CN107097246A - A kind of adaptive rope drive formula drive lacking three refers to manipulator - Google Patents
A kind of adaptive rope drive formula drive lacking three refers to manipulator Download PDFInfo
- Publication number
- CN107097246A CN107097246A CN201710376238.8A CN201710376238A CN107097246A CN 107097246 A CN107097246 A CN 107097246A CN 201710376238 A CN201710376238 A CN 201710376238A CN 107097246 A CN107097246 A CN 107097246A
- Authority
- CN
- China
- Prior art keywords
- finger
- fixed
- palm
- manipulator
- rotation
- 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.)
- Pending
Links
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 210000000707 wrist Anatomy 0.000 claims abstract description 13
- 210000001145 finger joint Anatomy 0.000 claims description 42
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 24
- 238000005452 bending Methods 0.000 claims description 17
- 230000008878 coupling Effects 0.000 claims description 15
- 238000010168 coupling process Methods 0.000 claims description 15
- 238000005859 coupling reaction Methods 0.000 claims description 15
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 238000007598 dipping method Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 2
- 241000511997 Ceropegia linearis subsp. woodii Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- 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
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention refers to manipulator for a kind of adaptive rope drive formula drive lacking three, including palm, finger component, mechanical wrist, the finger component rotates finger by 1 the first fixed finger of structure identical and 2 second and constituted, the bottom of first fixed finger is fixed on the palm, and the second rotation finger is connected with the pinion rotation mechanism for being fixed on the palm center and the second rotation finger being made to horizontally rotate along palm axis.Stable and reliable for performance, compact conformation of the invention, practicality, flexibly, can efficiently be coordinated, the industrial automaticity of raising with industrial robot.
Description
Technical field
The present invention relates to a kind of industrial robot, particularly disclose a kind of adaptive rope drive formula drive lacking three and refer to manipulator.
Background technology
In industrial application, clamp-type manipulator is used the end effector of robot more, by two opening and closing referred to,
Realize the clamping and carrying of material.The finger of this manipulator needs to be designed according to the shape of clamped object, general
Specific crawl task can be realized, it is impossible to adapt to the change of object profile.When performing different job tasks, it is necessary to set again
Paw is counted, versatility is poor, and can increase production cost.
The content of the invention
It is an object of the invention to overcome defect present in prior art there is provided a kind of to have very high versatility, steady
Qualitative and reliability, can efficiently be coordinated with industrial robot, and the adaptive rope for improving industrial automaticity drives
Formula drive lacking three refers to manipulator.
What the present invention was realized in：A kind of adaptive rope drive formula drive lacking three refers to manipulator, including palm, finger group
Part, mechanical wrist, it is characterised in that：The finger component is by 1 the first fixed finger of structure identical and 2 second rotation hands
Refer to composition, the bottom of first fixed finger is fixed on the palm, the second rotation finger is with being fixed on the hand
Palm center simultaneously can make the second rotation finger be connected along the pinion rotation mechanism that palm axis horizontally rotates；
First fixed finger, the second rotation finger include finger portion, refer to portion's bending controlled motor, pedestal, are connected as a single entity respectively
Inclined base and horizontal base, the top of the inclined base is outward-dipping relative to palm center, the inclined base with
Angle between horizontal base is in obtuse angle；The finger portion is connected with the pedestal, and the pedestal is inclined by sliding equipment with described
Sloping bottom is connected, and the sliding equipment can make axis direction of the pedestal along the inclined base slidably reciprocate；Described second
The horizontal base for rotating finger is connected with the pinion rotation mechanism；The finger portion bending controlled motor is fixed on the inclination bottom
On seat, the finger portion bending controlled motor is connected by chain rope with the finger portion.
The pinion rotation mechanism includes one and fixes conical gear, a fixing axle, quantity and the described second rotation finger number
The corresponding rotation drive component of amount, the rotation drive component includes rotating conical gear, connecting rod, gear coupling and tooth
Turbin generator；
The fixed conical gear is fixed in the fixing axle, and the lower end of the fixing axle is fixed in the top of the palm
The heart, the rotation conical gear is socketed in the connecting rod, and the rotation conical gear and the fixed conical gear phase
Engagement, one end of the connecting rod is connected with the fixing axle, the other end of the connecting rod by the gear coupling and
The gear motor is connected, and the gear motor is fixed on the described second horizontal base for rotating finger.
