CN108602192A - 机械手及机器人 - Google Patents
机械手及机器人 Download PDFInfo
- Publication number
- CN108602192A CN108602192A CN201680007667.1A CN201680007667A CN108602192A CN 108602192 A CN108602192 A CN 108602192A CN 201680007667 A CN201680007667 A CN 201680007667A CN 108602192 A CN108602192 A CN 108602192A
- Authority
- CN
- China
- Prior art keywords
- finger
- manipulator
- component
- connecting portion
- angular transducer
- 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.)
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
-
- 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
-
- 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
- B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
Description
10 | 组接件 | 523 | 第二连接部 |
20 | 视觉传感器组件 | 524 | 收容槽 |
22 | 摄像头 | 525 | 滑动槽 |
24 | 控制开关 | 526 | 限位槽 |
30 | 驱动组件 | 527 | 盖板 |
32 | 伺服舵机 | 5270 | 缺口 |
34 | 外壳 | 54 | 触觉传感器 |
40 | 连接组件 | 540 | 总线接口 |
5 | 手指组件 | 542 | 电路板 |
50 | 指节部件 | 56 | 角度传感器 |
52 | 基体模块 | 560 | 限位柱 |
521 | 本体部 | 58 | 指尖模块 |
5210 | 安装槽 | 580a | 第一插接块 |
5212 | 容置槽 | 581a | 第一插接槽 |
5214 | 走线槽 | 582a | 第一指尖盖 |
522 | 第一连接部 | 580b | 第二插接块 |
581b | 第二插接槽 | ||
582b | 第二指尖盖 | ||
59 | 连接轴 |
Claims (16)
- 一种机械手,其特征在于,包括连接组件以及多个手指组件,各所述手指组件的一端连接于所述连接组件上,另一端远离所述连接组件形成自由端;各所述手指组件包括多个依次连接的指节部件;各所述指节部件包括用于相互连接以实现手指构型的基体模块、安装于所述基体模块上并用于感知被抓取物品的触觉传感器以及安装于所述基体模块上并用于获取角度变化信息的角度传感器。
- 如权利要求1所述的机械手,其特征在于,各所述手指组件沿所述连接组件的同一侧延伸或者沿所述连接组件的相对两侧延伸。
- 如权利要求1所述的机械手,其特征在于,各所述手指组件还包括连接于相邻两所述基体模块之间的连接轴,且各所述基体模块上与所述连接轴接触的轴向接触宽度相同。
- 如权利要求1至3任意一项所述的机械手,其特征在于,各所述基体模块包括用于安装所述触觉传感器的本体部、沿所述本体部相对两侧突出延伸并用于与相邻所述基体模块相连接的第一连接部和第二连接部,所述第二连接部上安装有所述角度传感器。
- 如权利要求4所述的机械手,其特征在于,还包括指尖模块,各所述手指组件至少于其自由端安装有一所述指尖模块。
- 如权利要求5所述的机械手,其特征在于,所述指尖模块包括第一插接块及第一指尖盖,所述第一插接块间隔设置并形成有两个第一插接槽,所述第一插接块嵌合于所述基体模块中与所述第一连接部连接,所述第一指尖盖位于所述第一插接块之远离所述基体模块的一侧。
- 如权利要求5所述的机械手,其特征在于,所述指尖模块包括第二插接块及第二指尖盖,所述第二插接块间隔设置形成有一个第二插接槽,所述第二插接块嵌合于所述基体模块中与所述第二连接部连接,所述第二指尖盖位于所述第二插接块之远离所述基体模块的一侧。
- 如权利要求4所述的机械手,其特征在于,各所述第二连接部于其侧面设有容置所述角度传感器的收容槽、位于所述收容槽的槽壁上并与所述角度传感器侧边配合的滑动槽以及位于所述收容槽底部并用于限制所述角度传感器的限位槽,所述角度传感器设有嵌合于所述限位槽内的限位柱。
- 如权利要求8所述的机械手,其特征在于,所述本体部用于接触被抓取物品的一侧设有固定安装所述触觉传感器的安装槽。
- 如权利要求9所述的机械手,其特征在于,所述触觉传感器包括朝向所述安装槽一侧的电路板以及电性连接于所述电路板上的总线接口,所述本体部还设有用于嵌设所述总线接口的容置槽。
- 如权利要求10所述的机械手,其特征在于,所述本体部还设有走线槽,所述走线槽设于所述本体部具有所述容置槽的一侧,所述走线槽于所述第一连接部、所述第二连接部方向分别形成通口;且与所述容置槽相通。
- 如权利要求11所述的机械手,其特征在于,所述基体模块还包括盖板,固定安装于所述本体部设有收容槽的一侧,所述盖板将所述角度传感器盖设于所述收容槽内。
- 如权利要求1至3任意一项所述的机械手,其特征在于,还包括安装于所述连接组件上的驱动组件,所述驱动组件用于提供各所述手指组件执行手势的驱动力。
- 如权利要求13所述的机械手,其特征在于,所述驱动组件与所述连接组件通过燕尾槽和燕尾突起配合相互连接。
- 一种机器人,其特征在于,包括如权利要求1至14任意一项所述的机械手;所述机械手安装于所述机器人的执行末端。
- 如权利要求15所述的机器人,其特征在于,还包括视觉传感器组件,所述视觉传感器组件连接于所述执行末端与所述机械手之间,并用于获取所述机械手执行动作区域的视觉信息。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2016/103855 WO2018076303A1 (zh) | 2016-10-28 | 2016-10-28 | 机械手及机器人 |
Publications (2)
Publication Number | Publication Date |
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CN108602192A true CN108602192A (zh) | 2018-09-28 |
CN108602192B CN108602192B (zh) | 2020-02-04 |
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CN201680007667.1A Active CN108602192B (zh) | 2016-10-28 | 2016-10-28 | 机械手及机器人 |
Country Status (3)
Country | Link |
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US (1) | US10786907B2 (zh) |
CN (1) | CN108602192B (zh) |
WO (1) | WO2018076303A1 (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109794012A (zh) * | 2019-03-12 | 2019-05-24 | 中国人民解放军国防科技大学 | 柔性深井救援器 |
