CN104015193A - Grabbing-locking self-adaptive robot finger device - Google Patents
Grabbing-locking self-adaptive robot finger device Download PDFInfo
- Publication number
- CN104015193A CN104015193A CN201410242304.9A CN201410242304A CN104015193A CN 104015193 A CN104015193 A CN 104015193A CN 201410242304 A CN201410242304 A CN 201410242304A CN 104015193 A CN104015193 A CN 104015193A
- Authority
- CN
- China
- Prior art keywords
- spring
- joint shaft
- ratchet
- segment
- transmission mechanism
- 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.)
- Granted
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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a grabbing-locking self-adaptive robot finger device, and belongs to the technical field of robot hands. The device comprises a base, a motor, a first transmission mechanism, a near-joint shaft, a middle finger section, a driving pulley, a synchronous belt, a driven pulley, a far-joint shaft, a tail end finger section and a first spring piece. The device further comprises a second transmission mechanism, a pawl, a pawl shaft, a ratchet, a second spring piece, a third spring piece and a fourth spring piece. The device can be installed on a mechanical arm, matched with the active movement of the mechanical arm to conduct object grabbing in a reaction surface-evacuated mode, and has the self-adaptive capacity for the shape and size of the grabbed object. Shape-enclosure and force-enclosure stable grabbing is achieved in the object grabbing, and the lost stability phenomenon that joint reset is caused by vibration interference in the grabbing process is avoided. The device is simple in structure, small in size, less in quality and low in production cost and maintenance cost, and the fingers are similar to fingers of the human.
Description
Technical field
The invention belongs to robot technical field, particularly a kind of structural design that captures locking adaptive robot finger apparatus.
Background technology
With the mankind seemingly, most functions of anthropomorphic robot will realize by operation by human hand, thereby hand structure is anthropomorphic robot's important component part, its design is one of key technology of anthropomorphic robot.In order to increase personalizing of hand, hand will design more joint freedom degrees, yet, in order to alleviate the control difficulty of anthropomorphic robot's hand, and the volume, the weight that reduce hand, driver number need to be reduced, the two has certain contradiction, in addition, in order to capture better object, also need finger when capturing object, to there is certain adaptivity.Under-actuated finger can better realize more joint freedom degrees, less driver number, these three targets of stronger adaptivity while capturing the object of difformity, size.
Existing a kind of belt wheel under-driven robot finger, as Chinese invention patent CN101234489B, comprise pedestal, motor, decelerator, the first gear, the second gear, nearly joint shaft, middle part segment, joint shaft far away, end segment, driving pulley, Timing Belt, driven pulley and spring part; Middle part segment is socketed on nearly joint shaft, and the two ends of spring part connect respectively middle part segment and end segment.This device can be realized self adaptation and owe to drive function.
The weak point of this device is: this device does not push middle part during segment at object, the original state that end segment is stretched reply, so this device cannot be implemented in the grasping body that in crawl process, reaction surface is cancelled.For example an object is placed on the table, when the finger being arranged on mechanical arm relies on object, motor drives the first joint to rotate, and object can stop and push middle part segment, thereby synchronous belt mechanism can cause the second joint of finger crooked, but when mechanical arm leaves desktop, now object no longer pushes middle part segment, the original state that end segment is stretched reply, and the bending of finger can not keep, so object comes off, capture unsuccessfully.Although this device has reached a kind of self adaptation envelope effect in profile when capturing object on the other hand, but do not produce grasping force, thereby realizable force closed stablity captures, only have to there is shape sealing and force-closed two kinds of envelopes just can reach stable grasping simultaneously.When only having shape sealing, if run into vibration interference, object is carved at a time the extruding force of middle part segment is reduced suddenly, will cause end segment to decontrol rapidly object, produces unstable phenomenon.
Summary of the invention
The object of the invention is the weak point for prior art, a kind of crawl locking adaptive robot finger apparatus is provided.This device can be installed on mechanical arm, the grasping body that reaction surface is withdrawn is implemented in the active movement of cooperative mechanical arm, there is the shape to grabbed object, the adaptive ability of size, capture object and reach shape sealing and force-closed stable crawl, prevent from because of vibration interference, causing the unstable phenomenon of joint reply in crawl process, this apparatus structure is simple, volume is little, quality is little, and manufacture and maintenance cost are low, similar to the finger of staff.