The sliding equipment includes rail plate, leading screw, leading screw shaft coupling, spindle motor, and the rail plate is fixed on
On the inclined base and with the pedestal slide be connected, one end of the leading screw is connected with the pedestal, the leading screw it is another
One end is connected by the leading screw shaft coupling with the spindle motor, and the spindle motor is fixed on the inclined base.
The finger portion includes the nearly finger joint pulley spindle being sequentially connected, nearly finger joint, middle finger joint pulley spindle, middle finger joint, remote finger joint
Pulley spindle, remote finger joint, the nearly finger joint pulley spindle are connected with the pedestal, and one end of the chain rope bends with the finger portion and controlled
Motor is connected, the other end of the chain rope bypass successively after nearly finger joint pulley spindle, middle finger joint pulley spindle, remote finger joint pulley spindle with institute
Remote finger joint is stated to be connected.
The finger portion bending controlled motor is rope sheave motor, and the chain rope is steel wire rope.
Angle between the inclined base and horizontal base is 135 degree.
The top of the horizontal base is covered provided with fixed, and the fixed lid is fixed at the top of the pinion rotation mechanism
On, support member is provided between the fixed lid and the palm.
The mechanical wrist includes support base, center chain, three side chains, and the center chain includes being sequentially connected
The first rotation seat, the first cross frame, double end universal bar, the second cross frame, the second rotation seat and support bar, described first
The top of rotation seat is connected with the bottom of the palm, and the bottom of the support bar is connected with the support base；The side chain bag
The stock and quarter butt being hinged are included, the bottom of the stock is connected with the support base, the top of the quarter butt and the hand
The bottom of the palm is hinged.
Provided with 4 groups of expansion controllers in the support base, expansion controller described in every group is main by connection guide rail and guide rail
Controlled motor is constituted, and the guide rail controlled motor is fixed in the support base, and the support bar, the bottom of stock are respectively with 1
The guide rail controlled motor of the group expansion controller is connected, and the lower side of the support bar, the lower side of stock are led to respectively
The connection guide rail is crossed with the support base to be connected.
Have on palm of the present invention the rotational freedom in 9 finger portions itself, 3 movements for being brought by sliding equipment from
By degree and 2 rotational freedoms brought by pinion rotation mechanism；Wrist has 6 rotational freedoms of three side chains, 3
The free degree is moved up and down between stock and support base, 1 between center chain support bar and support base moves up and down the free degree,
The rotational freedom of 2 of 2 rotational freedoms and double end universal bar two ends of the first rotation seat and the second rotation seat；Altogether
28 frees degree.Finger component and side chain all use modularized design, cost-effective, convenient processing.The finger component is by referring to
Portion's bending controlled motor realizes the bending in the portion of finger by chain rope drive, and the movement for promoting pedestal by sliding equipment refers to realize
The deformation in portion.Pass through the mobile 360 ° of rotations that can realize wrist of center chain and three side chains on the connection guide rail in support base
Turn.
The beneficial effects of the invention are as follows：1. it is stable and reliable for performance：The rotation that the present invention second rotates finger is turned using gear
The gear drive of motivation structure, gear drive has that stable drive, gearratio be accurate, efficiency high, long lifespan, the power used, speed
The advantages of degree and size range are big；The present invention refers to the ball screw assembly, of the mobile use sliding equipment in portion, ball-screw auxiliary driving
Precision is high, output straight line force is big.
2. compact conformation：Two of pinion rotation mechanism rotate conical gear and a fixed conical gear coordinates, and make tooth
Take turns drive mechanism compacter；The motor and other parts needed built in the unique design energy of inclined base and horizontal base.
3. it is practical：135 ° of corner designs of inclined base and horizontal base, can not only reach when pedestal rises along guide rail
The effect of finger is extended, and the area of palm can be expanded, and two second rotate finger and can freely be rotated on palm,
Such 2 points can make the crawl that manipulator adapts to the variously-shaped object with size.
4. it is flexible：Wrist can be realized by mobile on the connection guide rail in support base of center chain and three side chains
360 ° of rotations.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is side structure schematic diagram of the present invention.
