CN106826771A - 一种驱动外置的线驱动灵巧手 - Google Patents
一种驱动外置的线驱动灵巧手 Download PDFInfo
- Publication number
- CN106826771A CN106826771A CN201710179610.6A CN201710179610A CN106826771A CN 106826771 A CN106826771 A CN 106826771A CN 201710179610 A CN201710179610 A CN 201710179610A CN 106826771 A CN106826771 A CN 106826771A
- Authority
- CN
- China
- Prior art keywords
- finger
- palm
- drive
- joint
- rope
- 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.)
- Pending
Links
- 210000001145 finger joint Anatomy 0.000 claims abstract description 34
- 210000000707 wrist Anatomy 0.000 claims abstract description 24
- 210000000245 forearm Anatomy 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 239000004020 conductor Substances 0.000 claims abstract description 14
- 238000003780 insertion Methods 0.000 claims abstract description 3
- 230000037431 insertion Effects 0.000 claims abstract description 3
- 239000000203 mixture Substances 0.000 claims abstract description 3
- 210000003811 finger Anatomy 0.000 claims description 59
- 238000004804 winding Methods 0.000 claims description 11
- 210000003857 wrist joint Anatomy 0.000 claims description 6
- 210000005224 forefinger Anatomy 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 3
- 210000004932 little finger Anatomy 0.000 claims description 3
- 210000003813 thumb Anatomy 0.000 claims description 3
- 230000009471 action Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 239000002360 explosive Substances 0.000 description 5
- 238000005452 bending Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002079 cooperative effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000011664 nicotinic acid 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains 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
- B25J15/0009—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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0024—Wrist motors at rear part of the upper arm
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710179610.6A CN106826771A (zh) | 2017-03-23 | 2017-03-23 | 一种驱动外置的线驱动灵巧手 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710179610.6A CN106826771A (zh) | 2017-03-23 | 2017-03-23 | 一种驱动外置的线驱动灵巧手 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN106826771A true CN106826771A (zh) | 2017-06-13 |
Family
ID=59131086
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710179610.6A Pending CN106826771A (zh) | 2017-03-23 | 2017-03-23 | 一种驱动外置的线驱动灵巧手 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106826771A (zh) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107471243A (zh) * | 2017-07-26 | 2017-12-15 | 清华大学 | 一种多感知仿人五指灵巧手 |
CN107856054A (zh) * | 2017-11-28 | 2018-03-30 | 深圳市优必选科技有限公司 | 一种舵机传动结构、机器人骨架结构及机器人 |
CN108312147A (zh) * | 2018-03-19 | 2018-07-24 | 北京钢铁侠科技有限公司 | 驱动器以及带有该驱动器的机器人灵巧手 |
CN109015717A (zh) * | 2018-09-14 | 2018-12-18 | 电子科技大学 | 一种机器人五指欠驱动灵巧手 |
CN109968388A (zh) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | 灵巧手 |
CN111434468A (zh) * | 2019-01-15 | 2020-07-21 | 宁波奇科威电子有限公司 | 一种机器人手指 |
CN111872963A (zh) * | 2020-08-27 | 2020-11-03 | 上海大学 | 一种欠驱动式机器人灵巧手手指 |
CN113715045A (zh) * | 2021-09-01 | 2021-11-30 | 宿州赛尔沃德物联网科技有限公司 | 一种仿生机械手驱动结构及驱动方法 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050121929A1 (en) * | 2002-03-25 | 2005-06-09 | Richard Greenhill | Humanoid robotics |
