CN101100063A - Finger joint for robot clever hand finger - Google Patents
Finger joint for robot clever hand finger Download PDFInfo
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- CN101100063A CN101100063A CNA2007100725646A CN200710072564A CN101100063A CN 101100063 A CN101100063 A CN 101100063A CN A2007100725646 A CNA2007100725646 A CN A2007100725646A CN 200710072564 A CN200710072564 A CN 200710072564A CN 101100063 A CN101100063 A CN 101100063A
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Abstract
The present invention relates to finger joint of robot, and is especially finger joint of skillful robot hand. The present invention has one motor fixed to the inner wall of the first finger knuckle casing, the first synchronous pulley fixed onto the output shaft of the motor, the second synchronous pulley fixed onto the first joint shaft, one harmonic reducer mounted onto the first joint shaft, one driving member mounted onto the harmonic reducer, one 1D finger tip torque sensor mounted onto the second joint shaft, one first joint wire wheel connected to the inner wall of the first finger knuckle casing, and one second joint wire wheel connected to the 1D finger tip torque sensor. The finger joint of skillful robot hand has the advantages of high integration level, high reliability, high position accuracy and less hysteresis.
Description
Technical field
The present invention relates to a kind of robot finger's finger-joint.
Background technology
The robot delicate technology is as an important branch of Robotics, development through decades, obtained good achievement, some representational Dextrous Hand that also have been born in succession are such as Stanford/JPL hand, Utan/M.I.T hand, DLR hand, NASA hand or the like.Some progressive aspects such as frame for movement, driving, sensing, integrated level and control that are mainly reflected in.But owing to be subjected to the restriction of motor technology, electronic products manufacturing technology etc., Dextrous Hand does not in the past also reach gratifying degree aspect integrated level, such as Stanford/JPL hand, Utan/M.I.T hand and commercial Shadow hand etc., driver etc. is placed the outside (in forearm) of Dextrous Hand, the space length of transmission power is far away and the path is irregular, and these Dextrous Hand realize transmission by tendon (rope).The advantage of tendon transmission system is: driver is separated with the finger body, help the size and the weight that reduce to point; The tendon transmission has best overall target at aspects such as the compactedness of structure, flexibility, costs; The tendon transmission is a kind of submissive kind of drive of zero return difference, thereby design that can the reduced force controller.But the tendon transmission arranges in the implementation space freely that simultaneously its inevitable defective is arranged: because the rigidity of tendon is limited, so drive system shows certain hysteresis, thus the impact position precision, even cause the instability of high gain system; Must carry out pretension to tendon, this has just increased the complexity of structure and the difficulty of assembling; Simultaneously, the pretension degree has very big influence to the performance of drive system, bigger pretightning force can produce bigger frictional force, and less pretightning force can cause the lax of tendon, if the tension force of tendon and fluctuation are very big, vibration that may activating system, thus cause the unstable of tendon or cause the damage of tendon.Simultaneously, because the path complexity that tendon connects, the existence of hidden danger such as end, wearing and tearing has influenced reliability, the maintainability of system, when certain root disinsertion, must carry out the dismounting of Dextrous Hand integral body, and workload is big.
Summary of the invention
The poor reliability that the present invention exists for the finger-joint that solves existing robot delicate, drive system performance lag behind, positional precision is poor, complex structure, maintenanceability are poor, transmit the space length problem far away of power, and then a kind of robot clever hand finger is provided.
Technical scheme of the present invention is: the finger-joint of robot clever hand finger comprises first knuckle shell, second knuckle shell, terminal dactylus shell, first joint shaft, second joint axle, motor; The lower end of the upper end of first knuckle shell and second knuckle shell is rotationally connected by first joint shaft, and the lower end of the upper end of second knuckle shell and terminal dactylus shell is rotationally connected by the second joint axle; It also comprises finger tip one dimension torque sensor, steel wire coupled transmission mechanism, tape handler, harmonic speed reducer, driving member; Described motor is fixed on the first knuckle outer casing inner wall, first synchronous pulley in the tape handler is packed on the output shaft of motor, second synchronous pulley in the tape handler is packed on first joint shaft, harmonic speed reducer is contained on first joint shaft, driving member is contained on the harmonic speed reducer and with the inwall of second knuckle shell fixedlys connected, finger tip one dimension torque sensor is contained on the second joint axle and with the inwall of terminal dactylus shell fixedlys connected, first joint steel wire wheel in the steel wire coupled transmission mechanism is connected with the inwall of first knuckle shell, and the second joint wire wheel in the steel wire coupled transmission mechanism is contained in the terminal dactylus shell and with finger tip one dimension torque sensor and is connected.
