WO2006064602A1 - ロボットハンド装置 - Google Patents
ロボットハンド装置 Download PDFInfo
- Publication number
- WO2006064602A1 WO2006064602A1 PCT/JP2005/017973 JP2005017973W WO2006064602A1 WO 2006064602 A1 WO2006064602 A1 WO 2006064602A1 JP 2005017973 W JP2005017973 W JP 2005017973W WO 2006064602 A1 WO2006064602 A1 WO 2006064602A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- finger mechanism
- finger
- base
- hand device
- robot hand
- Prior art date
Links
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
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Definitions
- the present invention relates to a robot hand device having a plurality of finger mechanisms.
- Such a robot hand device is mainly composed of a palm part serving as a palm part and a plurality of finger mechanisms extending from the palm part.
- a plurality of internode members are rotatably connected via a plurality of finger joints, and the internode members on the palm side (base end side) are bent by the power from the motor.
- the link mechanism is such that the internode member ahead is sequentially bent or extended by being extended.
- a device disclosed in Japanese Patent Laid-Open No. 2003-266357 is known.
- one motor is provided for each finger mechanism described above, and each finger mechanism is bent by a motor provided individually.
- the fingers are bent in order from the little finger.
- wires are connected to the base end portion of each finger mechanism described above, and these wires are connected to one motor via various members. As a result, only one motor is required to move each finger mechanism, and space efficiency can be improved.
- the first robot hand device has a problem that the space efficiency is poor because a plurality of motors are provided to enable a human-like gripping motion (regular gripping motion). It was.
- the second robot hand device has a single motor, which improves space efficiency. Although there is a problem that each finger mechanism can be bent simultaneously by one motor, it cannot perform a human-like gripping operation.
- the motor when gripping an article having a complicated shape, when any one of the five finger mechanisms comes into contact with the article, the motor further wires the wire. It becomes impossible to pull. In this case, there was another problem that other finger mechanisms floated from the article and could not be properly gripped.
- the present invention relates to a robot hand device including a plurality of finger mechanisms extending from a base and one power source that operates each of the finger mechanisms.
- the robot hand device has a plurality of finger mechanism actuating members coupled to each finger mechanism to actuate each finger mechanism, and at least two finger mechanism actuating members having different powers of the power source force.
- a power transmission mechanism configured to transmit at a certain timing.
- each finger mechanism operating member has a predetermined Start moving at different timings. Therefore, it is possible to bend a plurality of finger mechanisms in order of end force. In other words, it is possible to perform a human-like gripping action such as bending in the order of the little finger.
- the power transmission mechanism can transmit the power of one power source to the operating members of each finger mechanism as appropriate, so only one power source is required, improving the space efficiency. Can be made.
- the power source is a motor
- the finger mechanism actuating member is a rotating roller coupled to the finger mechanism via a transmission means.
- the power transmission mechanism rotatably supports the rotation rollers, a rotation shaft rotated by the motor, and the rotation rollers with respect to the rotation shaft.
- each of the rotating rollers is held at a predetermined position by the elastic member, each of the rotating rollers and the rotating shaft is configured to rotate in a body-like manner, and the maximum grip state of the finger mechanism Alternatively, in the maximum extended state, it is preferable that the deformation amount of the elastic member that holds each of the at least two rotating aperture rollers is set to be different.
- the "maximum grip state” refers to a state where the finger mechanism cannot be bent any more
- the “maximum stretch state” refers to a state where the finger mechanism cannot be extended any further.
- the finger mechanism is bent from the maximum extended state.
- the elastic member rotates in the order of returning to the deformation amount (for example, zero) when holding the rotation roller at the predetermined position.
- the roller rotates integrally with the rotation shaft.
- the amount of deformation of the plurality of elastic members is gradually increased in the order of end force (for example, in order from the little finger side). It becomes possible to do work.
- this structure employs a rotating shaft and an elastic member provided on the rotating shaft without moving to another space as a power transmission mechanism for appropriately transmitting power to a plurality of finger mechanisms at a predetermined timing. Therefore, the space efficiency can be further improved.
- the transmission means is a link mechanism.
