CN100351056C - Linkage mechanism of drive-free self-adapting artificial hand - Google Patents
Linkage mechanism of drive-free self-adapting artificial hand Download PDFInfo
- Publication number
- CN100351056C CN100351056C CNB2006100096777A CN200610009677A CN100351056C CN 100351056 C CN100351056 C CN 100351056C CN B2006100096777 A CNB2006100096777 A CN B2006100096777A CN 200610009677 A CN200610009677 A CN 200610009677A CN 100351056 C CN100351056 C CN 100351056C
- Authority
- CN
- China
- Prior art keywords
- finger
- middle finger
- nameless
- little finger
- torque sensor
- 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
Images
Landscapes
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The present invention discloses a linkage mechanism of an under-driven self-adapting artificial hand, which relates to an anthropopathic mechanical finger device. The present invention solves the problem that the existing under-driven self-adapting artificial hand device only can realize the series motion of a middle finger, a ring finger and a little finger and can not realize the linkage of the middle finger, the ring finger and the little finger. A little finger torsion spring 3-10 of the present invention is fixedly connected with a little finger torque sensor 3-7 arranged on a base joint shaft 6 and a spring bracket 3-5, and a big bevel gear 4-3 fixed on the base joint shaft 6 is engaged with a small bevel gear 4-8 arranged on a speed reducer 4-11 fixedly connected with a motor 4-12; a ring finger torsion spring 4-6 is fixedly connected with a ring finger torque sensor 4-5 and a middle finger spring bracket 5-6 which are arranged on the base joint shaft 6, and a middle finger torsion spring 5-9 is fixedly connected with the middle finger spring bracket 5-6 and the middle finger torque sensor 5-8 which are arranged on the base joint shaft 6. The mechanism can realize finger linkage.
Description
Technical field
The present invention relates to a kind of anthropomorphic manipulator device, be specifically related to a kind of link gear of under-driven adaptive prosthetic hand.
Background technology
The important device of anthropomorphic robot is exactly a manipulator, and the ability of manipulator grasping object is directly determined by the structure of manipulator.And existing under-driven adaptive prosthetic hand device (patent publication No. is CN1557268A) drives the belt wheel in middle finger pedestal left side by middle finger base joint shaft, thereby series connection drives the spring support motion of nameless and little finger, drives nameless respectively and the little finger motion by the spring on the spring support.Because the belt wheel of this mechanism is connected with series system with spring support, so only can realize that the string of middle finger, the third finger and little finger of toe is moving, promptly when middle finger begins grasping movement, nameless and little finger of toe can be followed and be carried out grasping movement, when when a finger is wherein arranged in grasping, being blocked, the belt wheel stop motion, then point all stop motions for three, its grasping adaptivity is not strong, good envelope complicated shape object when grasping, reach stable grasping state, the grippage of this device of doing evil through another person and real staff gap are bigger.
Summary of the invention
The objective of the invention is to realize that for solving existing under-driven adaptive prosthetic hand device the string of middle finger, the third finger and little finger of toe is moving, can not realize interlock, and in use also exist the grasping self adaptation not strong, during grasping well envelope complicated shape object problem and provide a kind ofly can realize the interlock pointed, the link gear of the under-driven adaptive prosthetic hand of better self-adapting ability is arranged again.