Fig. 3 Fig. 2 A-A is to cross section structure diagram.
Fig. 4 is the position relationship overlooking the structure diagram of finger component and palm.
Fig. 5 is the structural representation of mechanical wrist.
Wherein：1st, fixed lid；11st, support member；
2nd, palm；3rd, the first fixed finger；4th, second finger is rotated；
41st, portion is referred to；4101st, nearly finger joint pulley spindle；4102nd, nearly finger joint；4103rd, middle finger joint pulley spindle；4104th, middle finger joint；4105、
Remote finger joint pulley spindle；4106th, remote finger joint；
42nd, portion's bending controlled motor is referred to；43rd, pedestal；44th, inclined base；45th, horizontal base；46th, chain rope；
51st, rail plate；52nd, leading screw；53rd, leading screw shaft coupling；54th, spindle motor；
61st, fixed conical gear；62nd, fixing axle；63rd, conical gear is rotated；64th, connecting rod；65th, gear coupling；66th, gear
Motor；
71st, support base；7101st, guide rail is connected；7102nd, guide rail controlled motor；
72nd, center chain；7201st, the first rotation seat；7202nd, the first cross frame；7203rd, double end universal bar；7204th, the 20th
Word support；7205th, the second rotation seat；7206th, support bar；
73rd, side chain；7301st, stock；7302nd, quarter butt.
Embodiment
1 ~ Fig. 5, of the invention to include palm 2, fixed lid 1, finger component, mechanical wrist with reference to the accompanying drawings；The palm 2 is in circle
Column type.
The finger component rotates fingers 4 by 1 the first fixed finger 3 of structure identical and 2 second and constituted, and described the
The bottom of one fixed finger 3 is fixed on the palm 2, and the central upper portion of the palm 2 is provided with rotates finger 4 with described second
Connected pinion rotation mechanism, the pinion rotation mechanism can drive described second to rotate finger 22 along palm axis level turn
It is dynamic.
First fixed finger 3, second rotates finger 4 to be included finger portion 41, refers to portion's bending controlled motor 42, pedestal respectively
43rd, inclined base 44, horizontal base 45.The inclined base 44 is connected as a single entity with horizontal base 45, the inclined base 44
Top is outward-dipping relative to palm center, and the angle between the inclined base 44 and horizontal base 45 is 135 degree.It is described to refer to
Portion's bending controlled motor 42 is fixed on the inclined base 44, finger portion bending controlled motor 42 by chain rope 46 with it is described
Finger portion 41 is connected；The finger portion 41 includes nearly finger joint pulley spindle 4101, nearly finger joint 4102, the middle finger joint pulley spindle being sequentially connected
4103rd, middle finger joint 4104, remote finger joint pulley spindle 4105, remote finger joint 4106, the nearly finger joint 4102 pass through the nearly finger joint pulley
Axle 4101 is connected with the pedestal 43.One end of the chain rope 46 is connected with finger portion bending controlled motor 42, the chain rope
46 other end bypass successively after the nearly finger joint pulley spindle 4101, middle finger joint pulley spindle 4103, remote finger joint pulley spindle 4105 with
The remote finger joint 4106 is connected.The finger portion bending controlled motor 42 is rope sheave motor, and the chain rope 46 is steel wire rope.
The pedestal 43 is connected by sliding equipment with the inclined base 44, and the sliding equipment can make the pedestal 43
Slidably reciprocated along the axis direction of the inclined base 44.The sliding equipment includes rail plate 51, leading screw 52, leading screw shaft coupling
Device 53, spindle motor 54, the rail plate 51, which is fixed on the inclined base 44 and slided with the pedestal 43, to be connected, institute
The one end for stating leading screw 52 is connected with the pedestal 43, and the other end of the leading screw 52 passes through the leading screw shaft coupling 53 and the silk
Thick stick motor 54 is connected, and the spindle motor 54 is fixed on the inclined base 44.
The horizontal base 45 of the second rotation finger 4 is connected with the pinion rotation mechanism；The horizontal base 45
Top is provided with the top of fixed lid 1, the pinion rotation mechanism and is fixed on the fixed lid 1, the fixed lid 1 and the hand
Support member 11 is provided between the palm 2.
