CN105563513B - 柔性自适应欠驱动机器人手爪 - Google Patents
柔性自适应欠驱动机器人手爪 Download PDFInfo
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- CN105563513B CN105563513B CN201610126285.2A CN201610126285A CN105563513B CN 105563513 B CN105563513 B CN 105563513B CN 201610126285 A CN201610126285 A CN 201610126285A CN 105563513 B CN105563513 B CN 105563513B
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Classifications
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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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
-
- 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- 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
- B25J9/126—Rotary actuators
Abstract
Description
Claims (3)
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610126285.2A CN105563513B (zh) | 2016-03-07 | 2016-03-07 | 柔性自适应欠驱动机器人手爪 |
CN201710424590.4A CN107053242B (zh) | 2016-03-07 | 2016-03-07 | 机器人仿生手爪 |
CN201710424591.9A CN107053243B (zh) | 2016-03-07 | 2016-03-07 | 关节型机器人手爪 |
CN201710424585.3A CN107175680A (zh) | 2016-03-07 | 2016-03-07 | 机器人灵巧手 |
CN201710424589.1A CN107214715A (zh) | 2016-03-07 | 2016-03-07 | 柔性超高速机械手 |
CN201710424015.4A CN107243919A (zh) | 2016-03-07 | 2016-03-07 | 自适应灵巧型机械手 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610126285.2A CN105563513B (zh) | 2016-03-07 | 2016-03-07 | 柔性自适应欠驱动机器人手爪 |
Related Child Applications (5)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710424585.3A Division CN107175680A (zh) | 2016-03-07 | 2016-03-07 | 机器人灵巧手 |
CN201710424015.4A Division CN107243919A (zh) | 2016-03-07 | 2016-03-07 | 自适应灵巧型机械手 |
CN201710424590.4A Division CN107053242B (zh) | 2016-03-07 | 2016-03-07 | 机器人仿生手爪 |
CN201710424589.1A Division CN107214715A (zh) | 2016-03-07 | 2016-03-07 | 柔性超高速机械手 |
CN201710424591.9A Division CN107053243B (zh) | 2016-03-07 | 2016-03-07 | 关节型机器人手爪 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105563513A CN105563513A (zh) | 2016-05-11 |
CN105563513B true CN105563513B (zh) | 2017-07-07 |
Family
ID=55874421
Family Applications (6)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710424591.9A Active CN107053243B (zh) | 2016-03-07 | 2016-03-07 | 关节型机器人手爪 |
CN201710424015.4A Withdrawn CN107243919A (zh) | 2016-03-07 | 2016-03-07 | 自适应灵巧型机械手 |
CN201710424590.4A Active CN107053242B (zh) | 2016-03-07 | 2016-03-07 | 机器人仿生手爪 |
CN201710424585.3A Withdrawn CN107175680A (zh) | 2016-03-07 | 2016-03-07 | 机器人灵巧手 |
CN201610126285.2A Active CN105563513B (zh) | 2016-03-07 | 2016-03-07 | 柔性自适应欠驱动机器人手爪 |
CN201710424589.1A Withdrawn CN107214715A (zh) | 2016-03-07 | 2016-03-07 | 柔性超高速机械手 |
Family Applications Before (4)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710424591.9A Active CN107053243B (zh) | 2016-03-07 | 2016-03-07 | 关节型机器人手爪 |
CN201710424015.4A Withdrawn CN107243919A (zh) | 2016-03-07 | 2016-03-07 | 自适应灵巧型机械手 |
CN201710424590.4A Active CN107053242B (zh) | 2016-03-07 | 2016-03-07 | 机器人仿生手爪 |
CN201710424585.3A Withdrawn CN107175680A (zh) | 2016-03-07 | 2016-03-07 | 机器人灵巧手 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710424589.1A Withdrawn CN107214715A (zh) | 2016-03-07 | 2016-03-07 | 柔性超高速机械手 |
Country Status (1)
Country | Link |
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CN (6) | CN107053243B (zh) |
Families Citing this family (40)
Publication number | Priority date | Publication date | Assignee | Title |