The present invention includes palm, the pedestal of fixedlying connected with palm, be contained in little finger, the third finger and middle finger in the groove of pedestal successively, described little finger comprises the little finger finger tip axle that is connected with the little finger finger tip; The described third finger comprises and is fixed in the third finger joint pitman pin in the third finger on the joint shaft; Described middle finger comprises and is fixed in the middle finger joint pitman pin in the middle finger on the joint shaft; It is characterized in that described link gear also comprises basic joint shaft; Described little finger also comprises little finger pitman pin, little finger connecting rod, spring support, spring backing pin, little finger torque sensor, little finger left plate, little finger right plate, little finger torsion spring; The described third finger also comprises large bevel gear, large bevel gear axle sleeve, nameless torque sensor, nameless torsion spring, nameless torsion spring sleeve, cone pinion, cone pinion axle sleeve, motor cabinet, decelerator, motor, nameless nearly dactylus left plate, nameless nearly dactylus right plate, nameless connecting rod, nameless pitman pin; Described middle finger also comprises middle finger connecting rod, the nearly dactylus left plate of middle finger, the nearly dactylus right plate of middle finger, middle finger spring support, middle finger spring backing pin, middle finger torque sensor, middle finger torsion spring, the nearly dactylus pitman pin of middle finger; The both wings of described pedestal, the little finger left plate, the little finger right plate, nameless nearly dactylus left plate, nameless nearly dactylus right plate, the nearly dactylus left plate of middle finger, the nearly dactylus right plate of middle finger is hinged with basic joint shaft respectively, spring support is installed on the basic joint shaft of little finger right plate left end, be set with the little finger torque sensor on the basic joint shaft between spring support and the little finger left plate, the little finger pitman pin that is connected with an end of little finger connecting rod is housed in the pin shaft hole of little finger torque sensor, the other end of little finger connecting rod is connected with little finger finger tip axle, fixedly connected with an end of spring backing pin in the left side of spring support, on the basic joint shaft between spring support and the little finger torque sensor little finger torsion spring is housed, the left end of little finger torsion spring is fixedlyed connected with the little finger torque sensor, and the right-hand member of little finger torsion spring is fixedlyed connected with spring support; Described large bevel gear is installed on the basic joint shaft of nameless nearly dactylus left plate right-hand member by the large bevel gear axle sleeve, large bevel gear and cone pinion engagement, cone pinion is installed on the output shaft of decelerator by the cone pinion axle sleeve, fixedly connected with pedestal in the upper end of motor cabinet, fixedly connected with the upper end of decelerator in the lower end of motor cabinet, the input of decelerator is fixedlyed connected with the output of motor, be set with nameless torque sensor on the basic joint shaft between nameless nearly dactylus left plate and the nameless nearly dactylus right plate, in the pin shaft hole of nameless torque sensor the nameless pitman pin that is connected with an end of nameless connecting rod is housed, the other end of nameless connecting rod is connected with joint pitman pin in the third finger, on the basic joint shaft between nameless nearly dactylus right plate and the nearly dactylus left plate of middle finger nameless torsion spring sleeve is housed, on the nameless torsion spring sleeve nameless torsion spring is housed, the left end of nameless torsion spring is fixedlyed connected with nameless torque sensor, and the right-hand member of nameless torsion spring is fixedlyed connected with the middle finger spring support; On the basic joint shaft of the nearly dactylus left plate of described middle finger right-hand member the middle finger spring support is housed fixedly, be set with the middle finger torque sensor on the basic joint shaft between the nearly dactylus right plate of middle finger spring support and middle finger, the nearly dactylus pitman pin of the middle finger that is connected with middle finger connecting rod one end is housed in the pin shaft hole of middle finger torque sensor, the other end of middle finger connecting rod is connected with joint pitman pin in the middle finger, fixedly connected with an end of middle finger spring backing pin in the right side of middle finger spring support, the middle finger torsion spring is contained on the basic joint shaft between middle finger spring support and the middle finger torque sensor, the left end of middle finger torsion spring is fixedlyed connected with the middle finger spring support, and the right-hand member of middle finger torsion spring is fixedlyed connected with the middle finger torque sensor.