US20070035143A1 (en) * | 2005-08-11 | 2007-02-15 | Trevor Blackwell | Robotic hand and arm apparatus |
US20130226350A1 (en) * | 2012-02-29 | 2013-08-29 | The U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration | Control of a glove-based grasp assist device |
CN104786219A (zh) * | 2015-04-16 | 2015-07-22 | 浙江理工大学 | 360度多自由度仿人气动肌肉机械手 |
KR20160098878A (ko) * | 2015-02-11 | 2016-08-19 | 울산과학기술원 | 손가락 움직임 측정 시스템 및 측정 방법 |
CN205799562U (zh) * | 2016-07-05 | 2016-12-14 | 旗瀚科技有限公司 | 一种由扭力弹簧和舵机控制运动的机械手 |
CN205817881U (zh) * | 2016-02-04 | 2016-12-21 | 深圳市维兴顺科技有限公司 | 一种机械手掌 |
CN206614534U (zh) * | 2017-03-23 | 2017-11-07 | 江苏安格尔机器人有限公司 | 一种驱动外置的线驱动灵巧手 |
-
2017
- 2017-03-23 CN CN201710179610.6A patent/CN106826771A/zh active Pending
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050121929A1 (en) * | 2002-03-25 | 2005-06-09 | Richard Greenhill | Humanoid robotics |
US20070035143A1 (en) * | 2005-08-11 | 2007-02-15 | Trevor Blackwell | Robotic hand and arm apparatus |
US20130226350A1 (en) * | 2012-02-29 | 2013-08-29 | The U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration | Control of a glove-based grasp assist device |
KR20160098878A (ko) * | 2015-02-11 | 2016-08-19 | 울산과학기술원 | 손가락 움직임 측정 시스템 및 측정 방법 |
CN104786219A (zh) * | 2015-04-16 | 2015-07-22 | 浙江理工大学 | 360度多自由度仿人气动肌肉机械手 |
CN205817881U (zh) * | 2016-02-04 | 2016-12-21 | 深圳市维兴顺科技有限公司 | 一种机械手掌 |
CN205799562U (zh) * | 2016-07-05 | 2016-12-14 | 旗瀚科技有限公司 | 一种由扭力弹簧和舵机控制运动的机械手 |
CN206614534U (zh) * | 2017-03-23 | 2017-11-07 | 江苏安格尔机器人有限公司 | 一种驱动外置的线驱动灵巧手 |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107471243A (zh) * | 2017-07-26 | 2017-12-15 | 清华大学 | 一种多感知仿人五指灵巧手 |
CN107471243B (zh) * | 2017-07-26 | 2019-08-16 | 清华大学 | 一种多感知仿人五指灵巧手 |
CN107856054A (zh) * | 2017-11-28 | 2018-03-30 | 深圳市优必选科技有限公司 | 一种舵机传动结构、机器人骨架结构及机器人 |
CN107856054B (zh) * | 2017-11-28 | 2023-08-04 | 深圳市优必选科技有限公司 | 一种舵机传动结构、机器人骨架结构及机器人 |
CN109968388A (zh) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | 灵巧手 |
CN108312147A (zh) * | 2018-03-19 | 2018-07-24 | 北京钢铁侠科技有限公司 | 驱动器以及带有该驱动器的机器人灵巧手 |
CN109015717A (zh) * | 2018-09-14 | 2018-12-18 | 电子科技大学 | 一种机器人五指欠驱动灵巧手 |
CN111434468A (zh) * | 2019-01-15 | 2020-07-21 | 宁波奇科威电子有限公司 | 一种机器人手指 |
CN111872963A (zh) * | 2020-08-27 | 2020-11-03 | 上海大学 | 一种欠驱动式机器人灵巧手手指 |
CN111872963B (zh) * | 2020-08-27 | 2022-11-25 | 上海大学 | 一种欠驱动式机器人灵巧手手指 |
CN113715045A (zh) * | 2021-09-01 | 2021-11-30 | 宿州赛尔沃德物联网科技有限公司 | 一种仿生机械手驱动结构及驱动方法 |
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Legal Events
Date | Code | Title | Description |
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PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20190319 Address after: Room 253, No. 18 Xinya Road, Wujin National High-tech Industrial Development Zone, Changzhou City, Jiangsu Province, 213100 Applicant after: ELITEN ROBOT TECHNOLOGY (CHANGZHOU) CO.,LTD. Address before: 213100 Changzhou Wujin District, Jiangsu Province, No. 18 Changwuzhong Road, Changzhou Science and Education City, Jiangnan Institute of Modern Industry, Fifth Floor, Fourth Floor Applicant before: JIANGSU ENGEL ROBOT CO.,LTD. |
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RJ01 | Rejection of invention patent application after publication | ||
RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170613 |