CN110065084A (zh) * | 2019-05-30 | 2019-07-30 | 山东山速机器人科技有限公司 | 智能夹爪 |
CN114888833A (zh) * | 2022-05-17 | 2022-08-12 | 哈尔滨工业大学 | 一种仿人机械手 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018076304A1 (zh) * | 2016-10-28 | 2018-05-03 | 深圳蓝胖子机器人有限公司 | 一种机器人灵巧手 |
CN111496824A (zh) * | 2020-04-26 | 2020-08-07 | 南方科技大学 | 一种仿生机械手与仿生机械手控制方法 |
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 |
CN114905535B (zh) * | 2022-05-17 | 2023-11-28 | 北京理工大学 | 一种可快速拆装的欠驱动机械手 |
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CN205415678U (zh) * | 2016-02-03 | 2016-08-03 | 中国科学院自动化研究所 | 仿生三指机械手 |
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US8833826B2 (en) * | 2011-03-21 | 2014-09-16 | Sri International | Mobile robotic manipulator system |
-
2016
- 2016-10-28 US US16/308,086 patent/US10786907B2/en active Active
- 2016-10-28 CN CN201680007667.1A patent/CN108602192B/zh active Active
- 2016-10-28 WO PCT/CN2016/103855 patent/WO2018076303A1/zh active Application Filing
Patent Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
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CN1410234A (zh) * | 2002-11-29 | 2003-04-16 | 清华大学 | 机器人拟人多指手装置 |
US20070035143A1 (en) * | 2005-08-11 | 2007-02-15 | Trevor Blackwell | Robotic hand and arm apparatus |
CN101244563A (zh) * | 2008-02-23 | 2008-08-20 | 中国科学院合肥物质科学研究院 | 一种仿人手家庭服务用机器手 |
US20100145518A1 (en) * | 2008-12-10 | 2010-06-10 | Samsung Electronics Co., Ltd. | Robot and method thereof |
US20130325181A1 (en) * | 2012-05-31 | 2013-12-05 | Toyota Motor Engineering & Manufacturing North America, Inc. | Non-contact optical distance and tactile sensing system and method |
US20150202778A1 (en) * | 2012-10-11 | 2015-07-23 | Seiko Epson Corporation | Robot hand, robot device and method of manufacturing robot hand |
CN102873689A (zh) * | 2012-10-24 | 2013-01-16 | 中南大学 | 一种具有快速反射抓取功能的多模式欠驱动仿人手指装置 |
US20150076850A1 (en) * | 2012-11-09 | 2015-03-19 | Irobot Corporation | Compliant underactuated grasper |
CN104162892A (zh) * | 2014-06-26 | 2014-11-26 | 南京航空航天大学 | 一种拟人机械手 |
CN105171767A (zh) * | 2015-09-08 | 2015-12-23 | 许志林 | 一种多传感器多独立自由度多指机器人灵巧手 |
CN205415678U (zh) * | 2016-02-03 | 2016-08-03 | 中国科学院自动化研究所 | 仿生三指机械手 |
CN105643644A (zh) * | 2016-04-08 | 2016-06-08 | 哈尔滨工业大学 | 耦合与自适应运动模式兼备的欠驱动高仿真手指 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109794012A (zh) * | 2019-03-12 | 2019-05-24 | 中国人民解放军国防科技大学 | 柔性深井救援器 |
CN109794012B (zh) * | 2019-03-12 | 2023-09-12 | 中国人民解放军国防科技大学 | 柔性深井救援器 |
CN110065084A (zh) * | 2019-05-30 | 2019-07-30 | 山东山速机器人科技有限公司 | 智能夹爪 |
CN114888833A (zh) * | 2022-05-17 | 2022-08-12 | 哈尔滨工业大学 | 一种仿人机械手 |
Also Published As
Publication number | Publication date |
---|---|
CN108602192B (zh) | 2020-02-04 |
US10786907B2 (en) | 2020-09-29 |
WO2018076303A1 (zh) | 2018-05-03 |
US20190299422A1 (en) | 2019-10-03 |
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Address after: 518000 h6-1, H6 reservoir, Chiwan oil base, H6 reservoir, Chiwan left battery Road, Chiwan community, zhaoshang street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Lan pangzi machine intelligence Co., Ltd Address before: 518057 h6-1, H6 reservoir, Chiwan oil base, H6 reservoir, left battery Road, Chiwan community, zhaoshang street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Lan pangzi machine intelligence Co., Ltd |
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