Technical scheme of the present invention is as follows:
A kind of crawl locking adaptive robot finger apparatus of the present invention's design, comprises pedestal, motor, the first transmission mechanism, nearly joint shaft, middle part segment, driving pulley, Timing Belt, driven pulley, joint shaft far away, end segment and the first spring part; Described motor and pedestal are affixed, the output shaft of motor is connected with the power shaft of the first transmission mechanism, the output shaft of the first transmission mechanism is connected with nearly joint shaft, described nearly joint shaft is movably set in pedestal, described joint shaft far away is movably set in the segment of middle part, described middle part segment is actively socketed on nearly joint shaft, and described end segment is fixed on joint shaft far away; The both sides of described Timing Belt connect respectively driving pulley, driven pulley, and described Timing Belt, driving pulley and driven pulley three form toothed belt transmission relation; The two ends of described the first spring part connect respectively middle part segment and end segment; It is characterized in that: this device also comprises the second transmission mechanism, ratchet, pawl axis, ratchet, the second spring part, the 3rd spring part and the 4th spring part; Described driving pulley is actively socketed on nearly joint shaft; Described driven pulley is actively socketed on joint shaft far away, described nearly joint shaft is connected with the input of the second transmission mechanism, the output of the second transmission mechanism is connected with ratchet, described ratchet is actively socketed on pawl axis, pawl axis fixed cover is located in the segment of middle part, described ratchet is actively socketed on joint shaft far away, described ratchet and driven pulley are affixed, the two ends of the second spring part connect respectively middle part segment and ratchet, the two ends of described the 3rd spring part connect respectively ratchet and end segment, and the two ends of described the 4th spring part connect respectively nearly joint shaft and driving pulley.
Crawl locking adaptive robot finger apparatus of the present invention, is characterized in that: described the second transmission mechanism comprises sleeve and flexible piece; Described sleeve is fixed on nearly joint shaft; One end of described flexible piece is connected on sleeve, and the other end is connected on ratchet.
Crawl locking adaptive robot finger apparatus of the present invention, is characterized in that: described the first spring part adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads; Described the second spring part adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads; Described the 3rd spring part adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads; Described the 4th spring part adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads.
Crawl locking adaptive robot finger apparatus of the present invention, is characterized in that: described the first transmission mechanism comprises decelerator, the first gear and the second gear.
The present invention compared with prior art, has the following advantages and high-lighting effect:
This device is applicable to being installed on mechanical arm tail end as a part for humanoid robot hand or hand, and the grasping body that reaction surface is withdrawn is implemented in the active movement of cooperative mechanical arm; There is the shape to grabbed object, the adaptive ability of size, capture object and reach shape sealing and force-closed stable crawl, prevent in crawl process because the unstable phenomenon that vibration interference causes joint to be replied; This device utilizes reaction surface to push middle part segment to the active force of object, coordinate again the bending of the realization finger second joints such as synchronous belt mechanism, adopt click to realize finger second joint and only allow forward bending and can not oppositely stretch, prevent that object comes off when mechanical arm is withdrawn reaction surface; Adopt the distortion generation end segment of the 3rd spring part to apply stable grasping force to object; Adopt motor to realize the unilateral constrain effect of ratchet to ratchet of removing in the time need to discharging object, realize and discharge object; This apparatus structure is simple, and volume is little, and quality is little, and manufacture and maintenance cost are low, similar to the finger of staff.
Accompanying drawing explanation
Fig. 1 is the stereo appearance figure of the embodiment of crawl locking adaptive robot finger apparatus provided by the invention.
Fig. 2 is the front section view of the present embodiment.
Fig. 3 is the explosive view of the present embodiment.
Fig. 4 is the side outward appearance of the present embodiment.
Fig. 5 is the left side view (not drawing part) of Fig. 2.
In Fig. 1 to Fig. 5:
1-pedestal, 11-motor, 12-the first transmission mechanism,
121-decelerator, 122-the first gear, 123-the second gear,
The nearly joint shaft of 2-,
3-middle part segment, 31-driving pulley, 32-Timing Belt,
33-driven pulley,
4-joint shaft far away, 5-end segment, 6-the first spring part,
71-the 4th spring part, 72-the second transmission mechanism, 722-sleeve,
723-tendon rope, 73-ratchet, 731-fork,
732-connecting rod,
74-pawl axis, 75-ratchet, 76-the second spring part,
8-the 3rd spring part, the object that 10-captures.