The present invention has following beneficial effect: the finger-joint of clever hand finger of the present invention is integrated drive system, transmission system, sensing system etc., and adopted open project organization, effectively reduced the maintenance difficulties and the maintenance cost of finger.The kind of drive of the present invention is the direct kind of drive, and directly the kind of drive has integrated level height, reliability height, positional precision height, sluggish little advantage.Directly the kind of drive is equipped with higher requirement to the space bit of driving, reducing gear and cradle head, requires motor, reducing gear, sensing and electric etc. be integrated in to point or palm inside.Clever hand finger partly has 1 free degree in two joints, 2 coupling joints, and first joint is by motor direct-drive, and the rotation of second joint is to be coupled to form by structure of steel wire, and gearratio is strict 1: 1.The output torque of finger tip reaches 500mNm.The profile of clever hand finger is copied the profile of staff fully and is designed and no any electrical system layout in surface and cabling, and this finger can work alone as a small scale robot system.
Description of drawings
Fig. 1 is a main parallax stereogram of the present invention, Fig. 2 is the rear perspective view of Fig. 1, Fig. 3 is a main cutaway view of the present invention, Fig. 4 is main parallax stereogram of the present invention (removing first knuckle left plate 1 and second knuckle left plate 3), Fig. 5 is the rear perspective view (removing finger tip loam cake 6, second knuckle upper cover plate 4, second knuckle right plate 10, first knuckle upper cover plate 2, first knuckle right plate 11) of Fig. 1, and Fig. 6 is the A-A cutaway view of Fig. 3; Fig. 7 is the rearview of second knuckle left plate 3 of the present invention, Fig. 8 is the rearview of second knuckle right plate 10 of the present invention, Fig. 9 is the front view of first knuckle left plate 1 of the present invention, and Figure 10 is the front view of first knuckle right plate 11 of the present invention, and Figure 11 is a finger warp architecture schematic diagram.
The specific embodiment
The specific embodiment one: shown in Fig. 1～3, the finger-joint of the robot clever hand finger of present embodiment is made up of first knuckle shell 61, second knuckle shell 62, terminal dactylus shell 63, first joint shaft 20, second joint axle 26, motor 35, finger tip one dimension torque sensor 28, steel wire coupled transmission mechanism 51, tape handler 52, harmonic speed reducer 53, driving member 18; The lower end of the upper end of first knuckle shell 61 and second knuckle shell 62 is rotationally connected by first joint shaft 20, and the lower end of the upper end of second knuckle shell 62 and terminal dactylus shell 63 is rotationally connected by second joint axle 26; Described motor 35 is fixed on the first knuckle left plate 1 of first knuckle shell 61, first synchronous pulley 34 in the tape handler 52 is packed on the output shaft of motor 35, second synchronous pulley 31 in the tape handler 52 is packed on first joint shaft 20, harmonic speed reducer 53 is contained on first joint shaft 20, driving member 18 is contained on the harmonic speed reducer 53 and with the inwall of second knuckle shell 62 fixedlys connected, finger tip one dimension torque sensor 28 is contained on the second joint axle 26 and with the inwall of terminal dactylus shell 63 fixedlys connected, first joint steel wire in the steel wire coupled transmission mechanism 51 wheel 37 is connected with the inwall of first knuckle shell 61, and it is interior and be connected with finger tip one dimension torque sensor 28 that the second joint wire wheel 39 in the steel wire coupled transmission mechanism 51 is contained in terminal dactylus shell 63.
The motor 35 that is adopted in the present embodiment is made by maxon (Switzerland) company, and model is the EC20 Disc brushless DC motor, and power is 3W, and supply voltage is 12V, and exporting torque continuously is 4mNm.
