CN106272526B - 一种灵巧手 - Google Patents
一种灵巧手 Download PDFInfo
- Publication number
- CN106272526B CN106272526B CN201610830345.9A CN201610830345A CN106272526B CN 106272526 B CN106272526 B CN 106272526B CN 201610830345 A CN201610830345 A CN 201610830345A CN 106272526 B CN106272526 B CN 106272526B
- Authority
- CN
- China
- Prior art keywords
- finger
- shaft
- palm
- digitorum manus
- articulations digitorum
- 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.)
- Expired - Fee Related
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
- B25J15/08—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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (7)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610830345.9A CN106272526B (zh) | 2016-09-19 | 2016-09-19 | 一种灵巧手 |
PCT/CN2017/087540 WO2018049854A1 (zh) | 2016-09-19 | 2017-06-08 | 机械手 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610830345.9A CN106272526B (zh) | 2016-09-19 | 2016-09-19 | 一种灵巧手 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106272526A CN106272526A (zh) | 2017-01-04 |
CN106272526B true CN106272526B (zh) | 2019-02-26 |
Family
ID=57712700
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610830345.9A Expired - Fee Related CN106272526B (zh) | 2016-09-19 | 2016-09-19 | 一种灵巧手 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN106272526B (zh) |
WO (1) | WO2018049854A1 (zh) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106272526B (zh) * | 2016-09-19 | 2019-02-26 | 上海未来伙伴机器人有限公司 | 一种灵巧手 |
CN108724239A (zh) * | 2017-04-21 | 2018-11-02 | 新加坡国立大学 | 柔性机械手 |
CN107030722B (zh) * | 2017-06-16 | 2018-02-16 | 深圳市大寰机器人科技有限公司 | 一种机器人灵巧手 |
CN108501032B (zh) * | 2018-06-19 | 2023-09-19 | 苏州大学 | 可调整式气动软体抓手 |
CN109176586B (zh) * | 2018-09-18 | 2021-11-12 | 哈尔滨工业大学(深圳) | 一种基于扭转弹簧的自适应柔性手爪及机器人 |
CN113386165A (zh) * | 2021-07-05 | 2021-09-14 | 北京航空航天大学 | 一种新型抓握一体化三指刚柔混合灵巧手 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06339887A (ja) * | 1993-05-31 | 1994-12-13 | Tokin Corp | アクチュエータ、並びにそれを用いた多関節手、温度スイッチ、過電流スイッチ、回路切替スイッチ |
CN102528815A (zh) * | 2012-01-05 | 2012-07-04 | 上海大学 | 一种多自由度欠驱动机械手 |
CN202336871U (zh) * | 2011-11-14 | 2012-07-18 | 天津市聚兴电镀有限公司 | 用于电镀生产线上的机械手 |
CN204471391U (zh) * | 2015-01-22 | 2015-07-15 | 西安蒜泥电子科技有限责任公司 | 一种新型机械手手指传动结构 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101073520A (zh) * | 2007-06-27 | 2007-11-21 | 哈尔滨工业大学 | 腱驱动的假手手指机构 |
KR101091753B1 (ko) * | 2009-06-25 | 2011-12-08 | 고려대학교 산학협력단 | 로봇의 파지구조 |
CN102092049B (zh) * | 2011-01-04 | 2013-02-13 | 天津大学 | 具有可变形状手掌的仿人灵巧手 |
CN102357884A (zh) * | 2011-10-14 | 2012-02-22 | 清华大学 | 快速抓取欠驱动机器人手装置 |
JP2013119151A (ja) * | 2011-12-08 | 2013-06-17 | Tokusen Kogyo Co Ltd | 指関節構造 |
DE102012003360A1 (de) * | 2012-02-22 | 2013-08-22 | Stefan Schulz | Fingerelement |
CN103101055B (zh) * | 2013-02-28 | 2016-08-03 | 何广平 | 一种腱式欠驱动自适应多指手装置 |
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 |
FR3020775B1 (fr) * | 2014-05-07 | 2019-04-19 | Aldebaran Robotics | Actionnement d’une main destinee a equiper un robot a caractere humanoide |
CN105291134B (zh) * | 2015-12-07 | 2017-03-08 | 佛山市广工大数控装备技术发展有限公司 | 一种柔性仿生机械手 |
CN206029944U (zh) * | 2016-09-19 | 2017-03-22 | 上海未来伙伴机器人有限公司 | 一种灵巧手 |
CN106272526B (zh) * | 2016-09-19 | 2019-02-26 | 上海未来伙伴机器人有限公司 | 一种灵巧手 |
-
2016
- 2016-09-19 CN CN201610830345.9A patent/CN106272526B/zh not_active Expired - Fee Related
-
2017
- 2017-06-08 WO PCT/CN2017/087540 patent/WO2018049854A1/zh active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06339887A (ja) * | 1993-05-31 | 1994-12-13 | Tokin Corp | アクチュエータ、並びにそれを用いた多関節手、温度スイッチ、過電流スイッチ、回路切替スイッチ |
CN202336871U (zh) * | 2011-11-14 | 2012-07-18 | 天津市聚兴电镀有限公司 | 用于电镀生产线上的机械手 |
CN102528815A (zh) * | 2012-01-05 | 2012-07-04 | 上海大学 | 一种多自由度欠驱动机械手 |
CN204471391U (zh) * | 2015-01-22 | 2015-07-15 | 西安蒜泥电子科技有限责任公司 | 一种新型机械手手指传动结构 |
Also Published As
Publication number | Publication date |
---|---|
CN106272526A (zh) | 2017-01-04 |
WO2018049854A1 (zh) | 2018-03-22 |
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Legal Events
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20200507 Address after: Room 612, Zone D, building 20, No. 1-42, Lane 83, Hongxiang North Road, Wanxiang Town, Pudong New Area, Shanghai Patentee after: Shanghai Yingchen Information Technology Co., Ltd Address before: 200233, 1122 North Qinzhou Road, Shanghai, 90, building 8, Xuhui District Patentee before: SHANGHAI PARTNERX ROBOTICS Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210422 Address after: 200233, 1122 North Qinzhou Road, Shanghai, 90, building 8, Xuhui District Patentee after: SHANGHAI PARTNERX ROBOTICS Co.,Ltd. Address before: Room 612, Zone D, building 20, No. 1-42, Lane 83, Hongxiang North Road, Wanxiang Town, Pudong New Area, Shanghai Patentee before: Shanghai Yingchen Information Technology Co.,Ltd. |
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CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190226 Termination date: 20200919 |