The specific embodiment
Below in conjunction with drawings and Examples, be described in further detail the content of concrete structure of the present invention, operation principle.
A kind of embodiment that captures locking adaptive robot finger apparatus of the present invention's design, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, comprise pedestal 1, motor 11, the first transmission mechanism 12, nearly joint shaft 2, middle part segment 3, driving pulley 31, Timing Belt 32, driven pulley 33, joint shaft 4 far away, end segment 5 and the first spring part 6, described motor 11 is affixed with pedestal 1, the output shaft of motor 11 is connected with the power shaft of the first transmission mechanism 12, the output shaft of the first transmission mechanism 12 is connected with nearly joint shaft 2, described nearly joint shaft 2 is movably set in pedestal 1, described joint shaft far away 4 is movably set in the segment 3 of middle part, described middle part segment 3 is actively socketed on nearly joint shaft 2, and described end segment 5 is fixed on joint shaft 4 far away, the both sides of described Timing Belt 32 connect respectively driving pulley 31, driven pulley 33, and described Timing Belt 32, driving pulley 31 and driven pulley 33 threes form toothed belt transmission relation, the two ends of described the first spring part 6 connect respectively middle part segment 3 and end segment 5, this device also comprises the second transmission mechanism 72, ratchet 73, pawl axis 74, ratchet 75, the second spring part 76, the 3rd spring part 8 and the 4th spring part 71, described driving pulley 31 is actively socketed on nearly joint shaft 2, described driven pulley 33 is actively socketed on joint shaft 4 far away, described nearly joint shaft 2 is connected with the input of the second transmission mechanism 72, the output of the second transmission mechanism 72 is connected with ratchet 73, described ratchet 73 is actively socketed on pawl axis 74, pawl axis 74 fixed covers are located in the segment 3 of middle part, described ratchet 75 is actively socketed on joint shaft 4 far away, described ratchet 75 is affixed with driven pulley 33, the two ends of the second spring part 76 connect respectively middle part segment 3 and ratchet 73, the two ends of described the 3rd spring part 8 connect respectively ratchet 75 and end segment 5, the two ends of described the 4th spring part 71 connect respectively nearly joint shaft 2 and driving pulley 31.
In the present embodiment, described the second transmission mechanism 72 comprises sleeve 722 and flexible piece; Described sleeve 722 is fixed on nearly joint shaft; One end of described flexible piece is connected on sleeve 722, and the other end is connected on ratchet 73; Described flexible piece is tendon rope 723.
Crawl locking adaptive robot finger apparatus of the present invention, described the first spring part 6 adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads; Described the second spring part 76 adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads; Described the 3rd spring part 8 adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads; Described the 4th spring part 71 adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads.
In the present embodiment, described the first spring part 6 adopts torsion spring, and described the second spring part 76 adopts torsion spring, and described the 3rd spring part 8 adopts torsion spring, and described the 4th spring part 71 adopts torsion spring.
Crawl locking adaptive robot finger apparatus of the present invention, described the first transmission mechanism 12 comprises decelerator 121, the first gear 122 and the second gear 123.
The operation principle of the present embodiment, in conjunction with Fig. 1 to Fig. 5, is described below:
The initial position of this device, now middle part segment 3 and end segment 5 is a straight line with pedestal 1, is equivalent to the state that people's finger stretches.When the robot crawl object 10 of the present embodiment is equipped with in use, the output shaft rotation of motor 11, drives the nearly joint shaft 2 that is connected with the second gear 123 to rotate by decelerator 121, the first gear 122, and driving pulley 31 is rotated.Effect of contraction due to the first spring part 6, middle part segment 3 is fixed together seemingly with end segment 5, therefore the rotation of driving pulley 31 will be by Timing Belt 32 and driven pulley 33, preferentially make middle part segment 3 around nearly joint shaft 2, rotate together with end segment 5, this process is until middle part segment 3 is encountered object 10.
When middle part segment 3 is encountered object 10 and is blocked and cannot continues to rotate, now driving pulley 31 will allow driven pulley 33 rotate by Timing Belt 32, ratchet 75 is rotated, the elastic force that drives end segment 5 to overcome the first spring part 6 by the 3rd spring part rotates, and the first spring part 6 deflections increase simultaneously.This process is until end segment 5 is also encountered object.