The specific embodiment two: as shown in Figure 1 and Figure 2, the described first knuckle shell 61 of present embodiment refers to that by first knuckle left plate 1, first knuckle right plate 11, first knuckle tripe cover plate 12, first knuckle upper cover plate 2 form, and described first knuckle refers to that the limit, left side of tripe cover plate 12 fixedlys connected by first knuckle left plate 1 with the limit, left side of first knuckle upper cover plate 2; First knuckle refers to that the right edge of tripe cover plate 12 fixedlys connected by first knuckle right plate 11 with the right edge of first knuckle upper cover plate 2.Can realize the firm connection of first knuckle, and drive motors 35 and circuit board 44 can be enclosed in dactylus inside and be unlikely to expose in the outside.Other composition is identical with the specific embodiment one with annexation.
The specific embodiment three: as shown in Figure 1 and Figure 2, the described second knuckle shell 62 of present embodiment refers to that by second knuckle left plate 3, second knuckle right plate 10, second knuckle tripe cover plate 9, second knuckle upper cover plate 4 form, and described second knuckle refers to that the limit, left side of tripe cover plate 9 fixedlys connected by second knuckle left plate 3 with the limit, left side of second knuckle upper cover plate 4; Described second knuckle refers to that the right edge of tripe cover plate 9 fixedlys connected by second knuckle right plate 10 with the right edge of second knuckle upper cover plate 4.Adopt such structure, can realize the firm connection of first knuckle, other composition is identical with the specific embodiment two with annexation.
The specific embodiment four: as Fig. 7, Fig. 8, Fig. 9, Figure 10, shown in Figure 11, the described first knuckle left plate 1 of present embodiment is provided with left limit projection 1-3, first knuckle right plate 11 is provided with right limit projection 11-3, and described first knuckle shell 61 and second knuckle shell 62 angulation α are 0 degree～90 degree.When stretching (extreme position 0 degree) at finger, the first spacing concave surface 3-1 of the first confined planes 1-1 of left limit projection 1-3 and second knuckle left plate 3 contacts; The second spacing concave surface 10-1 of the second confined planes 11-1 of right limit projection 11-3 and second knuckle right plate 10 contacts.When finger bent to 90 degree (extreme position), the 3rd spacing concave surface 3-2 of the 3rd confined planes 1-2 of left limit projection 1-3 and second knuckle left plate 3 contacted; The 4th spacing concave surface 10-2 of the 4th confined planes 11-2 of right limit projection 11-3 and second knuckle right plate 10 contacts.When second knuckle shell 62 rotated around first joint shaft 20, second knuckle shell 62 was spacing mutually with first knuckle shell 61, thereby had realized first knuckle shell 61 and second knuckle shell 62 bending motion in the scope of 0 degree～90 degree.Other composition is identical with the specific embodiment three with annexation.
The specific embodiment five: as shown in Figure 1 and Figure 2, the described terminal dactylus shell 63 of present embodiment refers to that by finger tip tripe 7, finger tip loam cake 6 form, and finger tip loam cake 6 covers at finger tip and refers on the tripe 7 and refer to that with finger tip tripe 7 fixedlys connected.Adopt such structure, can form the finger tripe shape of similar staff finger tip, other composition is identical with the specific embodiment three or four with annexation.
The specific embodiment six: as shown in Figure 4, the described tape handler 52 of present embodiment is with 32, second synchronous pulley 31, the second synchronous pulley baffle plate 30 to form by the first synchronous pulley baffle plate 33, first synchronous pulley 34, K type synchronously, the described first synchronous pulley baffle plate 33 is installed on the both sides end face of first synchronous pulley 34, the second synchronous pulley baffle plate 30 is installed on the both sides end face of second synchronous pulley 31, and first synchronous pulley 34 is with 32 to be connected with second synchronous pulley 31 by the K type synchronously.Adopt such structure, make finger transmission mechanism path simple, good reliability, maintainability is good.Other composition is identical with the specific embodiment one with annexation.
