CN105583829A - 一种基于钢丝拉动的仿真机械手指 - Google Patents
一种基于钢丝拉动的仿真机械手指 Download PDFInfo
- Publication number
- CN105583829A CN105583829A CN201510988312.2A CN201510988312A CN105583829A CN 105583829 A CN105583829 A CN 105583829A CN 201510988312 A CN201510988312 A CN 201510988312A CN 105583829 A CN105583829 A CN 105583829A
- Authority
- CN
- China
- Prior art keywords
- mechanical finger
- support
- steel wire
- sheave
- plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 209
- 239000010959 steel Substances 0.000 title claims abstract description 209
- 238000005452 bending Methods 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 30
- 238000004088 simulation Methods 0.000 claims description 12
- -1 hexagonal plate Substances 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 18
- 238000010586 diagram Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 8
- 230000006872 improvement Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 235000018734 Sambucus australis Nutrition 0.000 description 4
- 244000180577 Sambucus australis Species 0.000 description 4
- OGFXBIXJCWAUCH-UHFFFAOYSA-N meso-secoisolariciresinol Natural products C1=2C=C(O)C(OC)=CC=2CC(CO)C(CO)C1C1=CC=C(O)C(OC)=C1 OGFXBIXJCWAUCH-UHFFFAOYSA-N 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 208000008037 Arthrogryposis Diseases 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000000916 dilatatory effect Effects 0.000 description 2
- 210000001145 finger joint Anatomy 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 208000010138 Diastema Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000010405 clearance mechanism Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000000475 diastema Anatomy 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
Classifications
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
- F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H1/222—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with non-parallel axes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H27/00—Step-by-step mechanisms without freewheel members, e.g. Geneva drives
- F16H27/04—Step-by-step mechanisms without freewheel members, e.g. Geneva drives for converting continuous rotation into a step-by-step rotary movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H37/065—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with a plurality of driving or driven shafts
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510988312.2A CN105583829B (zh) | 2015-12-24 | 2015-12-24 | 一种基于钢丝拉动的仿真机械手指 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510988312.2A CN105583829B (zh) | 2015-12-24 | 2015-12-24 | 一种基于钢丝拉动的仿真机械手指 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105583829A true CN105583829A (zh) | 2016-05-18 |
CN105583829B CN105583829B (zh) | 2017-11-10 |
Family
ID=55923908
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510988312.2A Expired - Fee Related CN105583829B (zh) | 2015-12-24 | 2015-12-24 | 一种基于钢丝拉动的仿真机械手指 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN105583829B (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105881571A (zh) * | 2016-05-27 | 2016-08-24 | 燕山大学 | 柔性耦合单驱动拟人手指 |
CN106182052A (zh) * | 2016-08-12 | 2016-12-07 | 欢乐飞(上海)机器人有限责任公司 | 一种智能机器人手部系统及其操作方法 |
CN107618043A (zh) * | 2017-10-12 | 2018-01-23 | 哈尔滨理工大学 | 一种基于液压‑钢丝拉动的仿真机械手指及机械手 |
WO2019183908A1 (zh) * | 2018-03-30 | 2019-10-03 | 深圳蓝胖子机器人有限公司 | 一种机械手指及机械手 |
WO2019183909A1 (zh) * | 2018-03-30 | 2019-10-03 | 深圳蓝胖子机器人有限公司 | 一种模块化机械手指及其机械手 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN201231484Y (zh) * | 2008-08-05 | 2009-05-06 | 常州机械电子工程研究所 | 仿人机械手 |
CN202878319U (zh) * | 2012-09-12 | 2013-04-17 | 南昌大学 | 基于扭绳驱动的机器人手指 |
CN104015193A (zh) * | 2014-06-03 | 2014-09-03 | 清华大学 | 抓取锁定自适应机器人手指装置 |
JP2015016513A (ja) * | 2013-07-09 | 2015-01-29 | 学校法人千葉工業大学 | ロボットの関節機構およびロボット |