- a finger mechanism when a finger mechanism is extended compared to a conventional structure in which a wire is hung around a part of a finger mechanism and the finger mechanism is bent or extended by changing the pulling direction of the wire. Since the parts on the proximal end side of the finger mechanism can be positively pushed by the link mechanism, the finger mechanism can be favorably extended.
- the rotating shaft is provided with a plurality of abutting portions that are detachably engaged with a part of the rotating rollers.
- each finger mechanism is supported so as to be swingable in a direction in which the finger mechanism approaches and separates from an adjacent finger mechanism around the base side portion.
- the robot hand apparatus and the person shake hands when the robot hand apparatus and the person shake hands, the person strongly presses the plurality of finger mechanisms (for example, the index finger, the middle finger, the ring finger, and the little finger) of the robot hand apparatus. Even if it is gripped, each finger mechanism swings, so that each finger mechanism can be prevented from being damaged.
- the plurality of finger mechanisms for example, the index finger, the middle finger, the ring finger, and the little finger
- each finger mechanism is urged in a direction in which adjacent finger mechanism forces are separated by being locked by a base-side elastic member fixed to the base.
- each finger mechanism can be automatically returned to its original position after the handshake between the person and the robot device or the hand device as described above is finished.
- the power of one power source force can be transmitted to each finger mechanism actuating member as needed by the power transmission mechanism, so that space efficiency can be improved. It is possible to perform human-like gripping operations such as bending the little finger force in order.
- FIG. 1 is a perspective view showing a robot hand apparatus according to the present embodiment.
- FIG. 2 (a) is a side view showing the state of the finger mechanism and the link mechanism when the finger mechanism is extended, and (b) is the state of the finger mechanism and the link mechanism when the finger mechanism is bent.
- FIG. 1 is a perspective view showing a robot hand apparatus according to the present embodiment.
- FIG. 2 (a) is a side view showing the state of the finger mechanism and the link mechanism when the finger mechanism is extended, and (b) is the state of the finger mechanism and the link mechanism when the finger mechanism is bent.
- FIG. 3 (a) is a side view showing the motor side link mechanism when the finger mechanism is extended, and (b) is a side view showing the state of the motor side link mechanism when the finger mechanism is bent. is there. 4] A top view showing the power transmission mechanism.
- FIG. 5 is an explanatory view showing a relationship among a rotation roller, a spring member, and a rotation shaft.
- FIG. 6 is a bottom view showing a structure for supporting a finger mechanism so as to be swingable in a lateral direction.
- FIG. 7 is a cross-sectional view taken along the line XX in FIG.
- the robot hand apparatus 1 is mainly composed of a base 10, four finger mechanisms 20, a thumb structure OY, and a motor (power source) 30.
- the base 10 corresponds to a part of a human hand, that is, the palm or the back of the hand.
- Each of the four finger mechanisms 20 is provided so as to extend from one end edge of the base portion 10 in substantially the same direction, and is configured to be operated by a motor (power source) 30.
- the thumb structure OY is provided by extending a place force different from these finger mechanisms 20 of the base 10.
- the robot hand apparatus 1 is provided with four rotating rollers (finger mechanism operating members) 50 and a power transmission mechanism 60.
- each of the four rotation rollers (finger mechanism operating members) 50 is connected to each finger mechanism 20 via a link mechanism (transmission means) 40 in order to operate each finger mechanism 20.
- the power transmission mechanism 60 is configured to transmit the power from the motor 30 to each rotating roller 50 at different timings.
- the thumb structure OY can be driven by another motor (not shown).
- the thumb structure OY does not transmit power from the motor 30.
- the thumb structure OY of the present embodiment is not equivalent to a “finger mechanism”
- the present invention is not limited to this, and the thumb structure OY is also used together with other finger mechanisms. It can be driven by a single power source.
- the base portion 10 includes a palm portion (not shown) formed in a case shape to constitute a human palm portion, and a back portion 1 Oa formed in a case shape to constitute a back portion of a human hand. It consists of and.
- the motor 30, the link mechanism 40, the rotating roller 50, the power transmission mechanism 60, and the like are accommodated in a space formed by the palm portion and the back portion 10a.