Now, motor 11 makes driving pulley 31 be rotated further an angle, thereby allows ratchet 75 follow the angles of rotating more, and the 3rd spring part 8 deforms, and the elastic force that this deflection brings forms the grasping force that 5 pairs of objects 10 of end segment apply.
Because ratchet 73 is under the effect of the second spring part 76, rely on all the time ratchet 75, and retrain ratchet 75, only allow ratchet 75 to be rotated in the forward, can not rotate backward, when object 10 no longer pushes middle part segment 3, point joint far away and can not reverse, keep the stable effect that captures.
So far, the present embodiment device has been firmly grasped object.
Even if body form varies in size, this installs also envelope object smoothly.When if this device middle part segment 3 and end segment 5 are rotated simultaneously, end segment 5 has precedence over middle part segment 3 and touches object 10 surfaces, because end segment 5 is subject to stopping of middle part segment 3, be difficult to reversion, so this device will no longer move and firmly by end segment 5, firmly grasp object 10.
When decontroling object, motor 11 rotates backward, and by the first transmission mechanism 12, drives nearly joint shaft 2 to rotate backward; Nearly joint shaft 2, by the 4th spring part 71, drives driving pulley 31 to rotate, and due to the constraint of 73 pairs of ratchets 75 of ratchet, driven pulley 33 cannot reverse, and now, two kinds of situations may occur:
I) if the frictional force of object and end segment 5 is larger, whole finger can not be reversed by the reversion of driving pulley 31, the rotation of nearly joint shaft 2 will make the 4th spring part 71 deform, the rotation of nearly joint shaft 2 also pulls ratchet 73 by the second transmission mechanism 72 simultaneously, ratchet 73 is stirred and left ratchet 75 surfaces, ratchet 75 and driven pulley 33 are no longer subject to ratchet 73 constraint then and at the 3rd spring part 8, under the effect of the 4th spring part 71, rotate backward, end segment 5 rotates backward the position of stretching with middle part segment 3, motor 11 reversions, to drive middle part segment 3 and end segment 5 both integral inverted to rotating back into around nearly joint shaft 2 initial position stretching.
II) if the frictional force of object and end segment 5 is less, whole finger is reversed by the reversion of driving pulley 31, now end segment 5 is still crooked, until middle part segment 3 has been stretched, can not reverse again, now, nearly joint shaft 2 continues reversion, the 4th spring part 71 deforms, the reversion of nearly joint shaft 2 pulls ratchet 73 by the second transmission mechanism 72, ratchet 73 is stirred and left ratchet 75 surfaces, ratchet 75 and driven pulley 33 are no longer subject to ratchet 73 constraint then and at the 3rd spring part 8, under the effect of the 4th spring part 71, rotate backward, end segment 5 rotates backward the position of stretching with middle part segment 3, so far, recover initial straight configuration completely.
This device is applicable to being installed on mechanical arm tail end as a part for humanoid robot hand or hand, and the grasping body that reaction surface is withdrawn is implemented in the active movement of cooperative mechanical arm; There is the shape to grabbed object, the adaptive ability of size, capture object and reach shape sealing and force-closed stable crawl, prevent in crawl process because the unstable phenomenon that vibration interference causes joint to be replied; This device utilizes reaction surface to push middle part segment to the active force of object, coordinate again the bending of the realization finger second joints such as synchronous belt mechanism, adopt click to realize finger second joint and only allow forward bending and can not oppositely stretch, prevent that object comes off when mechanical arm is withdrawn reaction surface; Adopt the distortion generation end segment of the 3rd spring part to apply stable grasping force to object; Adopt motor to realize the unilateral constrain effect of ratchet to ratchet of removing in the time need to discharging object, realize and discharge object; This apparatus structure is simple, and volume is little, and quality is little, and manufacture and maintenance cost are low, similar to the finger of staff.