The specific embodiment seven: as Fig. 3 and shown in Figure 5, the described steel wire coupled transmission mechanism 51 of present embodiment is by first joint steel wire wheel 37, two steel wires 38, second joint wire wheel 39, steel wire pretension pressing plate 36, steel wire clamp 40, steel wire pretension screw 41, steel wire pretension piece 27 is formed, described two steel wires 38 are wrapped on first joint steel wire wheel 37 and the second joint wire wheel 39 respectively and are crossed as the figure of eight, steel wire pretension plate 36 be fixed in the first knuckle shell 61 inwall on, steel wire clamp 40 is contained on the second joint wire wheel 39, steel wire pretension piece 27 is arranged on the second joint wire wheel 39, and steel wire pretension screw 41 is arranged on the steel wire pretension piece 27.Adopt such structure, realized 1: 1 coupled drive relation in two joints of finger part.Other composition is identical with the specific embodiment one with annexation.
The specific embodiment eight: as shown in Figure 3, the described harmonic speed reducer 53 of present embodiment is by wave producer 16, cover bearing 19 in the harmonic wave, cover 21 in the harmonic wave, harmonic wave flexbile gear 23, harmonic wave steel wheel 24 is formed, cover 21 is contained on first joint shaft 20 in the harmonic wave, harmonic wave flexbile gear 23 is contained in the harmonic wave and fixes on the cover 21 and with first knuckle right plate 11, harmonic wave steel wheel 24 is enclosed within on the harmonic wave flexbile gear 23, described wave producer 16 is arranged in the harmonic wave flexbile gear 23, cover bearing 19 is contained in the harmonic wave and overlaps between 21 and first joint shaft 20 in the harmonic wave, and harmonic wave steel wheel 24 is connected with driving member 18, finish the moment output of harmonic speed reducer.The described harmonic speed reducer 53 of present embodiment is coaxial with first joint shaft 20.Adopt such structure, in the transmittance process of moment, slow down steadily.Other composition is identical with the specific embodiment two with annexation.
The harmonic speed reducer 53 that is adopted is made by Harmonic Drive (Japan) company, and model is HDUC-5-100-2A-BLR, and speed reducing ratio is 100: 1, and the maximum torque of output continuously is 0.5Nm.
The specific embodiment nine: as shown in Figure 3, present embodiment also comprises the right pad 22 of first joint left side pad 17 and first joint, and a left side, described first joint pad 17 is arranged between the lap-joint of first knuckle left plate 1 and second knuckle left plate 3; The right pad 22 in described first joint is arranged between the lap-joint of first knuckle right plate 11 and second knuckle right plate 10.A left side, first joint pad 17, the right pad 22 in first joint are made by brass (Brass) material.Adopt such structure, play the effect that reduces to rub, avoid two direct friction between the aluminum component.Other composition is identical with the specific embodiment three with annexation.
The specific embodiment ten: as Fig. 3 and shown in Figure 6, present embodiment also comprises magnet steel 14, position sensor circuit plate 15; First knuckle circuit board 44, second knuckle circuit board 43, switching circuit board 42, described magnet steel 14 is fixed in the central channel of second joint axle 26 ends, and position sensor circuit plate 15 is positioned at the left end of magnet steel 14 and is fixed on the inwall of second knuckle shell 62; First knuckle circuit board 44 is contained on the inwall of first knuckle shell 61; Second knuckle circuit board 43 is contained on the inwall of second knuckle shell 62, and described switching circuit board 42 is arranged on the rear end face of finger tip one dimension torque sensor 28.Adopt such structure, have reliability height, advantage such as easy to connect.Switching circuit board 42 makes circuit board reliably be connected with sensor and is fixing, has avoided the elongation and the shortening of connecting line between the two, has improved the reliability that connects.Other composition is identical with the specific embodiment one with annexation.