- the finger mechanism 20 is mainly composed of three internode members 21, 22, 23, joint members 24, 25, 26, and link arms 27, 28. /!
- the joint member 24 is configured to rotatably connect the internode member 21 on the base side (base 10 side) and the frame F (see FIG. 1) fixed to the base portion 10.
- the internode member 21 and the internode member 22 are connected to each other, and the joint member 26 is connected to the internode member 22 and the internode member 23 so as to be rotatable.
- the link arms 27 and 28 operate the inter-node members 22 and 23 sequentially in conjunction with the operation of the inter-node member 21 on the base side.
- the three internode members 21, 22, and 23 are also referred to as a root member 21, an intermediate member 22, and a fingertip member 23 in order from the root side.
- the three joint members 24, 25, 26 are also referred to as the third joint member 24, the second joint member 25, and the first joint member 26 in order of the base side force.
- the two link arms 27 and 28 are also referred to as a first link arm 27 and a second link arm 28 in order from the root side.
- the finger mechanism 20 corresponding to the little finger will be described, and the finger mechanism 20 corresponding to the other index finger, middle finger, and ring finger has the same structure as the little finger mechanism but slightly different in size. Therefore, the description thereof will be omitted.
- the root member 21 is a member having a shape in which both ends of a rectangle are formed in a semicircular shape.
- the base end portion 21a of the root member 21 is rotatably connected to a third joint member 24 fixed to the frame F (see FIG. 1), and the distal end portion 21b is interposed via the second joint member 25.
- the intermediate member 22 is pivotally connected!
- the link mechanism 40 is connected via a pin P1 at a suitable position on the palm side (the upper side in the drawing) in the vicinity of the third joint member 24 of the root member 21 (between the second joint member 25 and the third joint member 24). It is pivotally connected.
- fixing pins P2 rotatably connected to a first link arm 27 described later and escape grooves 21c and 2 Id for escaping the pin P3 are appropriately formed. Has been.
- the second link arm 28 is rotatably connected to the root member 21 through a pin P4 at an appropriate position on the back side (the lower side in the drawing) of the distal end portion 21b.
- the intermediate member 22 is a member whose outer shape is substantially the same as that of the root member 21.
- the proximal end portion 22a of the intermediate member 22 is rotatably connected to the root member 21 via the second joint member 25, and the distal end portion 22b thereof is connected to the fingertip member via the first joint member 26. It is connected to 23 so that it can rotate freely.
- the intermediate member 22 has a first link arm 27 via a pin P3 at a suitable position on the palm side in the vicinity of the second joint member 25 (between the first joint member 26 and the second joint member 25). It is pivotally connected.
- the fingertip member 23 is a member whose outer shape is substantially the same as that of the root member 21.
- the base end portion 23 a of the fingertip member 23 is rotatably connected to the intermediate member 22 via the first joint member 26.
- the second link arm 28 is rotatable on the fingertip member 23 via a pin P5 at an appropriate position on the palm side in the vicinity of the first joint member 26 (between the tip and the first joint member 26). It is connected to.
- the first link arm 27 is a member that is rotatably connected to the frame F (see FIG. 1) and the intermediate member 22.
- the second link arm 28 is a member that is rotatably connected to the root member 21 and the fingertip member 23. It is. As described above, when the intermediate member 22 is pulled by the first link arm 27 in the direction indicated by the arrow A4, the intermediate member 22 rotates in the direction indicated by the arrow A5. As a result, the second link arm 28 rotates about the pin P4 in the direction indicated by the arrow A6, so that the fingertip member 23 is pulled in the direction indicated by the arrow A7 via the pin P5, and the fingertip member 23 Will rotate.
- the motor 30 is connected to a rotary shaft 61 (described later) of the power transmission mechanism 60 via a speed reducer 31 and a motor side link mechanism 32.
- the motor side link mechanism 32 includes a first rotation arm 33, a second rotation arm 34, and a link arm 35.
- the first rotating arm 33 is fixed to the output shaft 31a of the speed reducer 31, and rotates together with the output shaft 31a.
- the second rotating arm 34 is fixed to the rotating shaft 61.
- the rotary shaft 61 rotates together with the rotary shaft 61.
