CN114851238B - 一种可自动包络夹紧和回弹的多爪夹持器 - Google Patents
一种可自动包络夹紧和回弹的多爪夹持器 Download PDFInfo
- Publication number
- CN114851238B CN114851238B CN202210403070.6A CN202210403070A CN114851238B CN 114851238 B CN114851238 B CN 114851238B CN 202210403070 A CN202210403070 A CN 202210403070A CN 114851238 B CN114851238 B CN 114851238B
- Authority
- CN
- China
- Prior art keywords
- joint
- clamping
- rack
- claw
- sliding rail
- 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
- 210000000078 claw Anatomy 0.000 claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 11
- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000009471 action Effects 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 10
- 238000009776 industrial production Methods 0.000 description 3
- 239000004831 Hot glue Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
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
- B25J15/08—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
- 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
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210403070.6A CN114851238B (zh) | 2022-04-18 | 2022-04-18 | 一种可自动包络夹紧和回弹的多爪夹持器 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210403070.6A CN114851238B (zh) | 2022-04-18 | 2022-04-18 | 一种可自动包络夹紧和回弹的多爪夹持器 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN114851238A CN114851238A (zh) | 2022-08-05 |
CN114851238B true CN114851238B (zh) | 2024-02-06 |
Family
ID=82632539
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210403070.6A Active CN114851238B (zh) | 2022-04-18 | 2022-04-18 | 一种可自动包络夹紧和回弹的多爪夹持器 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN114851238B (zh) |
Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1410233A (zh) * | 2002-11-29 | 2003-04-16 | 清华大学 | 具有形状自适应的欠驱动机械手指装置 |
CN101941207A (zh) * | 2010-03-12 | 2011-01-12 | 清华大学 | 双齿条滑块式并联耦合欠驱动手指装置 |
CN106346508A (zh) * | 2016-08-31 | 2017-01-25 | 清华大学 | 四连杆传动轮直线平夹间接自适应机器人手指装置 |
CN108189054A (zh) * | 2017-11-22 | 2018-06-22 | 清华大学 | 单路传动一体式平捏自适应机器人手指装置 |
CN108274487A (zh) * | 2018-03-23 | 2018-07-13 | 清华大学 | 齿条滑杆直线平夹间接自适应机器人手指装置 |
CN108818577A (zh) * | 2018-06-11 | 2018-11-16 | 清华大学 | 摆杆滑槽直线平行夹持自适应机器人手指装置 |
CN108972603A (zh) * | 2018-08-15 | 2018-12-11 | 清华大学 | 滑动基座补偿式直线平夹自适应机器人手指装置 |
CN110614648A (zh) * | 2019-08-15 | 2019-12-27 | 大连理工江苏研究院有限公司 | 一种欠驱动自适应两指夹爪 |
CN111421567A (zh) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | 一种齿轮差动式欠驱动三关节机械手指结构及其操作方法 |
CN212193201U (zh) * | 2020-05-22 | 2020-12-22 | 西安建筑科技大学 | 一种皮带式欠驱动三关节机械手 |
CN112248025A (zh) * | 2020-10-28 | 2021-01-22 | 南京林业大学 | 一种带自动指节限位机构的模块化机械手 |
CN113183172A (zh) * | 2021-03-18 | 2021-07-30 | 浙江理工大学 | 一种用于水果采摘的变构型欠驱动机械手及其使用方法 |
CN113370245A (zh) * | 2021-07-07 | 2021-09-10 | 北京理工大学 | 一种可自动弯曲回位的机械臂夹持器 |
CN113894827A (zh) * | 2021-10-22 | 2022-01-07 | 上海旭虹精密模具制造有限公司 | 一种机械手指组件及机械手 |
-
2022
- 2022-04-18 CN CN202210403070.6A patent/CN114851238B/zh active Active