Claims (4)
1. capture a locking adaptive robot finger apparatus, comprise pedestal (1), motor (11), the first transmission mechanism (12), nearly joint shaft (2), middle part segment (3), driving pulley (31), Timing Belt (32), driven pulley (33), joint shaft (4) far away, end segment (5) and the first spring part (6), described motor (11) is affixed with pedestal (1), the output shaft of motor (11) is connected with the power shaft of the first transmission mechanism (12), the output shaft of the first transmission mechanism (12) is connected with nearly joint shaft (2), described nearly joint shaft (2) is movably set in pedestal (1), described joint shaft far away (4) is movably set in middle part segment (3), it is upper that described middle part segment (3) is actively socketed on nearly joint shaft (2), and described end segment (5) is fixed on joint shaft far away (4), the both sides of described Timing Belt (32) connect respectively driving pulley (31), driven pulley (33), and described Timing Belt (32), driving pulley (31) and driven pulley (33) three form toothed belt transmission relation, the two ends of described the first spring part (6) connect respectively middle part segment (3) and end segment (5), it is characterized in that: this device also comprises the second transmission mechanism (72), ratchet (73), pawl axis (74), ratchet (75), the second spring part (76), the 3rd spring part (8) and the 4th spring part (71), described driving pulley (31) is actively socketed on nearly joint shaft (2), described driven pulley (33) is actively socketed on joint shaft far away (4), described nearly joint shaft (2) is connected with the input of the second transmission mechanism (72), the output of the second transmission mechanism (72) is connected with ratchet (73), described ratchet (73) is actively socketed on pawl axis (74), pawl axis (74) fixed cover is located in middle part segment (3), described ratchet (75) is actively socketed on joint shaft far away (4), described ratchet (75) is affixed with driven pulley (33), the two ends of the second spring part (76) connect respectively middle part segment (3) and ratchet (73), the two ends of described the 3rd spring part (8) connect respectively ratchet (75) and end segment (5), the two ends of described the 4th spring part (71) connect respectively nearly joint shaft (2) and driving pulley (31).
2. crawl locking adaptive robot finger apparatus as claimed in claim 1, is characterized in that: described the second transmission mechanism comprises sleeve (722) and flexible piece; Described sleeve (722) is fixed on nearly joint shaft; It is upper that one end of described flexible piece is connected to sleeve (722), and the other end is connected on ratchet (73).
3. crawl locking adaptive robot finger apparatus as claimed in claim 1, is characterized in that: described the first spring part adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads; Described the second spring part adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads; Described the 3rd spring part adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads; Described the 4th spring part adopts torsion spring, extension spring, stage clip, sheet spring or elastic threads.
4. crawl locking adaptive robot finger apparatus as claimed in claim 1, is characterized in that: described the first transmission mechanism comprises decelerator, the first gear and the second gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410242304.9A CN104015193B (en) | 2014-06-03 | 2014-06-03 | Capture locking adaptive robot finger apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410242304.9A CN104015193B (en) | 2014-06-03 | 2014-06-03 | Capture locking adaptive robot finger apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104015193A true CN104015193A (en) | 2014-09-03 |
| CN104015193B CN104015193B (en) | 2016-05-18 |
Family
ID=51432344
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410242304.9A Expired - Fee Related CN104015193B (en) | 2014-06-03 | 2014-06-03 | Capture locking adaptive robot finger apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104015193B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364937A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Connecting rod type variable grasping force cooperative self-adaptive finger device |
| CN105364938A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Belt wheel type cooperative locking linkage self-adaptive robot finger device |
| CN105583829A (en) * | 2015-12-24 | 2016-05-18 | 柳超 | Simulated mechanical finger pulled on basis of steel wire |
