CN109822557A - 一种机械手及机器人 - Google Patents
一种机械手及机器人 Download PDFInfo
- Publication number
- CN109822557A CN109822557A CN201910154413.8A CN201910154413A CN109822557A CN 109822557 A CN109822557 A CN 109822557A CN 201910154413 A CN201910154413 A CN 201910154413A CN 109822557 A CN109822557 A CN 109822557A
- Authority
- CN
- China
- Prior art keywords
- actuator
- connection
- connect
- drive bevel
- bevel gear
- 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
- 210000000707 wrist Anatomy 0.000 claims abstract description 83
- 230000005540 biological transmission Effects 0.000 claims description 29
- 210000004247 hand Anatomy 0.000 claims description 20
- 239000007787 solid Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 239000002360 explosive Substances 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000010354 integration Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
-
- 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
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/108—Bearings specially adapted therefor
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
手臂本体21 | 连接轴承2133 | 第三皮带轮2342 |
抬大臂执行器211 | 固定板2134 | 锥齿驱动装置231 |
凹槽2111 | 转手肘执行器214 | 第一主动锥齿轮2312 |
侧大臂执行器212 | 手肘执行器215 | 第二主动锥齿轮2313 |
凸台2121 | 第二连接架216 | 第一行星齿轮2314 |
第一连接架213 | 转手腕执行器217 | 第二行星齿轮2310 |
第一连接立板2131 | 手腕执行器22 | U形连接架241 |
第二连接立板2132 | 第一输出轴221 | 抓手24 |
第四皮带轮2343 | 第三连接立板2161 | 支撑件2315 |
第一内轴承2316 | 第二内轴承2317 | 第二传动装置234 |
第一外轴承2319 | 第二外轴承23110 | 第三外轴承23111 |
第四外轴承23112 | 第一沉槽2311a | 第二沉槽2311b |
第三沉槽2311c | 第四沉槽2311d |
Claims (12)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910154413.8A CN109822557A (zh) | 2019-03-01 | 2019-03-01 | 一种机械手及机器人 |
EP20159193.0A EP3702115A1 (en) | 2019-03-01 | 2020-02-25 | Robot manipulator and robot |
JP2020032175A JP6963155B2 (ja) | 2019-03-01 | 2020-02-27 | マニピュレーター及びロボット |
US16/806,922 US11485011B2 (en) | 2019-03-01 | 2020-03-02 | Robot manipulator and robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910154413.8A CN109822557A (zh) | 2019-03-01 | 2019-03-01 | 一种机械手及机器人 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN109822557A true CN109822557A (zh) | 2019-05-31 |
Family
ID=66865018
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910154413.8A Pending CN109822557A (zh) | 2019-03-01 | 2019-03-01 | 一种机械手及机器人 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11485011B2 (zh) |
EP (1) | EP3702115A1 (zh) |
JP (1) | JP6963155B2 (zh) |
CN (1) | CN109822557A (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111152204A (zh) * | 2020-01-18 | 2020-05-15 | 九立(北京)机器人科技有限公司 | 一种转动机构及机械臂和机器人 |
WO2023051806A1 (zh) * | 2021-09-30 | 2023-04-06 | 达闼机器人股份有限公司 | 一种肩部执行器组件及机器人 |
CN116638545A (zh) * | 2023-06-16 | 2023-08-25 | 上海理工大学 | 一种紧凑型柔性两自由度机器人腕关节 |
WO2023173764A1 (zh) * | 2022-03-14 | 2023-09-21 | 北京精密机电控制设备研究所 | 一种机械臂与灵巧手的融合系统及运动控制方法 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113414939B (zh) * | 2021-07-10 | 2023-08-15 | 浙江三宸科技有限公司 | 一种镶嵌式自动化注塑抓取设备及其使用方法 |
KR20240039700A (ko) | 2022-09-20 | 2024-03-27 | 한국기계연구원 | 제동 메커니즘이 구현된 고자유도 매니퓰레이터용 단위모듈 및 이를 포함하는 매니퓰레이터 |
Citations (11)
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JP2004283940A (ja) * | 2003-03-20 | 2004-10-14 | Harada Denshi Kogyo Kk | 協調駆動機構およびそれを用いたロボット用関節機構 |
CN101745913A (zh) * | 2009-12-21 | 2010-06-23 | 哈尔滨工业大学 | 一种六自由度机器人灵巧手臂 |
CN102398270A (zh) * | 2010-09-16 | 2012-04-04 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
CN102837322A (zh) * | 2012-09-26 | 2012-12-26 | 黄刚 | 一种仿人型七自由度机械臂 |
EP2733389A1 (de) * | 2012-11-19 | 2014-05-21 | ebm-papst ZEITLAUF GmbH & Co. KG | Winkelgetriebe |
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 |
CN104786233A (zh) * | 2014-01-16 | 2015-07-22 | 罗普伺达机器人有限公司 | 利用差动齿轮的并联机器人的手腕组件 |
US20150297363A1 (en) * | 2014-04-21 | 2015-10-22 | The University Of Massachusetts | Prosthetic Limb |
US20160317326A1 (en) * | 2007-02-06 | 2016-11-03 | Deka Products Limited Partnership | Arm prosthetic device |
US20170360579A1 (en) * | 2007-02-06 | 2017-12-21 | Deka Products Limited Partnership | Arm prosthetic device |
CN209755207U (zh) * | 2019-03-01 | 2019-12-10 | 达闼科技(北京)有限公司 | 一种机械手及机器人 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH05131388A (ja) * | 1991-11-07 | 1993-05-28 | Hitachi Ltd | 工業用ロボツトの手首装置 |
