Title:
LINKAGE STRUCTURE, ROBOT FINGER AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/188407
Kind Code:
A1
Abstract:
A linkage structure, a robot finger and a robot. In the linkage structure, a fixing frame (10), a first rod member (20), a second rod member (30) and a connecting rod (40) form a four-rod mechanism, and active bending, straightening and passive bending movements of the four-rod mechanism can be achieved in combination with a driving assembly (50) and an elastic member (60); no matter whether a linear driving member (51) works or not, when the second rod member (30) is subjected to external force, the second rod member (30) can swing and the elastic member (60) is compressed to store energy, the first rod member (20) is in linkage with the connecting rod (40), the first rod member (20) swings in the swinging direction of the second rod member (30), and the passive bending movement is achieved; during the passive bending movement, interference between the first rod member (20) and a transmission rod (53) is avoided, reducing the situation where the four-rod mechanism is damaged due to external force; after the external force is removed, the elastic member (60) releases energy to drive the second rod member (30) to reset, and the first rod member (20), the connecting rod (40), the transmission rod (53) and a push rod (52) are in linkage to achieve the straightening movement; and the linkage structure can be applied in occasions needing two-way active movement and one-way passive movement, for example, robot fingers.
Inventors:
HUANG ZHONGKUI (CN)
DING HONGYU (CN)
LUO QIXIANG (CN)
CHEN MING (CN)
FAN WENHUA (CN)
DING HONGYU (CN)
LUO QIXIANG (CN)
CHEN MING (CN)
FAN WENHUA (CN)
Application Number:
PCT/CN2021/124614
Publication Date:
September 15, 2022
Filing Date:
October 19, 2021
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
B25J17/02
Domestic Patent References:
| WO2011118646A1 | 2011-09-29 | |||
| WO2011126226A2 | 2011-10-13 |
Foreign References:
| CN113103278A | 2021-07-13 | |||
| CN212635768U | 2021-03-02 | |||
| CN111376287A | 2020-07-07 | |||
| KR20100022877A | 2010-03-03 |
Attorney, Agent or Firm:
SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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