| CN105773643A (en) * | 2016-03-17 | 2016-07-20 | 清华大学 | Closed-loop flexible piece fluid parallel clamping self-adaptive robot finger device |
| CN105773606A (en) * | 2016-03-17 | 2016-07-20 | 清华大学 | Self-adaptation robot finger device achieving flexible piece and gear parallel clamping |
| CN105798943A (en) * | 2016-03-11 | 2016-07-27 | 清华大学 | Fluid type stepless locking rope spring self-adaptation robot finger device |
| CN105798934A (en) * | 2016-03-11 | 2016-07-27 | 清华大学 | Cam synchronous locking elastic self-adaptation robot finger device |
| CN105798933A (en) * | 2016-03-11 | 2016-07-27 | 清华大学 | Rack type multi-joint synchronous locking self-adaptation robot finger device |
| CN105798937A (en) * | 2016-03-11 | 2016-07-27 | 清华大学 | Axial spiral synchronous locking self-adaptive robot finger device |
| CN105835076A (en) * | 2016-03-17 | 2016-08-10 | 清华大学 | Closed flexible piece parallel clamping dexterous robot finger device |
| CN107953353A (en) * | 2017-11-22 | 2018-04-24 | 清华大学 | The instant genlocing device of under-driving robot finger multi-joint any angle |
| CN108481311A (en) * | 2018-06-14 | 2018-09-04 | 中国科学院宁波材料技术与工程研究所 | A kind of variation rigidity complaisant grasping device |
| CN111015713A (en) * | 2019-12-11 | 2020-04-17 | 佛山科学技术学院 | Manipulator capable of enhancing clamping force |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0268341A2 (en) * | 1986-11-19 | 1988-05-25 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern | Gripping device |
| DE19854762A1 (en) * | 1998-11-27 | 2000-06-15 | Marc Franke | Artificial hand with two or more fingers for picking up objects includes distal finger section connected by tilting movement to medial section by distal articulated joint, and medial to proximal by medial joint |
| CN101234489A (en) * | 2008-01-04 | 2008-08-06 | 清华大学 | Belt wheel under-driven robot finger device |
| CN101422906A (en) * | 2008-12-12 | 2009-05-06 | 清华大学 | Displacement under-actuated two-articulated robot finger device based on flexible piece |
| CN101444918A (en) * | 2008-12-26 | 2009-06-03 | 清华大学 | under-actuated bionic finger device with function of pre-bending grasping |
| CN101633171A (en) * | 2009-07-31 | 2010-01-27 | 清华大学 | Finger device of double-joint parallel under-actuated robot |
| CN101670581A (en) * | 2008-09-11 | 2010-03-17 | 三星电子株式会社 | Robot hand and humanoid robot having the same |
| CN103659825A (en) * | 2013-11-25 | 2014-03-26 | 清华大学 | Bending self-locking pneumatic under-actuated robot finger device |
-
2014
- 2014-06-03 CN CN201410242304.9A patent/CN104015193B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0268341A2 (en) * | 1986-11-19 | 1988-05-25 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern | Gripping device |
| DE19854762A1 (en) * | 1998-11-27 | 2000-06-15 | Marc Franke | Artificial hand with two or more fingers for picking up objects includes distal finger section connected by tilting movement to medial section by distal articulated joint, and medial to proximal by medial joint |
| CN101234489A (en) * | 2008-01-04 | 2008-08-06 | 清华大学 | Belt wheel under-driven robot finger device |
| CN101670581A (en) * | 2008-09-11 | 2010-03-17 | 三星电子株式会社 | Robot hand and humanoid robot having the same |
| CN101422906A (en) * | 2008-12-12 | 2009-05-06 | 清华大学 | Displacement under-actuated two-articulated robot finger device based on flexible piece |
| CN101444918A (en) * | 2008-12-26 | 2009-06-03 | 清华大学 | under-actuated bionic finger device with function of pre-bending grasping |
| CN101633171A (en) * | 2009-07-31 | 2010-01-27 | 清华大学 | Finger device of double-joint parallel under-actuated robot |
| CN103659825A (en) * | 2013-11-25 | 2014-03-26 | 清华大学 | Bending self-locking pneumatic under-actuated robot finger device |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364937A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Connecting rod type variable grasping force cooperative self-adaptive finger device |
| CN105364938A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Belt wheel type cooperative locking linkage self-adaptive robot finger device |
| CN105364937B (en) * | 2015-12-01 | 2017-06-16 | 清华大学 | Link-type can the cooperative self-adapted finger apparatus of changeable grasping force |
| CN105583829A (en) * | 2015-12-24 | 2016-05-18 | 柳超 | Simulated mechanical finger pulled on basis of steel wire |
| CN105583829B (en) * | 2015-12-24 | 2017-11-10 | 泉州市泉港智源商贸有限公司 | A kind of simulation manipulator pulled based on steel wire is referred to |
