CN112955289B - 机械手装置 - Google Patents

机械手装置 Download PDF

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Publication number
CN112955289B
CN112955289B CN201980071306.7A CN201980071306A CN112955289B CN 112955289 B CN112955289 B CN 112955289B CN 201980071306 A CN201980071306 A CN 201980071306A CN 112955289 B CN112955289 B CN 112955289B
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CN
China
Prior art keywords
finger
finger mechanism
bending
wire
lines
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
Application number
CN201980071306.7A
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English (en)
Chinese (zh)
Other versions
CN112955289A (zh
Inventor
关达也
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mertin Corp
Original Assignee
Melting Human Machine Interface Co ltd
Mertin Corp
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by Melting Human Machine Interface Co ltd, Mertin Corp filed Critical Melting Human Machine Interface Co ltd
Publication of CN112955289A publication Critical patent/CN112955289A/zh
Application granted granted Critical
Publication of CN112955289B publication Critical patent/CN112955289B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Program-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
  • Manipulator (AREA)
CN201980071306.7A 2018-11-20 2019-11-12 机械手装置 Active CN112955289B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018217223 2018-11-20
JP2018-217223 2018-11-20
PCT/JP2019/044303 WO2020105504A1 (ja) 2018-11-20 2019-11-12 ロボットハンド装置

Publications (2)

Publication Number Publication Date
CN112955289A CN112955289A (zh) 2021-06-11
CN112955289B true CN112955289B (zh) 2024-12-03

Family

ID=70773306

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980071306.7A Active CN112955289B (zh) 2018-11-20 2019-11-12 机械手装置

Country Status (5)

Country Link
US (1) US12090636B2 (enExample)
EP (1) EP3878609B1 (enExample)
JP (2) JP7087224B2 (enExample)
CN (1) CN112955289B (enExample)
WO (1) WO2020105504A1 (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3100148B1 (fr) * 2019-09-04 2023-06-16 Centre Nat Rech Scient main robotique
CN110842962B (zh) * 2019-12-02 2021-03-12 深圳忆海原识科技有限公司 32自由度仿生柔顺内骨骼灵巧手
CN113084851B (zh) * 2021-04-22 2022-06-28 常州工学院 一种拟人手指机构
WO2023105926A1 (ja) * 2021-12-06 2023-06-15 国立大学法人京都工芸繊維大学 関節の可動構造およびその関節の可動構造を備えたロボットハンド
JP7831825B2 (ja) * 2022-02-16 2026-03-17 Ｎｅｃプラットフォームズ株式会社 ロボットハンド装置及びロボットハンド動作方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011245575A (ja) * 2010-05-25 2011-12-08 Univ Of Tokyo ロボットハンド及びロボットシステム
WO2017038836A1 (ja) * 2015-08-28 2017-03-09 国立大学法人九州大学 ロボットハンド及びこれを操作するためのマスタ

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US4921293A (en) * 1982-04-02 1990-05-01 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Multi-fingered robotic hand
JPH02145282A (ja) * 1988-11-25 1990-06-04 Agency Of Ind Science & Technol 人間類似型上肢機構
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
US5200679A (en) * 1990-02-22 1993-04-06 Graham Douglas F Artificial hand and digit therefor
US5080682A (en) * 1990-07-05 1992-01-14 Schectman Leonard A Artificial robotic hand
US7673916B2 (en) 2005-08-08 2010-03-09 The Shadow Robot Company Limited End effectors
JP5224227B2 (ja) 2006-07-16 2013-07-03 浩史 横井 全指可動型義手
JP2008264896A (ja) 2007-04-17 2008-11-06 Toyota Motor Corp ロボットハンド
EP2383082B1 (en) 2008-12-03 2015-10-07 National University Corporation Nara Institute of Science and Technology Robot hand
US8052185B2 (en) 2009-04-09 2011-11-08 Disney Enterprises, Inc. Robot hand with humanoid fingers
US8483880B2 (en) * 2009-07-22 2013-07-09 The Shadow Robot Company Limited Robotic hand
KR101882887B1 (ko) * 2009-09-16 2018-07-27 가부시키가이샤 한도오따이 에네루기 켄큐쇼 발광 장치 및 이의 제조 방법
US9174339B2 (en) * 2010-11-22 2015-11-03 Vanderbilt University Control system for a grasping device
JP5921225B2 (ja) * 2011-07-20 2016-05-24 株式会社岩田鉄工所 多指ハンド装置
US9814604B2 (en) * 2012-08-12 2017-11-14 5Th Element Limited Gripping device
CN203077298U (zh) * 2013-03-08 2013-07-24 长春工业大学 欠驱动五指机械手
GB2519993B (en) 2013-11-04 2017-05-10 The Shadow Robot Company Ltd Robotic hand
FR3016542B1 (fr) 2014-01-22 2019-04-19 Aldebaran Robotics Actionnement d'une main destinee a equiper un robot a caractere humanoide
FR3027246B1 (fr) 2014-10-16 2019-04-12 Centre National De La Recherche Scientifique (Cnrs) Doigt robotique modulaire pour la prehension et la manipulation dextre
WO2016182421A1 (es) * 2015-05-08 2016-11-17 Amezcua Peregrina Miguel Mano protésica multiarticulada motorizada y controlable completamente por el usuario
ITUA20164364A1 (it) * 2016-06-14 2017-12-14 Iuvo S R L Catena cinematica per la trasmissione di coppie meccaniche
IT201600120646A1 (it) * 2016-11-29 2018-05-29 Giovanni Antonio Zappatore Mano robotica sottoattuata

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011245575A (ja) * 2010-05-25 2011-12-08 Univ Of Tokyo ロボットハンド及びロボットシステム
WO2017038836A1 (ja) * 2015-08-28 2017-03-09 国立大学法人九州大学 ロボットハンド及びこれを操作するためのマスタ

Also Published As

Publication number Publication date
EP3878609A1 (en) 2021-09-15
EP3878609B1 (en) 2024-10-30
JPWO2020105504A1 (ja) 2021-09-27
WO2020105504A1 (ja) 2020-05-28
JP2022084909A (ja) 2022-06-07
JP7087224B2 (ja) 2022-06-21
CN112955289A (zh) 2021-06-11
EP3878609C0 (en) 2024-10-30
EP3878609A4 (en) 2022-01-19
JP7506703B2 (ja) 2024-06-26
US20210268664A1 (en) 2021-09-02
US12090636B2 (en) 2024-09-17

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Effective date of registration: 20240823

Address after: Tokyo, Japan

Applicant after: Mertin Corp.

Country or region after: Japan

Address before: Tokyo, Japan

Applicant before: Melting human machine interface Co.,Ltd.

Country or region before: Japan

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GR01 Patent grant