The present invention has following beneficial effect: one, the present invention is because middle finger, the third finger and the shared basic joint shaft of little finger, this base joint shaft is directly driven by large bevel gear and rotates, in the finger grip process, finger remains motion, the little finger torsion spring, nameless torsion spring and middle finger torsion spring are fixedlyed connected with torque sensor with corresponding spring support respectively, each the finger connecting rod an end respectively be fixed on pairing torque sensor on pitman pin be connected, the connecting rod that has guaranteed three fingers is parallel with one another on basic joint shaft, wherein the link motion of any one finger is not subjected to other finger constraint and disturbs, so can realize middle finger, nameless and little finger of toe and moving, promptly in the grasping movement of these three fingers, when one of them finger touches object, other two fingers can continue motion, until contacting with object, the adaptivity of its grasping is stronger, better envelope shape complex objects during grasping, grasping is more stable, and the grasping situation of this link gear and staff is more approaching.Two, because this mechanism realizes three fingers and moving by a motor-driven, thereby the present invention compared with the prior art, can save the volume of doing evil through another person to a greater extent, alleviates overall weight, simplifies overall structure.
Description of drawings
Fig. 1 is front view of the present invention (front elevation of doing evil through another person), and Fig. 2 is the rearview (back view of doing evil through another person) of Fig. 1.
The specific embodiment
The specific embodiment one: in conjunction with Fig. 1, Fig. 2 present embodiment is described, present embodiment by palm 1, the pedestal 2 of fixedlying connected with palm 1, successively be contained in little finger 3 in the groove of pedestal 2, nameless 4 and middle finger 5, basic joint shaft 6 form; Described little finger 3 is made up of little finger finger tip axle 3-2, the little finger pitman pin 3-3, little finger connecting rod 3-4, spring support 3-5, spring backing pin 3-6, little finger torque sensor 3-7, little finger left plate 3-8, little finger right plate 3-9, the little finger torsion spring 3-10 that are connected with little finger finger tip 3-1; Described nameless 4 by being fixed in the third finger pitman pin 4-2 in joint in the third finger on the joint shaft 4-1, large bevel gear 4-3, large bevel gear axle sleeve 4-4, nameless torque sensor 4-5, nameless torsion spring 4-6, nameless torsion spring sleeve 4-7, cone pinion 4-8, cone pinion axle sleeve 4-9, motor cabinet 4-10, decelerator 4-11, motor 4-12, nameless nearly dactylus left plate 4-13, nameless nearly dactylus right plate 4-14, nameless connecting rod 4-15, nameless pitman pin 4-16 forms; Joint pitman pin 5-2, middle finger connecting rod 5-3, the nearly dactylus left plate of middle finger 5-4, the nearly dactylus right plate of middle finger 5-5, middle finger spring support 5-6, middle finger spring backing pin 5-7, middle finger torque sensor 5-8, middle finger torsion spring 5-9, the nearly dactylus pitman pin of middle finger 5-10 form described middle finger 5 in the middle finger on the joint shaft 5-1 by being fixed in the middle finger; The both wings 2-1 of described pedestal 2, little finger left plate 3-8, little finger right plate 3-9, nameless nearly dactylus left plate 4-13, nameless nearly dactylus right plate 4-14, the nearly dactylus left plate of middle finger 5-4, the nearly dactylus right plate of middle finger 5-5 is hinged with basic joint shaft 6 respectively, spring support 3-5 is installed on the basic joint shaft 6 of little finger right plate 3-9 left end, be set with little finger torque sensor 3-7 on the basic joint shaft 6 between spring support 3-5 and the little finger left plate 3-8, the little finger pitman pin 3-3 that is connected with the end of little finger connecting rod 3-4 is housed in the pin shaft hole of little finger torque sensor 3-7, the other end of little finger connecting rod 3-4 is connected with little finger finger tip axle 3-2, fixedly connected with the end of spring backing pin 3-6 in the left side of spring support 3-5, on the basic joint shaft 6 between spring support 3-5 and the little finger torque sensor 3-7 little finger torsion spring 3-10 is housed, the left end of little finger torsion spring 3-10 is fixedlyed connected with little finger torque sensor 3-7, and the right-hand member of little finger torsion spring 3-10 is fixedlyed connected