CN104802180A (zh) * | 2015-04-09 | 2015-07-29 | 上海大学 | 欠驱动拟人三指机械手 |
CN105150235A (zh) * | 2015-09-18 | 2015-12-16 | 山东科技大学 | 一种新型绳驱动三指灵巧手 |
-
2015
- 2015-12-24 CN CN201510988312.2A patent/CN105583829B/zh not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN201231484Y (zh) * | 2008-08-05 | 2009-05-06 | 常州机械电子工程研究所 | 仿人机械手 |
CN202878319U (zh) * | 2012-09-12 | 2013-04-17 | 南昌大学 | 基于扭绳驱动的机器人手指 |
JP2015016513A (ja) * | 2013-07-09 | 2015-01-29 | 学校法人千葉工業大学 | ロボットの関節機構およびロボット |
CN104015193A (zh) * | 2014-06-03 | 2014-09-03 | 清华大学 | 抓取锁定自适应机器人手指装置 |
CN104802180A (zh) * | 2015-04-09 | 2015-07-29 | 上海大学 | 欠驱动拟人三指机械手 |
CN105150235A (zh) * | 2015-09-18 | 2015-12-16 | 山东科技大学 | 一种新型绳驱动三指灵巧手 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105881571A (zh) * | 2016-05-27 | 2016-08-24 | 燕山大学 | 柔性耦合单驱动拟人手指 |
CN106182052A (zh) * | 2016-08-12 | 2016-12-07 | 欢乐飞(上海)机器人有限责任公司 | 一种智能机器人手部系统及其操作方法 |
CN106182052B (zh) * | 2016-08-12 | 2018-12-25 | 欢乐飞(上海)机器人有限责任公司 | 一种智能机器人手部系统及其操作方法 |
CN107618043A (zh) * | 2017-10-12 | 2018-01-23 | 哈尔滨理工大学 | 一种基于液压‑钢丝拉动的仿真机械手指及机械手 |
WO2019183908A1 (zh) * | 2018-03-30 | 2019-10-03 | 深圳蓝胖子机器人有限公司 | 一种机械手指及机械手 |
WO2019183909A1 (zh) * | 2018-03-30 | 2019-10-03 | 深圳蓝胖子机器人有限公司 | 一种模块化机械手指及其机械手 |
CN111344121A (zh) * | 2018-03-30 | 2020-06-26 | 深圳蓝胖子机器人有限公司 | 一种模块化机械手指及其机械手 |
Also Published As
Publication number | Publication date |
---|---|
CN105583829B (zh) | 2017-11-10 |
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Address after: 362100,, Fujian, Quanzhou, Quanzhou, District, Luoyang Town, Luoyang village 332 street, No. twenty-four building, room 410 Applicant after: Gong Biyan Address before: 362100, room twenty-four, building 332, No. 410, Hai Yan Street, Luoyang village, Luoyang Town, Huian County, Fujian, Quanzhou Applicant before: Gong Biyan |
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Effective date of registration: 20171023 Address after: The hillside Street project square in Quangang District of Quanzhou City, Fujian Province, No. 12 362800 Applicant after: Quanzhou Quangang Zhiyuan Trading Co. Address before: 362100, room twenty-four, building 332, No. 410, Hai Yan Street, Luoyang village, Luoyang Town, Huian County, Fujian, Quanzhou Applicant before: Gong Biyan |
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Effective date of registration: 20191204 Address after: Ganquan road Shushan District of Hefei City, Anhui Province, 230000 West hillock road to the South Wild Garden commercial office building room B-1512 Patentee after: ANHUI YINGLONG INDUSTRIAL DESIGN Co.,Ltd. Address before: The hillside Street project square in Quangang District of Quanzhou City, Fujian Province, No. 12 362800 Patentee before: Quanzhou Quangang Zhiyuan Trading Co. |
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Effective date of registration: 20191220 Address after: 300450 800 meters north of the village committee of Huangfang village, Zhongtang Town, Binhai New Area, Tianjin Patentee after: Tianjin Zongjiang Precision Technology Co.,Ltd. Address before: Ganquan road Shushan District of Hefei City, Anhui Province, 230000 West hillock road to the South Wild Garden commercial office building room B-1512 Patentee before: ANHUI YINGLONG INDUSTRIAL DESIGN Co.,Ltd. |
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Effective date of registration: 20210615 Address after: 300000 140 meters west of Liujiagou village committee, Balitai Town, Jinnan District, Tianjin Patentee after: Tianjin ten elements metal products Co.,Ltd. Address before: 300450 800 meters north of huangfangzi village committee, Zhongtang Town, Binhai New Area, Tianjin Patentee before: Tianjin Zongjiang Precision Technology Co.,Ltd. |
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