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CN105880909B (zh) * | 2016-06-08 | 2018-06-08 | 泉州市家园网信息科技有限公司 | 一种焊接夹具夹紧头 |
CN106428279B (zh) * | 2016-10-25 | 2019-05-10 | 绿艺园林建设有限公司 | 一种智能树木攀爬修枝机器人 |
CN106545169B (zh) * | 2017-01-19 | 2022-03-18 | 中建海峡建设发展有限公司 | 一种钢筋固定装置 |
WO2018170644A1 (zh) * | 2017-03-18 | 2018-09-27 | 深圳市方鹏科技有限公司 | 一种具有人工智能的机器人手 |
CN106744533A (zh) * | 2017-04-07 | 2017-05-31 | 福建新源重工有限公司 | 连动夹 |
CN107639646A (zh) * | 2017-09-19 | 2018-01-30 | 苏州浩迈凌机电设备有限公司 | 一种伸缩机械手 |
CN107414841B (zh) * | 2017-09-27 | 2024-02-06 | 合肥哈工图南智控机器人有限公司 | 一种基于多级变胞机构的仿生柔顺抓取机械手 |
CN107891434B (zh) * | 2017-11-13 | 2020-01-24 | 东北大学 | 基于变胞原理的欠驱动机械手 |
CN108393919B (zh) * | 2018-03-06 | 2021-04-02 | 哈尔滨工业大学 | 基于移动机器人的自适应末端夹持器 |
CN108353622B (zh) * | 2018-03-15 | 2023-10-03 | 广东工业大学 | 一种全自动菠萝采摘方法 |
CN108207332B (zh) * | 2018-03-27 | 2024-01-26 | 郑州大学 | 柔性草莓采摘器及应用此采摘器的全自动草莓采摘蜘蛛车 |
CN108527412B (zh) * | 2018-04-17 | 2023-09-05 | 西安工业大学 | 一种基于对心抓取的工业夹持平台 |
CN108501032B (zh) * | 2018-06-19 | 2023-09-19 | 苏州大学 | 可调整式气动软体抓手 |
CN108934440A (zh) * | 2018-06-19 | 2018-12-07 | 新疆农业大学 | 欠驱动手指机构以及棒状果蔬握持式采摘机械手末端执行器 |
CN108839052A (zh) * | 2018-08-31 | 2018-11-20 | 无锡百禾工业机器人有限公司 | 多功能重力机械手 |
CN109103807A (zh) * | 2018-08-31 | 2018-12-28 | 国网北京市电力公司 | 鸟窝拆除工具 |
CN109176586B (zh) * | 2018-09-18 | 2021-11-12 | 哈尔滨工业大学(深圳) | 一种基于扭转弹簧的自适应柔性手爪及机器人 |
CN109877861B (zh) * | 2019-03-20 | 2021-05-18 | 燕山大学 | 一种机器人手指机构 |
CN109773771A (zh) * | 2019-03-22 | 2019-05-21 | 武汉理工大学 | 一种仿生机械手 |
CN109940650B (zh) * | 2019-04-13 | 2022-02-15 | 华北理工大学 | 机械手爪 |
CN110171011B (zh) * | 2019-04-26 | 2021-06-15 | 湖南大学 | 一种协同驱动的三指机器人灵巧手 |
CN110075332A (zh) * | 2019-05-13 | 2019-08-02 | 刘峰 | 一种医院自动化消毒设备 |
CN110539257B (zh) * | 2019-08-05 | 2021-01-01 | 中山大学 | 一种多功能仿生夹持器 |
TWI704975B (zh) * | 2019-10-09 | 2020-09-21 | 和碩聯合科技股份有限公司 | 夾持裝置 |
US20220410406A1 (en) | 2019-11-22 | 2022-12-29 | Hanwha Corporation | Gripper device for robot arm |
WO2021107900A1 (en) * | 2019-11-30 | 2021-06-03 | Selcuk Universitesi | A three finger robotic gripper design with spherical mechanism |
CN111015716B (zh) * | 2019-12-25 | 2022-11-22 | 中国科学院沈阳自动化研究所 | 软体机械手开合控制驱动器 |
CN111226600A (zh) * | 2020-03-12 | 2020-06-05 | 浙江大学城市学院 | 一种欠驱动果蔬采摘机械手及采摘方法 |
CN111404079B (zh) * | 2020-04-07 | 2022-02-11 | 西安交通大学 | 一种高压输电线飞行巡检机器人起降用仿生柔顺机械腿爪 |
DE102020207036A1 (de) * | 2020-06-04 | 2021-12-09 | Kuka Deutschland Gmbh | Greifer mit einem Greifergrundkörper |
CN111717391B (zh) * | 2020-06-28 | 2022-11-22 | 中国科学院长春光学精密机械与物理研究所 | 一种四旋翼并联采集机器人 |
CN112045695A (zh) * | 2020-08-21 | 2020-12-08 | 华中科技大学 | 一种欠驱动自适应机械手指 |
CN112643713B (zh) * | 2020-12-08 | 2022-07-01 | 江苏科技大学 | 机器人端拾器高温传递和变形检测装置及方法 |
CN113510741A (zh) * | 2021-07-28 | 2021-10-19 | 华中科技大学 | 一种基于变胞原理的欠驱动自适应机械手 |
CN113561215B (zh) * | 2021-09-26 | 2021-12-07 | 西南科技大学 | 一种变姿态关节型灵巧手 |
CN114074336B (zh) * | 2021-11-17 | 2023-05-23 | 东北大学 | 一种末端拉力自适应的可变速自动拉线装置 |
CN114770470B (zh) * | 2022-04-21 | 2023-07-28 | 广东工业大学 | 一种仿生机械臂及仿生机械臂系统 |
CN115648261B (zh) * | 2022-10-14 | 2023-05-30 | 北京电子科技职业学院 | 柔性转动关节及机械手指和易拆装的模块化欠驱动机械手 |
CN115744262B (zh) * | 2022-12-05 | 2023-08-04 | 西安工业大学 | 一种机械制造用机械轴抓取装置 |
CN116158264B (zh) * | 2023-04-25 | 2023-06-23 | 东北林业大学 | 一种苹果采摘机械手 |
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US3866966A (en) * | 1973-05-14 | 1975-02-18 | Ii Frank R Skinner | Multiple prehension manipulator |