Operation principle: motor 35 is given first synchronous pulley 34 in the tape handler 52 with the transmission of power of output, first synchronous pulley 34 drives first joint shaft 20 for second synchronous pulley 31 that is fastenedly connected with first joint shaft 20 with 32 transmission of power synchronously by the K type and rotates, the harmonic wave steel wheel 24 of harmonic speed reducer 53 drives driving member 18 and rotates, driving member 18 drives second knuckle shell 62 and carries out gyration around first joint shaft 20, first joint steel wire in the steel wire coupled transmission mechanism 51 wheel 37 is connected with first knuckle shell 61, second joint wire wheel 39 in the steel wire coupled transmission mechanism 51 is connected with finger tip one dimension torque sensor 28 in the terminal dactylus shell 63, when second knuckle shell 62 drives coupled terminal dactylus shell 63 around 26 rotations of second joint axle, steel wire coupled transmission mechanism 51 will make terminal dactylus shell 63 identical with the rotational angle of second knuckle shell 62.
Claims (10)
1, a kind of finger-joint of robot clever hand finger, it comprises first knuckle shell (61), second knuckle shell (62), terminal dactylus shell (63), first joint shaft (20), second joint axle (26), motor (35); The lower end of the upper end of first knuckle shell (61) and second knuckle shell (62) is rotationally connected by first joint shaft (20), and the lower end of the upper end of second knuckle shell (62) and terminal dactylus shell (63) is rotationally connected by second joint axle (26); It is characterized in that it also comprises finger tip one dimension torque sensor (28), steel wire coupled transmission mechanism (51), tape handler (52), harmonic speed reducer (53), driving member (18); Described motor (35) is fixed on first knuckle shell (61) inwall, first synchronous pulley (34) in the tape handler (52) is packed on the output shaft of motor (35), second synchronous pulley (31) in the tape handler (52) is packed on first joint shaft (20), harmonic speed reducer (53) is contained on first joint shaft (20), driving member (18) is contained in harmonic speed reducer (53) and upward and with the inwall of second knuckle shell (62) fixedlys connected, finger tip one dimension torque sensor (28) is contained in second joint axle (26) and upward and with the inwall of terminal dactylus shell (63) fixedlys connected, first joint steel wire wheel (37) in the steel wire coupled transmission mechanism (51) is connected with the inwall of first knuckle shell (61), and the second joint wire wheel (39) in the steel wire coupled transmission mechanism (51) is contained in the terminal dactylus shell (63) and with finger tip one dimension torque sensor (28) and is connected.
2, the finger-joint of robot clever hand finger according to claim 1, it is characterized in that described first knuckle shell (61) refers to that by first knuckle left plate (1), first knuckle right plate (11), first knuckle tripe cover plate (12), first knuckle upper cover plate (2) form, described first knuckle refers to that the limit, left side of tripe cover plate (12) fixedlys connected with first knuckle left plate (1) respectively with the limit, left side of first knuckle upper cover plate (2); First knuckle refers to that the right edge of tripe cover plate (12) fixedlys connected with first knuckle right plate 11 respectively with the right edge of first knuckle upper cover plate (2).
3, the finger-joint of robot clever hand finger according to claim 2, it is characterized in that described second knuckle shell (62) refers to that by second knuckle left plate (3), second knuckle right plate (10), second knuckle tripe cover plate (9), second knuckle upper cover plate (4) form, described second knuckle refers to that the limit, left side of tripe cover plate (9) fixedlys connected with second knuckle left plate (3) respectively with the limit, left side of second knuckle upper cover plate (4); Described second knuckle refers to that the right edge of tripe cover plate (9) fixedlys connected with second knuckle right plate (10) respectively with the right edge of second knuckle upper cover plate (4).
4, the finger-joint of robot clever hand finger according to claim 3, it is characterized in that described first knuckle left plate (1) is provided with left limit projection (1-3), first knuckle right plate (11) is provided with right limit projection (11-3), and described first knuckle shell (61) and second knuckle shell (62) angulation α are 0 degree～90 degree.
5, according to the finger-joint of claim 3 or 4 described robot clever hand fingers, it is characterized in that described terminal dactylus shell (63) refers to that by finger tip tripe (7), finger tip loam cake (6) form, finger tip loam cake (6) covers at finger tip and refers to that tripe (7) is gone up and refer to that with finger tip tripe (7) fixedlys connected.