The pinion rotation mechanism includes fixed conical gear 61, fixing axle 62,2 and 2 the second rotation fingers 4
One-to-one to rotate drive component, the rotation drive component includes rotating conical gear 63, connecting rod 64, gear coupling
65 and gear motor 66.The fixed conical gear 61 is fixed in the fixing axle 62, and the lower end of the fixing axle 62 is fixed
In the central upper portion of the palm 2, the rotation conical gear 63 is socketed in the connecting rod 64, and the rotation circular cone tooth
Wheel 63 is meshed with the fixed conical gear 61, and one end of the connecting rod 64 is connected with the fixing axle 62, the connection
The other end of bar 64 is connected by the gear coupling 65 with the gear motor 66, and the gear motor 66 is fixed on described
Second rotates on the horizontal base 45 of finger 4.
The mechanical wrist includes setting in support base 71, center chain 72, three side chains 73, the support base 71
There are 4 groups of expansion controllers, expansion controller described in every group is main by 1 connection guide rail 7101 and 1 guide rail controlled motor 7102
Composition, the guide rail controlled motor 7102 is fixed in the support base 71.The center chain 72 includes first be sequentially connected
Rotation seat 7201, the first cross frame 7202, double end universal bar 7203, the second cross frame 7204, the and of the second rotation seat 7205
Support bar 7206, the top of first rotation seat 7201 is connected with the bottom of the palm 2,；The side chain 73 includes mutual
The stock 7301 and quarter butt 7302 being hinged, the top of the quarter butt 7302 and the bottom of the palm 2 are hinged.The support bar
7206 bottom, the bottom of stock 7301 are connected with the guide rail controlled motor 7102 of expansion controller described in 1 group respectively；Institute
State the lower side of support bar 7206, the lower side of stock 7301 and connect guide rail 7101 and the support base by described respectively
71 are connected.
The present invention operationally, when gear motor 66 starts, by gear coupling 65, is driven by connecting rod 64 and turned
Dynamic conical gear 63 is rotated on fixed conical gear 61 around fixing axle 62.After the second rotation finger 4 rotate in place, refer to portion curved
Bent controlled motor 42 starts to start, and chain rope 46 shrinks, and drives nearly finger joint pulley spindle 4101 to rotate, then drive middle finger joint pulley spindle
4103 rotate, and make finger portion 41 complete to bend to the purpose of crawl object.
And when capturing larger object, spindle motor 54 starts, drive leading screw 52 to rotate by leading screw shaft coupling 53, promote
Pedestal 43 is moved along rail plate 51.
If need the mechanical wrist to turn an angle again, can start it is in support base 71, with one of them or it is several
The guide rail controlled motor 7102 of the corresponding expansion controller of individual side chain 73, makes corresponding side chain 73 along connection guide rail 7101 to moving down
Dynamic, then mechanical wrist will be inclined to this side chain 73.According to the movement of side chain is controlled the need for angle, while start with good time
The upper-lower position of the corresponding expansion controller regulation center chain of heart chain can play booster action.
The above course of work is separate, in no particular order, can be according to actual conditions depending on.
Claims (9)
1. a kind of adaptive rope drive formula drive lacking three refers to manipulator, including palm, finger component, mechanical wrist, it is characterised in that：
The finger component rotates finger by 1 the first fixed finger of structure identical and 2 second and constituted, first fixed finger
Bottom be fixed on the palm, the second rotation finger and be fixed on the palm center and can make described second turn
Starting, it is connected to refer to the pinion rotation mechanism horizontally rotated along palm axis；
First fixed finger, the second rotation finger include finger portion, refer to portion's bending controlled motor, pedestal, are connected as a single entity respectively
Inclined base and horizontal base, the top of the inclined base is outward-dipping relative to palm center, the inclined base with
Angle between horizontal base is in obtuse angle；The finger portion is connected with the pedestal, and the pedestal is inclined by sliding equipment with described
Sloping bottom is connected, and the sliding equipment can make axis direction of the pedestal along the inclined base slidably reciprocate；Described second
The horizontal base for rotating finger is connected with the pinion rotation mechanism；The finger portion bending controlled motor is fixed on the inclination bottom
On seat, the finger portion bending controlled motor is connected by chain rope with the finger portion.