- the link arm 35 is pivotally connected to the extending portion 33a of the first rotating arm 33 and the extending portion 34a of the second rotating arm 34.
- the motor side link mechanism 32 rotates when the output shaft 3la of the speed reducer 31 is rotated and the first rotation arm 33 is rotated in the direction indicated by the arrow B1.
- the extension portion 33a of the first rotation arm 33 pulls the link arm 35 and the extension portion 34a of the second rotation arm 34 in the direction indicated by the arrow B2 and the direction indicated by the arrow B3, respectively.
- the rotation shaft 61 rotates together with the second rotation arm 34 in the direction indicated by the arrow B4.
- the power transmission mechanism 60 is mainly composed of a rotating shaft 61 and a spring member 63 fixed to the rotating shaft 61 via a fixing pin 62. Yes.
- the rotation shaft 61 supports the four rotation rollers 50 in a freely rotatable manner, and is in contact with and separated from a notch portion (part) 51b described later of each rotation roller 50 at an appropriate position.
- the spring member 63 is a coiled spring that is wound around the rotating shaft 61 so as to leave a predetermined gap.
- the spring member 63 has a part of the rotating roller 50 sandwiched between one end part 63 a and the other end part (not shown), and a central part thereof is fixed to the fixing pin 62. As a result, the spring member 63 acts to urge the rotating roller 50 on both sides to hold the relative position of the rotating roller 50 with respect to the rotating shaft 61 at a predetermined position.
- the urging force of the spring member 63 is set to a predetermined strength.
- each spring member 63 the installation position (phase) of each fixing pin 62 is appropriately shifted in the circumferential direction of the rotation shaft 61.
- the amount of deformation is set differently (see Fig. 5).
- FIG. 5 schematically showing the relationship among the rotation roller 50, the spring member 63, and the rotation shaft 61.
- the spring member 63 is indicated as two spring members 63 ′ for convenience.
- the amount of deformation of the little finger side spring member 63 ' is zero. That is, the urging forces by the two spring members 63 ′ are in a state of being canceled out.
- the deformation amount of the other spring member 63 ′ is set so as to increase gradually in the order of the ring finger, the middle finger, and the index finger.
- the rotation shaft 61 is rotated counterclockwise from this state, the rotation shaft 61 on the little finger side where the deformation amount of the spring member 63 ′ is zero and the rotation roller 50 are integrated. Rotate.
- the other rotating shaft 61 rotates relative to the non-moving rotating roller 50 and acts to return the deformation of the spring member 63 ′ to the original state (first stage in the figure). .
- the spring member 63 ′ is deformed in order of the little finger side force. Therefore, when all of the four finger mechanisms 20 are in the maximum grip state, the amount of deformation is the reverse of the maximum extension state. . That is, the amount of deformation of the spring member 63 ′ increases step by step in the order of the index finger force.
- the maximum grip state force is also extended in order from the finger mechanism 20 on the index finger side.
- the rotation roller 50 includes a rotation base 51 that is rotatably engaged with the rotation shaft 61, and an extension in which the rotation base 51 extends radially outward. Part 52.
- the rotation base 51 has a notch 51b formed on one end surface 51a thereof so as to open to one axial side (one end surface 51a side) and to penetrate in the radial direction. Has been.
- the notch 51b can be brought into and out of contact with the contact pin 64 fixed to the rotation shaft 61 as described above, so that the rotation roller 50 can be moved relative to the rotation shaft 61. Movement Is regulated by the contact pin 64.
- the rotation roller 50 can move only within the range of the notch 51b, and further movement is blocked by the contact pin 64.
- the 20 positions can be held well.
- the finger mechanism 20 (the rotation roller 50) is returned to the original position by the spring member 63 described above. It will return.
- the notch 51b and the abutment pin 64 also have the following effects.
- the rotation base 51 is formed with spring receiving portions 51d and 51e bulging outward in the axial direction on both end faces 51a and 51c (see FIG. 4).
- the link mechanism 40 is mainly composed of a first arm part 41, a V-shaped arm part 42, and a second arm part 43.