IT1123216B (it) * | 1979-09-19 | 1986-04-30 | Alberto Rovetta | Mano meccanica multiscopo |
US5280981A (en) * | 1991-02-01 | 1994-01-25 | Odetics, Inc. | End effector with load-sensitive digit actuation mechanisms |
GB0409548D0 (en) * | 2004-04-29 | 2004-06-02 | King S College London | Robotic hand |
EP2551071A4 (en) * | 2010-03-24 | 2015-05-06 | Yaskawa Denki Seisakusho Kk | ROBOTIC HAND AND ROBOT DEVICE |
JP2012166297A (ja) * | 2011-02-14 | 2012-09-06 | Seiko Epson Corp | ロボットハンド及びロボット装置 |
CN102441892A (zh) * | 2011-10-25 | 2012-05-09 | 浙江大学 | 一种果蔬采摘欠驱动机械手爪 |
EP2777895A4 (en) * | 2011-11-09 | 2016-07-13 | Yaskawa Denki Seisakusho Kk | ROBOTIC HAND AND ROBOT |
CN203313691U (zh) * | 2013-05-29 | 2013-12-04 | 西北农林科技大学 | 一种果实采摘机器人三指灵巧手 |
CN104816310A (zh) * | 2014-02-04 | 2015-08-05 | 精工爱普生株式会社 | 机器人手、机器人、以及机器人手的制造方法 |
CN203752160U (zh) * | 2014-03-25 | 2014-08-06 | 甘肃农业大学 | 快速欠驱动吸附性采摘机械手 |
CN104858884B (zh) * | 2015-05-18 | 2016-07-06 | 天津大学 | 一种可实现被动包络的固定手掌型柔性仿生机械手爪 |
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 |
CN105364935B (zh) * | 2015-12-08 | 2017-01-25 | 哈尔滨工业大学 | 一种三指三自由度构型机器人手爪 |
CN105345826A (zh) * | 2015-12-10 | 2016-02-24 | 先驱智能机械(深圳)有限公司 | 机械手及机械手臂及机器人 |
-
2016
- 2016-03-07 CN CN201710424591.9A patent/CN107053243B/zh active Active
- 2016-03-07 CN CN201710424015.4A patent/CN107243919A/zh not_active Withdrawn
- 2016-03-07 CN CN201710424590.4A patent/CN107053242B/zh active Active
- 2016-03-07 CN CN201710424585.3A patent/CN107175680A/zh not_active Withdrawn
- 2016-03-07 CN CN201610126285.2A patent/CN105563513B/zh active Active
- 2016-03-07 CN CN201710424589.1A patent/CN107214715A/zh not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
CN105563513A (zh) | 2016-05-11 |
CN107214715A (zh) | 2017-09-29 |
CN107243919A (zh) | 2017-10-13 |
CN107053243B (zh) | 2019-08-13 |
CN107053242B (zh) | 2019-08-13 |
CN107053243A (zh) | 2017-08-18 |
CN107175680A (zh) | 2017-09-19 |
CN107053242A (zh) | 2017-08-18 |
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Effective date of registration: 20170517 Address after: 325000 Zhejiang Longwan Wenzhou hi tech Industrial Development Zone Venture Service Center incubator 522 C 524 room Applicant after: Wenzhou branch Robot Technology Co., Ltd. Address before: Tangxia town Ruian city Wenzhou City, Zhejiang province 325000 Guandu Huayuan Road No. 25 Applicant before: Dai Yi |
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Effective date of registration: 20190827 Address after: 150069 Heilongjiang Province, Harbin Economic Development Zone haping Road District Dalian road and Xingkai road junction Patentee after: Harbin strengthen the joint venture capital enterprise (limited partnership) Address before: 325000 Zhejiang Longwan Wenzhou hi tech Industrial Development Zone Venture Service Center incubator 522 C 524 room Patentee before: Wenzhou branch Robot Technology Co., Ltd. |
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Effective date of registration: 20220420 Address after: No. 518, Chenzhuang West Road, Sanshui street, Jiangyan District, Taizhou City, Jiangsu Province 225500 Patentee after: Huacui Intelligent Equipment Co.,Ltd. Address before: 150069 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection. Patentee before: Harbin Enhanced Lianzhi Investment Enterprise (L.P.) |
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