6, the finger-joint of robot clever hand finger according to claim 1, it is characterized in that described tape handler (52) is by the first synchronous pulley baffle plate (33), first synchronous pulley (34), the K type is with (32) synchronously, second synchronous pulley (31), the second synchronous pulley baffle plate (30) is formed, the described first synchronous pulley baffle plate (33) is installed on the both sides end face of first synchronous pulley (34), the second synchronous pulley baffle plate (30) is installed on the both sides end face of second synchronous pulley (31), and first synchronous pulley (34) is with (32) to be connected with second synchronous pulley (31) by the K type synchronously.
7, the finger-joint of robot clever hand finger according to claim 1, it is characterized in that described steel wire coupled transmission mechanism (51) is by first joint steel wire wheel (37), two steel wires (38), second joint wire wheel (39), steel wire pretension pressing plate (36), steel wire clamp (40), steel wire pretension screw (41), steel wire pretension piece (27) is formed, described two steel wires (38) are wrapped in first joint steel wire wheel (37) respectively and the figure of eight is gone up and be crossed as to second joint wire wheel (39), steel wire pretension plate (36) is fixed on the inwall of first knuckle shell (61), steel wire clamp (40) is contained on the second joint wire wheel (39), steel wire pretension piece (27) is arranged on the second joint wire wheel (39), and steel wire pretension screw (41) is arranged on the steel wire pretension piece (27).
8, the finger-joint of robot clever hand finger according to claim 2, it is characterized in that described harmonic speed reducer (53) is by wave producer (16), cover bearing (19) in the harmonic wave, cover (21) in the harmonic wave, harmonic wave flexbile gear (23), harmonic wave steel wheel (24) is formed, cover (21) is contained on first joint shaft (20) in the harmonic wave, harmonic wave flexbile gear (23) is contained in the interior cover of harmonic wave (21) and upward and with first knuckle right plate (11) fixes, harmonic wave steel wheel (24) is enclosed within on the harmonic wave flexbile gear (23), described wave producer (16) is arranged in the harmonic wave flexbile gear (23), cover bearing (19) is contained in the harmonic wave and overlaps between (21) and first joint shaft (20) in the harmonic wave, and harmonic wave steel wheel (24) is connected with driving member (18).
9, the finger-joint of robot clever hand finger according to claim 3, it is characterized in that it also comprises the right pad (22) of first joint left side pad (17) and first joint, described first joint left side pad (17) is arranged between the lap-joint of first knuckle left plate (1) and second knuckle left plate (3); The right pad in described first joint (22) is arranged between the lap-joint of first knuckle right plate (11) and second knuckle right plate (10).
10, the finger-joint of robot clever hand finger according to claim 1, it is characterized in that it also comprises magnet steel (14), position sensor circuit plate (15), first knuckle circuit board (44), second knuckle circuit board (43), switching circuit board (42), described magnet steel (14) is fixed in the central channel of second joint axle (26) end, and position sensor circuit plate (15) is positioned at the left end of magnet steel (14) and is fixed on the inwall of second knuckle shell (62); First knuckle circuit board (44) is contained on the inwall of first knuckle shell (61); Second knuckle circuit board (43) is contained on the inwall of second knuckle shell (62); Described switching circuit board (42) is arranged on the rear end face of finger tip one dimension torque sensor (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100725646A CN100522508C (en) | 2007-07-25 | 2007-07-25 | Finger joint for robot clever hand finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100725646A CN100522508C (en) | 2007-07-25 | 2007-07-25 | Finger joint for robot clever hand finger |