Patent Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1410233A (zh) * | 2002-11-29 | 2003-04-16 | 清华大学 | 具有形状自适应的欠驱动机械手指装置 |
CN101941207A (zh) * | 2010-03-12 | 2011-01-12 | 清华大学 | 双齿条滑块式并联耦合欠驱动手指装置 |
CN106346508A (zh) * | 2016-08-31 | 2017-01-25 | 清华大学 | 四连杆传动轮直线平夹间接自适应机器人手指装置 |
CN108189054A (zh) * | 2017-11-22 | 2018-06-22 | 清华大学 | 单路传动一体式平捏自适应机器人手指装置 |
CN108274487A (zh) * | 2018-03-23 | 2018-07-13 | 清华大学 | 齿条滑杆直线平夹间接自适应机器人手指装置 |
CN108818577A (zh) * | 2018-06-11 | 2018-11-16 | 清华大学 | 摆杆滑槽直线平行夹持自适应机器人手指装置 |
CN108972603A (zh) * | 2018-08-15 | 2018-12-11 | 清华大学 | 滑动基座补偿式直线平夹自适应机器人手指装置 |
CN110614648A (zh) * | 2019-08-15 | 2019-12-27 | 大连理工江苏研究院有限公司 | 一种欠驱动自适应两指夹爪 |
CN111421567A (zh) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | 一种齿轮差动式欠驱动三关节机械手指结构及其操作方法 |
CN212193201U (zh) * | 2020-05-22 | 2020-12-22 | 西安建筑科技大学 | 一种皮带式欠驱动三关节机械手 |
CN112248025A (zh) * | 2020-10-28 | 2021-01-22 | 南京林业大学 | 一种带自动指节限位机构的模块化机械手 |
CN113183172A (zh) * | 2021-03-18 | 2021-07-30 | 浙江理工大学 | 一种用于水果采摘的变构型欠驱动机械手及其使用方法 |
CN113370245A (zh) * | 2021-07-07 | 2021-09-10 | 北京理工大学 | 一种可自动弯曲回位的机械臂夹持器 |
CN113894827A (zh) * | 2021-10-22 | 2022-01-07 | 上海旭虹精密模具制造有限公司 | 一种机械手指组件及机械手 |
Also Published As
Publication number | Publication date |
---|---|
CN114851238A (zh) | 2022-08-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN113370245B (zh) | 一种可自动弯曲回位的机械臂夹持器 | |
CN110539318A (zh) | 一种主从动力驱动的自适应欠驱动夹持器 | |
CN110900641B (zh) | 一种平夹自适应三指欠驱动机器人手 | |
CN110614648A (zh) | 一种欠驱动自适应两指夹爪 | |
WO2022143665A1 (zh) | 一种指根可转位的两爪柔性机械手 | |
CN108748230B (zh) | 分离驱动凸轮式高度自调节平夹自适应手指装置 | |
CN115056252A (zh) | 一种工业机器人多功能抓取装置 | |
CN114851238B (zh) | 一种可自动包络夹紧和回弹的多爪夹持器 | |
CN112123363A (zh) | 一种工业机器人用夹爪 | |
CN111390953A (zh) | 包络式欠驱动机器人手爪 | |
CN209207555U (zh) | 一种协作机械臂末端执行夹具 | |
CN212553906U (zh) | 微动机械夹爪 | |
CN113501320A (zh) | 一种旋转钩式夹具及抓取搬运装置 | |
CN211967546U (zh) | 一种欠驱动直线平夹自适应机械手指 | |
CN110291880B (zh) | 多手臂苹果采摘机器人 | |
CN109866210B (zh) | 一种易组装的双臂六自由度机器人 | |
CN218462219U (zh) | 一种用于抓取方体物料的双连杆式机械手 | |
CN217046483U (zh) | 一种夹取组件及机械手 | |
CN108145730B (zh) | 多角度抓取机械爪及其抓取方法 | |
CN112621806B (zh) | 连杆滑动座补偿式线性平夹自适应欠驱动手 | |
CN213999490U (zh) | 液压机械臂 | |
CN213703471U (zh) | 一种一体式自锁气动夹钳 | |
CN112405571B (zh) | 一种嵌套式工业装配机械爪 | |
CN220660863U (zh) | 一种机器人夹持结构 | |
CN111002330B (zh) | 一种灵巧柔性抓取装置 |
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 | ||
CB03 | Change of inventor or designer information |
Inventor after: Zhang Yu Inventor after: Chen Xuechao Inventor after: He Pengfa Inventor after: Rui Siyu Inventor after: Liu Jiayi Inventor after: Zhang Xuanyu Inventor after: Yu Zhangguo Inventor before: Chen Xuechao Inventor before: Zhang Yu Inventor before: He Pengfa Inventor before: Rui Siyu Inventor before: Liu Jiayi Inventor before: Zhang Xuanyu Inventor before: Yu Zhangguo |
|
CB03 | Change of inventor or designer information | ||
GR01 | Patent grant | ||
GR01 | Patent grant |