with spring support 3-5; Described large bevel gear 4-3 is installed on the basic joint shaft 6 of nameless nearly dactylus left plate 4-13 right-hand member by large bevel gear axle sleeve 4-4, large bevel gear 4-3 and cone pinion 4-8 engagement, cone pinion 4-8 is installed on the output shaft of decelerator 4-11 by cone pinion axle sleeve 4-9, fixedly connected with pedestal 2 in the upper end of motor cabinet 4-10, fixedly connected with the upper end of decelerator 4-11 in the lower end of motor cabinet 4-10, the input of decelerator 4-11 is fixedlyed connected with the output of motor 4-12, be set with nameless torque sensor 4-5 on the basic joint shaft 6 between nameless nearly dactylus left plate 4-13 and the nameless nearly dactylus right plate 4-14, in the pin shaft hole of nameless torque sensor 4-5 the nameless pitman pin 4-16 that is connected with the end of nameless connecting rod 4-15 is housed, the other end of nameless connecting rod 4-15 is connected with joint pitman pin 4-2 in the third finger, on the basic joint shaft 6 between nameless nearly dactylus right plate 4-14 and the nearly dactylus left plate of the middle finger 5-4 nameless torsion spring sleeve 4-7 is housed, on the nameless torsion spring sleeve 4-7 nameless torsion spring 4-6 is housed, the left end of nameless torsion spring 4-6 is fixedlyed connected with nameless torque sensor 4-5, and the right-hand member of nameless torsion spring 4-6 is fixedlyed connected with middle finger spring support 5-6; On the basic joint shaft 6 of the nearly dactylus left plate of described middle finger 5-4 right-hand member middle finger spring support 5-6 is housed fixedly, be set with middle finger torque sensor 5-8 on the basic joint shaft 6 between the nearly dactylus right plate of middle finger spring support 5-6 and the middle finger 5-5, the nearly dactylus pitman pin of the middle finger 5-10 that is connected with middle finger connecting rod 5-3 one end is housed in the pin shaft hole of middle finger torque sensor 5-8, the other end of middle finger connecting rod 5-3 is connected with joint pitman pin 5-2 in the middle finger, fixedly connected with the end of middle finger spring backing pin 5-7 in the right side of middle finger spring support 5-6, middle finger torsion spring 5-9 is contained on the basic joint shaft 6 between middle finger spring support 5-6 and the middle finger torque sensor 5-8, the left end of middle finger torsion spring 5-9 is fixedlyed connected with middle finger spring support 5-6, and the right-hand member of middle finger torsion spring 5-9 is fixedlyed connected with middle finger torque sensor 5-8.
In the present embodiment, used motor 4-12 and decelerator 4-11 manufacture by Switzerland Portescap company, and the motor model is: escap 17N78 D.C., decelerator model are: escap R16.
The specific embodiment two: in conjunction with figure explanation present embodiment, the difference of the present embodiment and the specific embodiment one is: the little finger 3 of present embodiment also increases spring support alignment pin 3-11; Described spring support 3-5 is fixedlyed connected with described basic joint shaft 6 by spring support alignment pin 3-11.Adopt said structure, have simple in structure, safe and reliable advantage.
Operation principle: the output shaft of motor 4-12 drives decelerator 4-11 and rotates, and the output shaft of decelerator 4-11 drives cone pinion 4-8 and rotates, and cone pinion 4-8 drives large bevel gear 4-3 motion; The large bevel gear axle sleeve 4-4 that moves through of large bevel gear 4-3 drives basic joint shaft 6 rotations, thereby drive the spring support 3-5 and the middle finger spring support 5-6 motion of middle finger 5, little finger 3, the rotation of the spring support 3-5 of middle finger spring support 5-6 and little finger 3 makes middle finger torsion spring 5-9, nameless torsion spring 4-6 and little finger torsion spring 3-10 produce certain moment of torsion respectively, rotate thereby drive middle finger torque sensor 5-8, nameless torque sensor 4-5 and little finger torque sensor 3-7 respectively, the connecting rod that the torque sensor of finger drives finger respectively drives whole finger motion.After wherein having a finger to touch object, with middle finger 5 is example, middle finger torque sensor 5-8 stop motion, the spring support 3-5 of middle finger spring support 5-6 and little finger 3 still can rotate forward, make nameless torsion spring 4-6 and little finger torsion spring 3-10 produce moment of torsion, continue to drive the third finger 4 and little finger 3 rotations, until these two the complete envelope objects of finger.