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| Publication Number | Publication Date |
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| CN101100063A true CN101100063A (en) | 2008-01-09 |
| CN100522508C CN100522508C (en) | 2009-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100725646A Expired - Fee Related CN100522508C (en) | 2007-07-25 | 2007-07-25 | Finger joint for robot clever hand finger |
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| CN (1) | CN100522508C (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214648B (en) * | 2008-01-18 | 2010-06-02 | 南京航空航天大学 | Five-finger intelligent hand driven by ultrasound electric motor |
| CN103705323A (en) * | 2014-01-14 | 2014-04-09 | 哈尔滨工业大学 | Motor built-in type modularized prosthetic finger with self-locking function |
| CN104161608A (en) * | 2014-08-04 | 2014-11-26 | 中国科学院深圳先进技术研究院 | Tendon transmission artificial hand |
| CN105479485A (en) * | 2016-01-28 | 2016-04-13 | 哈尔滨工业大学 | Serial flexible driving joint having steel wire transmission function |
| CN106208543A (en) * | 2016-07-30 | 2016-12-07 | 深圳市优必选科技有限公司 | Servo motor and control method thereof |
| CN106826907A (en) * | 2017-02-28 | 2017-06-13 | 深圳源创智能机器人有限公司 | A kind of single-degree-of-freedom linkage flexible charging joint of robot group |
| CN107538510A (en) * | 2016-06-28 | 2018-01-05 | 中国科学院沈阳自动化研究所 | A kind of lightweight apery five-needle pines blister rust mechanism |
| CN108081304A (en) * | 2018-02-08 | 2018-05-29 | 西北农林科技大学 | One kind three refers to picking mechanical arm |
| CN108481354A (en) * | 2018-05-29 | 2018-09-04 | 宋为 | Disk tooth shifting multi-mode formula merges adaptive robot finger apparatus |
| CN108789384A (en) * | 2018-09-03 | 2018-11-13 | 深圳市波心幻海科技有限公司 | A kind of flexible drive manipulator and the object identification method based on three-dimensional modeling |
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2007
- 2007-07-25 CN CNB2007100725646A patent/CN100522508C/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214648B (en) * | 2008-01-18 | 2010-06-02 | 南京航空航天大学 | Five-finger intelligent hand driven by ultrasound electric motor |
| CN103705323A (en) * | 2014-01-14 | 2014-04-09 | 哈尔滨工业大学 | Motor built-in type modularized prosthetic finger with self-locking function |
| CN103705323B (en) * | 2014-01-14 | 2016-03-23 | 哈尔滨工业大学 | There is the electric motor built-in modularity prosthetic finger of auto-lock function |
| CN104161608A (en) * | 2014-08-04 | 2014-11-26 | 中国科学院深圳先进技术研究院 | Tendon transmission artificial hand |
| CN105479485A (en) * | 2016-01-28 | 2016-04-13 | 哈尔滨工业大学 | Serial flexible driving joint having steel wire transmission function |
| CN107538510A (en) * | 2016-06-28 | 2018-01-05 | 中国科学院沈阳自动化研究所 | A kind of lightweight apery five-needle pines blister rust mechanism |
| CN106208543B (en) * | 2016-07-30 | 2018-10-19 | 深圳市优必选科技有限公司 | Servo motor and control method thereof |
| CN106208543A (en) * | 2016-07-30 | 2016-12-07 | 深圳市优必选科技有限公司 | Servo motor and control method thereof |
| CN106826907A (en) * | 2017-02-28 | 2017-06-13 | 深圳源创智能机器人有限公司 | A kind of single-degree-of-freedom linkage flexible charging joint of robot group |
| CN106826907B (en) * | 2017-02-28 | 2019-11-26 | 深圳源创智能机器人有限公司 | A kind of single-degree-of-freedom linkage flexible charging joint of robot group |
| CN108081304A (en) * | 2018-02-08 | 2018-05-29 | 西北农林科技大学 | One kind three refers to picking mechanical arm |
| CN108481354A (en) * | 2018-05-29 | 2018-09-04 | 宋为 | Disk tooth shifting multi-mode formula merges adaptive robot finger apparatus |
| CN108481354B (en) * | 2018-05-29 | 2024-06-04 | 宋为 | Disk-tooth switching multi-mode fusion self-adaptive robot finger device |
| CN108789384A (en) * | 2018-09-03 | 2018-11-13 | 深圳市波心幻海科技有限公司 | A kind of flexible drive manipulator and the object identification method based on three-dimensional modeling |
| CN108789384B (en) * | 2018-09-03 | 2024-01-09 | 深圳市波心幻海科技有限公司 | Flexible driving manipulator and object recognition method based on three-dimensional modeling |
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|---|---|
| CN100522508C (en) | 2009-08-05 |
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