2. the adaptive rope according to claim 1, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The gear turns
Motivation structure includes one and fixes the rotation driving corresponding with the described second rotation finger quantity of conical gear, a fixing axle, quantity
Component, the rotation drive component includes rotating conical gear, connecting rod, gear coupling and gear motor；
The fixed conical gear is fixed in the fixing axle, and the lower end of the fixing axle is fixed in the top of the palm
The heart, the rotation conical gear is socketed in the connecting rod, and the rotation conical gear and the fixed conical gear phase
Engagement, one end of the connecting rod is connected with the fixing axle, the other end of the connecting rod by the gear coupling and
The gear motor is connected, and the gear motor is fixed on the described second horizontal base for rotating finger.
3. the adaptive rope according to claim 1, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The skate machine
Structure include rail plate, leading screw, leading screw shaft coupling, spindle motor, the rail plate be fixed on the inclined base and with
The pedestal, which is slided, to be connected, and one end of the leading screw is connected with the pedestal, and the other end of the leading screw is joined by the leading screw
Axle device is connected with the spindle motor, and the spindle motor is fixed on the inclined base.
4. the adaptive rope according to claim 1, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The finger portion bag
The nearly finger joint pulley spindle being sequentially connected, nearly finger joint, middle finger joint pulley spindle, middle finger joint, remote finger joint pulley spindle, remote finger joint are included, it is described
Nearly finger joint pulley spindle is connected with the pedestal, and one end of the chain rope is connected with finger portion bending controlled motor, the chain rope
The other end bypass nearly finger joint pulley spindle, middle finger joint pulley spindle, remote finger joint pulley spindle successively after be connected with the remote finger joint.
5. the adaptive rope according to claim 1 or 4, which drives formula drive lacking three, refers to manipulator, it is characterised in that：It is described to refer to
Portion's bending controlled motor is rope sheave motor, and the chain rope is steel wire rope.
6. the adaptive rope according to claim 1, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The inclination bottom
Angle between seat and horizontal base is 135 degree.
7. the adaptive rope according to claim 1, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The horizontal base
The top of seat is covered provided with fixed, and being fixed on the fixation at the top of the pinion rotation mechanism covers, the fixed lid with it is described
Support member is provided between palm.
8. the adaptive rope according to claim 1, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The manipulator
Wrist includes support base, center chain, three side chains, the first rotation seat that the center chain includes being sequentially connected, first
Cross frame, double end universal bar, the second cross frame, the second rotation seat and support bar, the top of first rotation seat and institute
The bottom for stating palm is connected, and the bottom of the support bar is connected with the support base；The side chain includes the stock being hinged
And quarter butt, the bottom of the stock is connected with the support base, and the top of the quarter butt and the bottom of the palm are hinged.
9. the adaptive rope according to claim 8, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The support base
4 groups of expansion controllers are inside provided with, expansion controller described in every group is mainly made up of connection guide rail and guide rail controlled motor, described to lead
Rail controlled motor is fixed in the support base, and the support bar, the bottom of stock are led with expansion controller described in 1 group respectively
Rail controlled motor be connected, the lower side of the support bar, the lower side of stock respectively by it is described connection guide rail with it is described