- the first arm portion 41 is rotatably connected to the tip end portion of the extending portion 52 of the rotation roller 50 and one end portion of the V-shaped arm portion 42. Both ends of the V-shaped arm portion 42 are rotatably connected to a fixing pin 44 fixed to the frame F (see FIG. 1) and the first arm portion 41, and at an appropriate position (V
- the second arm 43 is pivotally connected to the bent part of the character!
- the second arm portion 43 is connected to the root member 21 of the finger mechanism 20 on the side not connected to the V-shaped arm portion 42 via the pin P 1 so as to be rotatable.
- the link mechanism 40 has a lateral direction (within the plane of the back portion 10a) around the shaft portion 11 provided in the base portion 10 (specifically, the back portion 10a). ) It is configured to be able to swing, so that the finger mechanism 20 also swings in the lateral direction (the direction in which the fingers are separated from each other).
- the fixing pin 44 that supports the V-shaped arm portion 42 of the link mechanism 40 and the third joint member 24 that supports the root member 21 of the finger mechanism 20 are fixed.
- the frame F to be moved is pivotally supported by the base 10 so as to be swingable in the lateral direction.
- the finger mechanism 20 fixed to the frame F is urged in a direction away from each other by a positioning spring (base side elastic member) 12 attached to the shaft portion 11. Become.
- One end of the positioning spring 12 is hooked on the stepped portion 10c of the concave portion 10b of the back portion 10a formed for each finger mechanism 20, and the other end is fixed to the frame F. .
- the connecting portion J1 includes a bifurcated portion 41a formed at the end of the first arm portion 41, a pin 45 fixed to the bifurcated portion 41a, and the pin 45.
- a through hole 42a to be inserted is formed, and an end portion 42b of the V-shaped arm portion 42 is disposed with a predetermined gap between the forked portion 41a.
- the through-hole 42a formed in the end portion 42b of the V-shaped arm portion 42 is formed in an R shape such that the diameter gradually increases from the central portion toward the outer side, whereby the first arm The relative movement in the lateral direction between the portion 41 and the V-shaped arm portion 42 can be performed smoothly.
- the connecting part J2 has the same structure as the connecting part J1.
- the connecting portions Jl and J2 are structured as described above, but the present invention is not limited to this, and a ball joint may be used as the connecting portion! ,.
- each finger mechanism 20 is automatically returned to the original position by the positioning spring 12.
- each finger mechanism 20 is bent in order from the little finger side by each link mechanism 40 (for details, see FIG. 1). (See arrows C1 to C4 and A1 to A8 in Fig. 2 (b)).
- the deformation amount of the spring member 63 returns to zero in the order of the little finger side force, and the rotation roller 50 rotates in the order of the little finger side force. It is possible to perform a grasping operation by bending 20 with little finger force in order.
- the power transmission mechanism 60 is mainly composed of the rotating shaft 61 that does not move to another space and the spring member 63 provided on the rotating shaft 61, space efficiency can be improved.
- the finger mechanism 20 since the finger mechanism 20 is pushed and pulled by the link mechanism 40, a wire is wound around a part of the conventional finger mechanism, and the wire is pulled. Compared to a structure in which the finger mechanism is bent or extended by changing the tension direction, the base member 21 of the finger mechanism 20 can be positively pushed by the link mechanism 40 when the finger mechanism 20 is extended. Therefore, the extending operation of the finger mechanism 20 can be performed satisfactorily.
- each finger mechanism 20 can be automatically returned to the original position by the positioning spring 12.
- each rotation roller 50 and the rotation shaft 6 1 can rotate relative to each other.
- one of the four finger mechanisms 20 for example, the little finger
- the rotation shaft 61 can rotate within the above-described range with respect to the little finger (the rotation roller 50 on the little finger side) stopped in this way.
- the rotation rollers 50 of the other finger mechanisms 20 index finger, middle finger, and ring finger
- the motor 30 that simply rotates the output shaft is used as a power source.
- the present invention is not limited to this, and for example, a stepping motor that moves the output shaft back and forth in the axial direction, a piston, or the like is used. May be.
- the power of one power source force is configured to be transmitted to each of the four finger mechanisms 20 (the little finger, the ring finger, the middle finger, and the index finger) at different timings.