US5697256A (en) * | 1996-06-28 | 1997-12-16 | Matteo; Joseph C. | Hybrid differential transmission |
DE60016588T2 (de) | 1999-04-07 | 2006-03-02 | Amada Co., Ltd., Isehara | Automatisches biegesystem |
WO2003037573A2 (en) * | 2001-10-31 | 2003-05-08 | Ross-Hime Designs, Incoporated | Robotic manipulator |
US9381099B2 (en) * | 2007-02-06 | 2016-07-05 | Deka Products Limited Partnership | Arm prosthetic device |
EP3429500B1 (en) * | 2016-03-17 | 2023-08-16 | Delaware Capital Formation, Inc. | Removable wrist joint |
-
2019
- 2019-03-01 CN CN201910154413.8A patent/CN109822557A/zh active Pending
-
2020
- 2020-02-25 EP EP20159193.0A patent/EP3702115A1/en not_active Withdrawn
- 2020-02-27 JP JP2020032175A patent/JP6963155B2/ja active Active
- 2020-03-02 US US16/806,922 patent/US11485011B2/en active Active
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004283940A (ja) * | 2003-03-20 | 2004-10-14 | Harada Denshi Kogyo Kk | 協調駆動機構およびそれを用いたロボット用関節機構 |
US20160317326A1 (en) * | 2007-02-06 | 2016-11-03 | Deka Products Limited Partnership | Arm prosthetic device |
US20170360579A1 (en) * | 2007-02-06 | 2017-12-21 | Deka Products Limited Partnership | Arm prosthetic device |
CN101745913A (zh) * | 2009-12-21 | 2010-06-23 | 哈尔滨工业大学 | 一种六自由度机器人灵巧手臂 |
CN102398270A (zh) * | 2010-09-16 | 2012-04-04 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
CN102837322A (zh) * | 2012-09-26 | 2012-12-26 | 黄刚 | 一种仿人型七自由度机械臂 |
EP2733389A1 (de) * | 2012-11-19 | 2014-05-21 | ebm-papst ZEITLAUF GmbH & Co. KG | Winkelgetriebe |
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 |
CN104786233A (zh) * | 2014-01-16 | 2015-07-22 | 罗普伺达机器人有限公司 | 利用差动齿轮的并联机器人的手腕组件 |
US20150297363A1 (en) * | 2014-04-21 | 2015-10-22 | The University Of Massachusetts | Prosthetic Limb |
CN209755207U (zh) * | 2019-03-01 | 2019-12-10 | 达闼科技(北京)有限公司 | 一种机械手及机器人 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111152204A (zh) * | 2020-01-18 | 2020-05-15 | 九立(北京)机器人科技有限公司 | 一种转动机构及机械臂和机器人 |
WO2023051806A1 (zh) * | 2021-09-30 | 2023-04-06 | 达闼机器人股份有限公司 | 一种肩部执行器组件及机器人 |
WO2023173764A1 (zh) * | 2022-03-14 | 2023-09-21 | 北京精密机电控制设备研究所 | 一种机械臂与灵巧手的融合系统及运动控制方法 |
CN116638545A (zh) * | 2023-06-16 | 2023-08-25 | 上海理工大学 | 一种紧凑型柔性两自由度机器人腕关节 |
CN116638545B (zh) * | 2023-06-16 | 2024-03-26 | 上海理工大学 | 一种紧凑型柔性两自由度机器人腕关节 |
Also Published As
Publication number | Publication date |
---|---|
US11485011B2 (en) | 2022-11-01 |
JP6963155B2 (ja) | 2021-11-05 |
JP2020138321A (ja) | 2020-09-03 |
EP3702115A1 (en) | 2020-09-02 |
US20200282550A1 (en) | 2020-09-10 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
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 |
Effective date of registration: 20210127 Address after: 102400 room 449, 4th floor, building 2, courtyard 85, Hong'an Road, Fangshan District, Beijing Applicant after: CLOUDMINDS (BEIJING) TECHNOLOGIES Co.,Ltd. Applicant after: CLOUDMINDS (SHENZHEN) HOLDINGS Co.,Ltd. Address before: 100102 room 220, 5 Jiaotong East Street, Doudian Town, Fangshan District, Beijing Applicant before: CLOUDMINDS (BEIJING) TECHNOLOGIES Co.,Ltd. Applicant before: INNFOS DRIVE (BEIJING) TECHNOLOGIES Co.,Ltd. |
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TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210806 Address after: 102400 room 449, 4th floor, building 2, courtyard 85, Hong'an Road, Fangshan District, Beijing Applicant after: CLOUDMINDS (BEIJING) TECHNOLOGIES Co.,Ltd. Applicant after: Dalu Robot Co.,Ltd. Address before: 102400 room 449, 4th floor, building 2, courtyard 85, Hong'an Road, Fangshan District, Beijing Applicant before: CLOUDMINDS (BEIJING) TECHNOLOGIES Co.,Ltd. Applicant before: CLOUDMINDS (SHENZHEN) HOLDINGS Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
CB02 | Change of applicant information |
Address after: 102400 room 449, 4th floor, building 2, courtyard 85, Hong'an Road, Fangshan District, Beijing Applicant after: CLOUDMINDS (BEIJING) TECHNOLOGIES Co.,Ltd. Applicant after: Dayu robot Co., Ltd Address before: 102400 room 449, 4th floor, building 2, courtyard 85, Hong'an Road, Fangshan District, Beijing Applicant before: CLOUDMINDS (BEIJING) TECHNOLOGIES Co.,Ltd. Applicant before: Da Yu robot Co., Ltd |
|
CB02 | Change of applicant information |