Claims (2)
1, a kind of link gear of under-driven adaptive prosthetic hand, its composition comprises palm (1), the pedestal (2) of fixedlying connected with palm (1), is contained in little finger (3), nameless (4) and middle finger (5) in the groove of pedestal (2) successively, and described little finger (3) comprises the little finger finger tip axle (3-2) that is connected with little finger finger tip (3-1); The described third finger (4) comprises joint pitman pin (4-2) in the third finger that is fixed on the joint shaft in the third finger (4-1); Described middle finger (5) comprises joint pitman pin (5-2) in the middle finger that is fixed on the joint shaft in the middle finger (5-1); It is characterized in that described link gear also comprises basic joint shaft (6);
Described little finger (3) also comprises little finger pitman pin (3-3), little finger connecting rod (3-4), spring support (3-5), spring backing pin (3-6), little finger torque sensor (3-7), little finger left plate (3-8), little finger right plate (3-9), little finger torsion spring (3-10);
The described third finger (4) also comprises large bevel gear (4-3), large bevel gear axle sleeve (4-4), nameless torque sensor (4-5), nameless torsion spring (4-6), nameless torsion spring sleeve (4-7), cone pinion (4-8), cone pinion axle sleeve (4-9), motor cabinet (4-10), decelerator (4-11), motor (4-12), nameless nearly dactylus left plate (4-13), nameless nearly dactylus right plate (4-14), nameless connecting rod (4-15), nameless pitman pin (4-16);
Described middle finger (5) also comprises middle finger connecting rod (5-3), the nearly dactylus left plate of middle finger (5-4), the nearly dactylus right plate of middle finger (5-5), middle finger spring support (5-6), middle finger spring backing pin (5-7), middle finger torque sensor (5-8), middle finger torsion spring (5-9), the nearly dactylus pitman pin of middle finger (5-10);
The both wings (2-1) of described pedestal (2), little finger left plate (3-8), little finger right plate (3-9), nameless nearly dactylus left plate (4-13), nameless nearly dactylus right plate (4-14), the nearly dactylus left plate of middle finger (5-4), the nearly dactylus right plate of middle finger (5-5) is hinged with basic joint shaft (6) respectively, spring support (3-5) is installed on the basic joint shaft (6) of little finger right plate (3-9) left end, be set with little finger torque sensor (3-7) on the basic joint shaft (6) between spring support (3-5) and the little finger left plate (3-8), the little finger pitman pin (3-3) that is connected with an end of little finger connecting rod (3-4) is housed in the pin shaft hole of little finger torque sensor (3-7), the other end of little finger connecting rod (3-4) is connected with little finger finger tip axle (3-2), fixedly connected with an end of spring backing pin (3-6) in the left side of spring support (3-5), on the basic joint shaft (6) between spring support (3-5) and the little finger torque sensor (3-7) little finger torsion spring (3-10) is housed, the left end of little finger torsion spring (3-10) is fixedlyed connected with little finger torque sensor (3-7), and the right-hand member of little finger torsion spring (3-10) is fixedlyed connected with spring support (3-5);
Described large bevel gear (4-3) is installed on the basic joint shaft (6) of nameless nearly dactylus left plate (4-13) right-hand member by large bevel gear axle sleeve (4-4), large bevel gear (4-3) and cone pinion (4-8) engagement, cone pinion (4-8) is installed on the output shaft of decelerator (4-11) by cone pinion axle sleeve (4-9), fixedly connected with pedestal (2) in the upper end of motor cabinet (4-10), fixedly connected with the upper end of decelerator (4-11) in the lower end of motor cabinet (4-10), the input of decelerator (4-11) is fixedlyed connected with the output of motor (4-12), be set with nameless torque sensor (4-5) on the basic joint shaft (6) between nameless nearly dactylus left plate (4-13) and the nameless nearly dactylus right plate (4-14), in the pin shaft hole of nameless torque sensor (4-5) the nameless pitman pin (4-16) that is connected with an end of nameless connecting rod (4-15) is housed, the other end of nameless connecting rod (4-15) is connected with joint pitman pin (4-2) in the third finger, on the basic joint shaft (6) between nameless nearly dactylus right plate (4-14) and the nearly dactylus left plate of middle finger (5-4) nameless torsion spring sleeve (4-7) is housed, on the nameless torsion spring sleeve (4-7) nameless torsion spring (4-6) is housed, the left end of nameless torsion spring (4-6) is fixedlyed connected with nameless torque sensor (4-5), and the right-hand member of nameless torsion spring (4-6) is fixedlyed connected with middle finger spring support (5-6);
The basic joint shaft (6) of the nearly dactylus left plate of described middle finger (5-4) right-hand member is gone up middle finger spring support (5-6) fixedly is housed, be set with middle finger torque sensor (5-8) on the basic joint shaft (6) between the nearly dactylus right plate of middle finger spring support (5-6) and middle finger (5-5), the nearly dactylus pitman pin of middle finger (5-10) that is connected with middle finger connecting rod (5-3) end is housed in the pin shaft hole of middle finger torque sensor (5-8), the other end of middle finger connecting rod (5-3) is connected with joint pitman pin (5-2) in the middle finger, fixedly connected with an end of middle finger spring backing pin (5-7) in the right side of middle finger spring support (5-6), middle finger torsion spring (5-9) is contained on the basic joint shaft (6) between middle finger spring support (5-6) and the middle finger torque sensor (5-8), the left end of middle finger torsion spring (5-9) is fixedlyed connected with middle finger spring support (5-6), and the right-hand member of middle finger torsion spring (5-9) is fixedlyed connected with middle finger torque sensor (5-8).
2, the link gear of under-driven adaptive prosthetic hand according to claim 1 is characterized in that described little finger (3) also comprises spring support alignment pin (3-11); Described spring support (3-5) is fixedlyed connected with described basic joint shaft (6) by spring support alignment pin (3-11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100096777A CN100351056C (en) | 2006-01-27 | 2006-01-27 | Linkage mechanism of drive-free self-adapting artificial hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100096777A CN100351056C (en) | 2006-01-27 | 2006-01-27 | Linkage mechanism of drive-free self-adapting artificial hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1807031A CN1807031A (en) | 2006-07-26 |
| CN100351056C true CN100351056C (en) | 2007-11-28 |
Family
ID=36839212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100096777A Expired - Fee Related CN100351056C (en) | 2006-01-27 | 2006-01-27 | Linkage mechanism of drive-free self-adapting artificial hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100351056C (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101653941B (en) * | 2009-09-11 | 2011-01-05 | 清华大学 | Sliding block type direct under-actuated bionic hand device with changeable holding power |
| CN102895052B (en) * | 2012-06-21 | 2017-10-27 | 中南大学 | The micro driving mechanism that a kind of quick reflex for prosthetic hand is captured |
| CN102806563B (en) * | 2012-09-11 | 2014-10-15 | 浙江理工大学 | Underwater traction pulley type anthropopathic mechanical hand |
| CN104367405B (en) * | 2014-11-21 | 2016-06-22 | 华南理工大学 | A kind of apery myoelectricity artificial hand |
| CN105058409A (en) * | 2015-09-06 | 2015-11-18 | 丹阳假肢厂有限公司 | Two-dimensional thumb bionic hand |
| CN105078628A (en) * | 2015-09-06 | 2015-11-25 | 丹阳假肢厂有限公司 | Third finger and little finger structure of bionic hand |