Support base is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710376238.8A CN107097246A (en) | 2017-05-25 | 2017-05-25 | A kind of adaptive rope drive formula drive lacking three refers to manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710376238.8A CN107097246A (en) | 2017-05-25 | 2017-05-25 | A kind of adaptive rope drive formula drive lacking three refers to manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107097246A true CN107097246A (en) | 2017-08-29 |
Family
ID=59669953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710376238.8A Pending CN107097246A (en) | 2017-05-25 | 2017-05-25 | A kind of adaptive rope drive formula drive lacking three refers to manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107097246A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214537A (en) * | 2018-02-02 | 2018-06-29 | 昆明理工大学 | A kind of multi-functional flexible grasping mechanism |
| CN109176586A (en) * | 2018-09-18 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of self-adapting flexible gripper and robot based on torsionspring |
| CN109397317A (en) * | 2018-11-26 | 2019-03-01 | 内蒙古工业大学 | A kind of underactuated manipulator and its operating method |
| CN109531607A (en) * | 2018-11-28 | 2019-03-29 | 清华大学 | Connecting rod idle running is driven the flat folder adaptive robot finger apparatus of swing rod sliding slot straight line |
| CN109605406A (en) * | 2018-12-11 | 2019-04-12 | 安阳工学院 | A kind of bionic finger |
| CN109910039A (en) * | 2019-04-29 | 2019-06-21 | 江南大学 | Pneumatic-finger clamping and the quick manipulator for referring to root indexing and the rotation of electronic finger root |
| CN110171011A (en) * | 2019-04-26 | 2019-08-27 | 湖南大学 | A kind of three finger robot delicates of coordinated drive |
| CN110802622A (en) * | 2019-11-15 | 2020-02-18 | 北京邮电大学 | Paw capable of operating in hand |
| CN110948516A (en) * | 2019-12-13 | 2020-04-03 | 北京理工大学 | Under-actuated bionic wrist device |
| CN111070235A (en) * | 2019-12-09 | 2020-04-28 | 中国船舶重工集团公司第七一六研究所 | Three-jaw rank-lacking manipulator clamp for special-shaped branch bud forge piece |
| CN111421566A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Belt type under-actuated three-joint mechanical finger structure and operation method thereof |
| CN111844091A (en) * | 2020-05-01 | 2020-10-30 | 刘军 | Machine tool panel operation manipulator based on circumferential motion |
| CN113427501A (en) * | 2021-06-23 | 2021-09-24 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN113799162A (en) * | 2021-10-19 | 2021-12-17 | 安徽工程大学 | Robot grabbing paw for special-shaped objects |
| CN114083565A (en) * | 2021-12-24 | 2022-02-25 | 浙江工业大学 | Flexible operation-oriented self-adaptive three-finger hand |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1358396A (en) * | 1962-11-19 | 1964-04-17 | Cantop | Method and machine for making tear-off closures for containers |
| CN103084300A (en) * | 2013-02-01 | 2013-05-08 | 杭州电子科技大学 | Multiple-degree-of-freedom antitheft door spraying robot |
| CN203680320U (en) * | 2014-02-12 | 2014-07-02 | 惠州特科光电科技有限公司 | Multi-freedom-degree robot arm |
-
2017
- 2017-05-25 CN CN201710376238.8A patent/CN107097246A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1358396A (en) * | 1962-11-19 | 1964-04-17 | Cantop | Method and machine for making tear-off closures for containers |
| CN103084300A (en) * | 2013-02-01 | 2013-05-08 | 杭州电子科技大学 | Multiple-degree-of-freedom antitheft door spraying robot |
| CN203680320U (en) * | 2014-02-12 | 2014-07-02 | 惠州特科光电科技有限公司 | Multi-freedom-degree robot arm |
Non-Patent Citations (1)
| Title |
|---|
| 周惠明;: "关节型机械手的结构创新设计" * |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214537A (en) * | 2018-02-02 | 2018-06-29 | 昆明理工大学 | A kind of multi-functional flexible grasping mechanism |
| CN108214537B (en) * | 2018-02-02 | 2023-07-18 | 昆明理工大学 | Multifunctional flexible grabbing mechanism |
| CN109176586A (en) * | 2018-09-18 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of self-adapting flexible gripper and robot based on torsionspring |
| CN109176586B (en) * | 2018-09-18 | 2021-11-12 | 哈尔滨工业大学（深圳） | Self-adaptive flexible paw based on torsion spring and robot |
| CN109397317A (en) * | 2018-11-26 | 2019-03-01 | 内蒙古工业大学 | A kind of underactuated manipulator and its operating method |
| CN109397317B (en) * | 2018-11-26 | 2023-10-10 | 内蒙古工业大学 | Under-actuated manipulator and operation method thereof |
| CN109531607A (en) * | 2018-11-28 | 2019-03-29 | 清华大学 | Connecting rod idle running is driven the flat folder adaptive robot finger apparatus of swing rod sliding slot straight line |
