. 6, Dongkang lane, Dongzhai community, Xiguan Street, Wucheng District Patentee before: JINHUA ZHICHAN WUYUAN INFORMATION TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20240626 Address after: No. 102, Building 1, Xinggong Science and Technology Park, No. 100 Luyun Road, Changsha High tech Development Zone, Changsha City, Hunan Province, 410000 Patentee after: Changsha Zhonghe Craftsman Technology Service Co.,Ltd. Country or region after: China Address before: 314511 Tongxiang, Jiaxing, Zhejiang, Wutong street, 338 yuan Road, 2 red sandalwood 2 Units 1 units, 401 rooms. Patentee before: Jiaxing jinlvyan Technology Co.,Ltd. Country or region before: China |
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