- the present invention is not limited to this, and it is sufficient that power is transmitted to at least two of these finger mechanisms 20 at different timings! /.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE602005010905T DE602005010905D1 (en) | 2004-12-14 | 2005-09-29 | Roboterhandvorrichtung |
EP05788042A EP1829649B1 (en) | 2004-12-14 | 2005-09-29 | Robot hand device |
US10/576,347 US7766405B2 (en) | 2004-12-14 | 2005-09-29 | Robot hand apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004361025A JP4482437B2 (ja) | 2004-12-14 | 2004-12-14 | ロボットハンド装置 |
JP2004-361025 | 2004-12-14 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006064602A1 true WO2006064602A1 (ja) | 2006-06-22 |
Family
ID=36587666
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/017973 WO2006064602A1 (ja) | 2004-12-14 | 2005-09-29 | ロボットハンド装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7766405B2 (ja) |
EP (1) | EP1829649B1 (ja) |
JP (1) | JP4482437B2 (ja) |
KR (2) | KR100852772B1 (ja) |
DE (1) | DE602005010905D1 (ja) |
WO (1) | WO2006064602A1 (ja) |
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CN100450730C (zh) * | 2007-06-07 | 2009-01-14 | 上海交通大学 | 具有欠驱动自适应机构的拟人机械手 |
CN105345816A (zh) * | 2015-12-22 | 2016-02-24 | 唐晓琦 | 一种基于齿轮传动的多自由度机械手 |
CN106695853A (zh) * | 2017-02-21 | 2017-05-24 | 深圳诺欧博智能科技有限公司 | 一种单驱动拟人机械手 |
USD812122S1 (en) * | 2016-01-29 | 2018-03-06 | Softbank Robotics Europe | Robot hand |
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JP4643429B2 (ja) * | 2005-12-13 | 2011-03-02 | 本田技研工業株式会社 | ハンド装置 |
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JP1613032S (ja) * | 2018-03-29 | 2020-03-02 | ||
JP1613980S (ja) * | 2018-03-29 | 2020-03-09 | ||
US11358284B2 (en) * | 2019-04-25 | 2022-06-14 | Jack Adiletta | Signing robotic hand assembly apparatuses, systems, and methods |
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 |
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- 2005-09-29 KR KR1020077021656A patent/KR100852772B1/ko active IP Right Grant
- 2005-09-29 KR KR1020067009134A patent/KR100784500B1/ko not_active IP Right Cessation
- 2005-09-29 US US10/576,347 patent/US7766405B2/en not_active Expired - Fee Related
- 2005-09-29 EP EP05788042A patent/EP1829649B1/en not_active Expired - Fee Related
- 2005-09-29 DE DE602005010905T patent/DE602005010905D1/de active Active
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CN100450730C (zh) * | 2007-06-07 | 2009-01-14 | 上海交通大学 | 具有欠驱动自适应机构的拟人机械手 |
CN105345816A (zh) * | 2015-12-22 | 2016-02-24 | 唐晓琦 | 一种基于齿轮传动的多自由度机械手 |
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CN106695853A (zh) * | 2017-02-21 | 2017-05-24 | 深圳诺欧博智能科技有限公司 | 一种单驱动拟人机械手 |
CN106695853B (zh) * | 2017-02-21 | 2019-03-22 | 深圳诺欧博智能科技有限公司 | 一种单驱动拟人机械手 |
Also Published As
Publication number | Publication date |
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JP4482437B2 (ja) | 2010-06-16 |
US7766405B2 (en) | 2010-08-03 |
EP1829649A4 (en) | 2008-01-23 |
KR100852772B1 (ko) | 2008-08-18 |
KR20070104477A (ko) | 2007-10-25 |
EP1829649B1 (en) | 2008-11-05 |
KR20060093122A (ko) | 2006-08-23 |
US20090015026A1 (en) | 2009-01-15 |
DE602005010905D1 (en) | 2008-12-18 |
JP2006167831A (ja) | 2006-06-29 |
EP1829649A1 (en) | 2007-09-05 |
KR100784500B1 (ko) | 2007-12-11 |
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