CN111376287B - 机器人及其手指 - Google Patents
机器人及其手指 Download PDFInfo
- Publication number
- CN111376287B CN111376287B CN201811640948.8A CN201811640948A CN111376287B CN 111376287 B CN111376287 B CN 111376287B CN 201811640948 A CN201811640948 A CN 201811640948A CN 111376287 B CN111376287 B CN 111376287B
- Authority
- CN
- China
- Prior art keywords
- knuckle
- movable
- movable knuckle
- fixed
- flexible traction
- 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.)
- Active
Links
- 238000004804 winding Methods 0.000 claims description 33
- 238000010618 wire wrap Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 22
- 210000003811 finger Anatomy 0.000 description 66
- 230000005540 biological transmission Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000004932 little finger Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
Images
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
- F16C1/10—Means for transmitting linear movement in a flexible sheathing, e.g. "Bowden-mechanisms"
- F16C1/101—Intermediate connectors for joining portions of split flexible shafts and/or sheathings
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
- F16C1/10—Means for transmitting linear movement in a flexible sheathing, e.g. "Bowden-mechanisms"
- F16C1/12—Arrangements for transmitting movement to or from the flexible member
- F16C1/16—Arrangements for transmitting movement to or from the flexible member in which the end-piece is guided rectilinearly
-
- 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
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
- F16C1/10—Means for transmitting linear movement in a flexible sheathing, e.g. "Bowden-mechanisms"
- F16C1/12—Arrangements for transmitting movement to or from the flexible member
- F16C1/18—Arrangements for transmitting movement to or from the flexible member in which the end portion of the flexible member is laid along a curved surface of a pivoted member
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2322/00—Apparatus used in shaping articles
- F16C2322/50—Hand tools, workshop equipment or manipulators
- F16C2322/59—Manipulators, e.g. robot arms
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (9)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811640948.8A CN111376287B (zh) | 2018-12-29 | 2018-12-29 | 机器人及其手指 |
US16/370,889 US10857681B2 (en) | 2018-12-29 | 2019-03-30 | Finger of robotic hand and robot having the same |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811640948.8A CN111376287B (zh) | 2018-12-29 | 2018-12-29 | 机器人及其手指 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111376287A CN111376287A (zh) | 2020-07-07 |
CN111376287B true CN111376287B (zh) | 2021-10-29 |
Family
ID=71121653
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811640948.8A Active CN111376287B (zh) | 2018-12-29 | 2018-12-29 | 机器人及其手指 |
Country Status (2)
Country | Link |
---|---|
US (1) | US10857681B2 (zh) |
CN (1) | CN111376287B (zh) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
USD1030906S1 (en) * | 2019-10-22 | 2024-06-11 | Smartivity Labs Pvt. Ltd. | Hand toy |
US11285617B2 (en) | 2019-12-31 | 2022-03-29 | Phd, Inc. | Modular articulating gripper |
CN111673779B (zh) * | 2020-05-26 | 2021-12-17 | 深圳市优必选科技股份有限公司 | 拇指结构及机器人 |
CN111546366B (zh) * | 2020-05-26 | 2022-04-15 | 深圳市优必选科技股份有限公司 | 手指结构及机器人 |
US11325264B1 (en) * | 2020-11-12 | 2022-05-10 | Ubtech North America Research And Development Center Corp | Tendon-driven robotic hand |
CN113103278B (zh) * | 2021-03-10 | 2022-10-21 | 深圳市优必选科技股份有限公司 | 连杆结构、机器人手指及机器人 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102205542A (zh) * | 2011-05-27 | 2011-10-05 | 清华大学 | 多路柔性件两关节复合型机器人手指装置 |
US8342586B2 (en) * | 2008-09-11 | 2013-01-01 | Samsung Electronics Co., Ltd. | Robot hand and humanoid robot having the same |
CN204893973U (zh) * | 2015-06-26 | 2015-12-23 | 中国矿业大学 | 单自由度耦合型仿人机械手指 |
CN106826885A (zh) * | 2017-03-15 | 2017-06-13 | 天津大学 | 一种变刚度欠驱动的机器人灵巧手手指 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5447403A (en) * | 1990-01-05 | 1995-09-05 | Engler, Jr.; Charles D. | Dexterous programmable robot and control system |
JP3086452B1 (ja) * | 1999-05-19 | 2000-09-11 | 原田電子工業株式会社 | 義肢用可動指、その可動指を用いた義手、およびその可動指用制御装置 |
JP5010382B2 (ja) * | 2007-07-27 | 2012-08-29 | 株式会社東芝 | マニピュレータおよびロボット |
DE102009037898B4 (de) * | 2009-08-19 | 2011-09-15 | Otto Bock Healthcare Products Gmbh | Greifeinrichtung |
KR101685997B1 (ko) * | 2010-01-07 | 2016-12-13 | 삼성전자주식회사 | 로봇 핸드 및 이를 포함하는 로봇 |
US8936289B1 (en) * | 2010-03-15 | 2015-01-20 | Telefactor Robotics LLC | Robotic finger assemblies |
EP2688720B1 (en) * | 2011-03-21 | 2021-10-13 | SRI International | Mobile robotic manipulator system |
US8936290B1 (en) * | 2012-08-29 | 2015-01-20 | Sandia Corporation | Robotic hand with modular extensions |
US9669551B1 (en) * | 2013-04-30 | 2017-06-06 | Sandia Corporation | Robotic hand and fingers |
JP6748729B2 (ja) * | 2016-10-20 | 2020-09-02 | オリンパス株式会社 | 揺動機構および把持具 |
CN111376289B (zh) * | 2018-12-29 | 2021-12-17 | 深圳市优必选科技有限公司 | 手指自适应驱动机构及灵巧手 |
CN111376285A (zh) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | 灵巧手 |
US20200230810A1 (en) * | 2019-01-18 | 2020-07-23 | Florida Institute For Human And Machine Cognition, Inc. | Humanoid Robot Joint Designs |
-
2018
- 2018-12-29 CN CN201811640948.8A patent/CN111376287B/zh active Active
-
2019
- 2019-03-30 US US16/370,889 patent/US10857681B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8342586B2 (en) * | 2008-09-11 | 2013-01-01 | Samsung Electronics Co., Ltd. | Robot hand and humanoid robot having the same |
CN102205542A (zh) * | 2011-05-27 | 2011-10-05 | 清华大学 | 多路柔性件两关节复合型机器人手指装置 |
CN204893973U (zh) * | 2015-06-26 | 2015-12-23 | 中国矿业大学 | 单自由度耦合型仿人机械手指 |
CN106826885A (zh) * | 2017-03-15 | 2017-06-13 | 天津大学 | 一种变刚度欠驱动的机器人灵巧手手指 |
Also Published As
Publication number | Publication date |
---|---|
US20200206949A1 (en) | 2020-07-02 |
US10857681B2 (en) | 2020-12-08 |
CN111376287A (zh) | 2020-07-07 |
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GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP01 | Change in the name or title of a patent holder |
Address after: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Youbixuan Technology Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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CP01 | Change in the name or title of a patent holder | ||
TR01 | Transfer of patent right |
Effective date of registration: 20231201 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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TR01 | Transfer of patent right |