| CN105193525B (en) * | 2015-10-29 | 2017-05-03 | 国家康复辅具研究中心 | Bionic hand with five fingers based on nickel-titanium memory alloy |
| CN105773648B (en) * | 2016-03-30 | 2017-10-27 | 昆明理工大学 | A kind of bionical catching robot |
| CN106003129B (en) * | 2016-06-17 | 2018-01-05 | 西安交通大学 | A kind of adaptive anthropomorphic manipulator of drive lacking |
| CN109109001A (en) * | 2018-07-25 | 2019-01-01 | 宁波市智能制造产业研究院 | A kind of manipulator restoring magic square |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4834443A (en) * | 1986-11-19 | 1989-05-30 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland | Robotic gripping device having linkage actuated finger sections |
| CN2464511Y (en) * | 2000-12-12 | 2001-12-12 | 上海巨龄科技有限公司 | Emulation manipulator |
| CN1410234A (en) * | 2002-11-29 | 2003-04-16 | 清华大学 | Robot anthropomorphic multi finger band device |
| CN1557268A (en) * | 2004-02-11 | 2004-12-29 | 哈尔滨工业大学 | Self-adapting artificial hand lack of actuating |
-
2006
- 2006-01-27 CN CNB2006100096777A patent/CN100351056C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4834443A (en) * | 1986-11-19 | 1989-05-30 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland | Robotic gripping device having linkage actuated finger sections |
| CN2464511Y (en) * | 2000-12-12 | 2001-12-12 | 上海巨龄科技有限公司 | Emulation manipulator |
| CN1410234A (en) * | 2002-11-29 | 2003-04-16 | 清华大学 | Robot anthropomorphic multi finger band device |
| CN1557268A (en) * | 2004-02-11 | 2004-12-29 | 哈尔滨工业大学 | Self-adapting artificial hand lack of actuating |
Non-Patent Citations (1)
| Title |
|---|
| 欠驱动自适应机器人手的研制 史士财，高晓辉，姜力，刘宏.机器人，第26卷第6期 2004 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1807031A (en) | 2006-07-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100351056C (en) | Linkage mechanism of drive-free self-adapting artificial hand | |
| CN101474794B (en) | Bionic robot under-actuated delicacy hand device | |
| CN100336639C (en) | Thumb mechanism of underactuated self-adaptive hand prosthesis | |
| CN101234489B (en) | Belt wheel under-driven robot finger device | |
| CN103565562B (en) | Under-actuated artificial limb hand | |
| CN102166753B (en) | Bevel gear flexible piece compound grabbing robot fingers device | |
| CN101204815B (en) | Seven freedom-degree artificial man arm driven by air-powered artificial muscle | |
| CN201861802U (en) | Five-degree-of-freedom artificial hand | |
| CN100439048C (en) | Under-actuated multi-finger device of robot humanoid finger | |
| CN104908056A (en) | Three-finger mechanical gripper with variable structure | |
| CN100551641C (en) | The Chiasma tendon rope under-driven modularization anthropomorphic robot arm device | |
| CN203598078U (en) | Module type human-imitated artificial finger | |
| CN101190528A (en) | Under-actuated coupling transmission type imitation human finger mechanism | |
| CN202568538U (en) | Practical bionic artificial hand | |
| CN101774175B (en) | Double-joint wheel type parallel coupling under-actuated bio-simulation mechanical finger device | |
| CN100581756C (en) | Double bevel wheel under-driven robot finger | |
| CN102310411B (en) | Three-axis gear and rack composite underactuated dual-joint robot finger device | |
| CN101057791A (en) | Thumb mechanism for under-driven adaptive prosthetic hand | |
| CN102179818A (en) | Finger device of composite underactuated double-joint robot with differential-motion bevel gear system | |
| CN101716767A (en) | Coupling underactuated integrated bionic hand device | |
| CN101214659A (en) | Tendon rope gear under-driven robot finger device | |
| CN100551637C (en) | Rack bar under-driven robot finger device | |
| CN102896636A (en) | Differential gear train coupled adaptive under-actuated finger device | |
| CN102328316B (en) | Double-joint inclined belt type transmission compound underactuated robot finger device | |
| CN101664930B (en) | Coupling underactuated integral finger device of double-joint robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20071128 Termination date: 20100301 |