| CN105798943A (en) * | 2016-03-11 | 2016-07-27 | 清华大学 | Fluid type stepless locking rope spring self-adaptation robot finger device |
| CN105798934B (en) * | 2016-03-11 | 2018-07-06 | 清华大学 | Cam genlocing elasticity adaptive robot finger apparatus |
| CN105798933A (en) * | 2016-03-11 | 2016-07-27 | 清华大学 | Rack type multi-joint synchronous locking self-adaptation robot finger device |
| CN105798937A (en) * | 2016-03-11 | 2016-07-27 | 清华大学 | Axial spiral synchronous locking self-adaptive robot finger device |
| CN105798934A (en) * | 2016-03-11 | 2016-07-27 | 清华大学 | Cam synchronous locking elastic self-adaptation robot finger device |
| CN105798937B (en) * | 2016-03-11 | 2018-10-02 | 清华大学 | Axis moves helical synchronous and locks adaptive robot finger apparatus |
| CN105835076A (en) * | 2016-03-17 | 2016-08-10 | 清华大学 | Closed flexible piece parallel clamping dexterous robot finger device |
| CN105773643A (en) * | 2016-03-17 | 2016-07-20 | 清华大学 | Closed-loop flexible piece fluid parallel clamping self-adaptive robot finger device |
| CN105773606A (en) * | 2016-03-17 | 2016-07-20 | 清华大学 | Self-adaptation robot finger device achieving flexible piece and gear parallel clamping |
| CN107953353A (en) * | 2017-11-22 | 2018-04-24 | 清华大学 | The instant genlocing device of under-driving robot finger multi-joint any angle |
| CN107953353B (en) * | 2017-11-22 | 2020-05-01 | 清华大学 | Finger multi-joint any-angle instant synchronous locking device of under-actuated robot |
| CN108481311A (en) * | 2018-06-14 | 2018-09-04 | 中国科学院宁波材料技术与工程研究所 | A kind of variation rigidity complaisant grasping device |
| CN108481311B (en) * | 2018-06-14 | 2023-09-12 | 中国科学院宁波材料技术与工程研究所 | Variable-rigidity compliant grabbing device |
| CN111015713A (en) * | 2019-12-11 | 2020-04-17 | 佛山科学技术学院 | Manipulator capable of enhancing clamping force |
| CN111015713B (en) * | 2019-12-11 | 2021-06-25 | 佛山科学技术学院 | Manipulator capable of enhancing clamping force |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104015193B (en) | 2016-05-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104015193B (en) | Capture locking adaptive robot finger apparatus | |
| CN103846922B (en) | Tooth bar non-return self adaptation under-actuated robot finger device | |
| CN101508115B (en) | Variable sequence under-actuated two-articulated robot finger device | |
| CN101486191B (en) | Displacement under-actuated robot hand apparatus | |
| CN101234489B (en) | Belt wheel under-driven robot finger device | |
| CN102205542B (en) | Multipath flexible piece two-joint compound robot finger device | |
| CN101804633B (en) | Tendon rope parallel skillful under-driven bionic robot finger device | |
| CN101797753B (en) | Smart under-actuated bionic robot finger device with parallel-connected tendon ropes | |
| CN102166753B (en) | Bevel gear flexible piece compound grabbing robot fingers device | |
| CN101422906B (en) | Displaced under-actuated two-articulated robot finger device based on flexible piece | |
| CN101444918B (en) | Under-actuated bionic finger device with function of pre-bending grasping | |
| CN102310411B (en) | Three-axis gear and rack composite underactuated dual-joint robot finger device | |
| CN101693372B (en) | Connecting rod slider-type under-actuated robot finger device with changeable grasping force | |
| CN101653941B (en) | Sliding block type direct under-actuated bionic hand device with changeable holding power | |
| CN100581756C (en) | Double bevel wheel under-driven robot finger | |
| CN105364937A (en) | Connecting rod type variable grasping force cooperative self-adaptive finger device | |
| CN103659825A (en) | Bending self-locking pneumatic under-actuated robot finger device | |
| CN101633171B (en) | Finger device of double-joint parallel under-actuated robot | |
| CN105881565A (en) | Finger device of four-linkage parallel clamping and adaptive robot | |
| CN101444917A (en) | Mechanical finger device with functions of bionic displacement and self-adapting grasping | |
| CN100551637C (en) | Rack bar under-driven robot finger device | |
| CN102179817A (en) | Double-flexibility piece composite under-actuated double-joint finger device for robot | |
| CN101829995B (en) | Crank block type flexible piece parallel coupled under-actuated finger device | |
| CN101664930B (en) | Coupling underactuated integral finger device of double-joint robot | |
| CN101829993B (en) | Rack crank slide block type parallel coupling under-driving robot finger device |
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 | ||
| 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: 20160518 Termination date: 20170603 |