| CN109531607B (en) * | 2018-11-28 | 2023-12-26 | 清华大学 | Self-adaptive robot finger device with linear parallel clamping of connecting rod idle stroke transmission swing rod chute |
| CN109605406B (en) * | 2018-12-11 | 2021-05-14 | 安阳工学院 | Bionic finger |
| CN109605406A (en) * | 2018-12-11 | 2019-04-12 | 安阳工学院 | A kind of bionic finger |
| CN110171011A (en) * | 2019-04-26 | 2019-08-27 | 湖南大学 | A kind of three finger robot delicates of coordinated drive |
| CN110171011B (en) * | 2019-04-26 | 2021-06-15 | 湖南大学 | Three-finger robot dexterous hand driven in coordination |
| CN109910039A (en) * | 2019-04-29 | 2019-06-21 | 江南大学 | Pneumatic-finger clamping and the quick manipulator for referring to root indexing and the rotation of electronic finger root |
| CN110802622A (en) * | 2019-11-15 | 2020-02-18 | 北京邮电大学 | Paw capable of operating in hand |
| CN111070235A (en) * | 2019-12-09 | 2020-04-28 | 中国船舶重工集团公司第七一六研究所 | Three-jaw rank-lacking manipulator clamp for special-shaped branch bud forge piece |
| CN110948516A (en) * | 2019-12-13 | 2020-04-03 | 北京理工大学 | Under-actuated bionic wrist device |
| CN111844091A (en) * | 2020-05-01 | 2020-10-30 | 刘军 | Machine tool panel operation manipulator based on circumferential motion |
| CN111421566A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Belt type under-actuated three-joint mechanical finger structure and operation method thereof |
| CN113427501A (en) * | 2021-06-23 | 2021-09-24 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN113427501B (en) * | 2021-06-23 | 2022-08-09 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN113799162A (en) * | 2021-10-19 | 2021-12-17 | 安徽工程大学 | Robot grabbing paw for special-shaped objects |
| CN113799162B (en) * | 2021-10-19 | 2022-12-06 | 安徽工程大学 | Robot grabbing paw for special-shaped objects |
| CN114083565A (en) * | 2021-12-24 | 2022-02-25 | 浙江工业大学 | Flexible operation-oriented self-adaptive three-finger hand |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107097246A (en) | A kind of adaptive rope drive formula drive lacking three refers to manipulator | |
| CN104552286B (en) | A kind of multi-joint mechanical arm device continuously | |
| CN105150235B (en) | A kind of rope drives ternary sequential circuit | |
| CN104908056B (en) | A kind of three finger mechanical paws of variable configuration | |
| CN103419195B (en) | There is the industrial robot of the driver extended in the basic housing of hand | |
| CN206484587U (en) | A kind of Artificial grip module based on flexible shaft | |
| CN101214098B (en) | Five-freedom shoemaking automatically grinding glue-spraying processing device | |
| CN109822602B (en) | Finger cooperative driving mechanism | |
| CN108748254A (en) | A kind of drive lacking variation rigidity manipulator based on variation rigidity elastic joint | |
| CN203495947U (en) | Horizontal multi-joint robot not driven by belt | |
| CN108274487A (en) | The flat folder indirect self-adaptive robot finger apparatus of rack slide bar straight line | |
| CN113183172B (en) | Variable-configuration under-driven manipulator for fruit picking and using method thereof | |
| CN206811990U (en) | A kind of adaptive rope drive formula drive lacking three refers to manipulator | |
| CN100436058C (en) | Five-axle linked tandem and parallel digital control polishing machine tool | |
| CN106564065A (en) | Herringbone connecting rod, rack and sliding block linear parallel clamping self-adaption finger device | |
| CN106426177B (en) | Precision assembly robot | |
| CN101412220B (en) | Telescopic manipulator | |
| CN106239501A (en) | Multiple degrees of freedom hydraulic driving mechanical is used in the carrying of a kind of workshop | |
| CN104526692B (en) | Full-automatic numerical control mechanical arm | |
| CN110064914A (en) | A kind of cylinder and combined cap Automatic manual transmission control system and its assembly method | |
| CN208543485U (en) | A kind of 4 axis multi-joint robotic arms | |
| CN208005696U (en) | A kind of mechanical automation has the manipulator of dual fixed effect | |
| CN106914889B (en) | A kind of flexible arm bio-robot | |
| CN105881526A (en) | Light six-shaft all-purpose robot with extension arm | |
| CN109176566A (en) | The flat folder adaptive robot finger apparatus of gear sliding slot link linear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170829 |