CN107214720A - Modular allosteric type three refers to robot - Google Patents
Modular allosteric type three refers to robot Download PDFInfo
- Publication number
- CN107214720A CN107214720A CN201710607285.9A CN201710607285A CN107214720A CN 107214720 A CN107214720 A CN 107214720A CN 201710607285 A CN201710607285 A CN 201710607285A CN 107214720 A CN107214720 A CN 107214720A
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- Prior art keywords
- finger
- knuckle
- base
- swinging
- swinging base
- Prior art date
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Classifications
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
Abstract
Modular allosteric type three refers to robot, it is related to one kind three and refers to robot, refer to robot by the restriction in terms of mechanical structure and complex manipulation to solve existing three, refer to the problem of robot flexibility and not high reliability in the presence of three, it includes palm, base, three fingers and three finger bases；Palm is arranged on base, and three fingers are the first finger, second finger and the 3rd finger respectively；Three finger bases are respectively the flexible pedestal of the first finger swinging base, second finger swinging base and the 3rd finger；The flexible pedestal of the first finger swinging base, second finger swinging base and the 3rd finger is disposed between palm and base；First finger swinging base is connected with the first finger and the first finger can be driven to rotate；First finger swinging base and second finger swinging base are connected by lower rotary joint with base respectively；3rd finger stretches pedestal on base.The present invention is applied to robot.
Description
Technical field
Refer to robot the present invention relates to one kind three, and in particular to a kind of modular allosteric type three refers to robot, category
In robot application field.
Background technology
End effector is the part that robot is directly contacted with external environment condition, and influence robot completes the effect of operation
Rate and ability.Robot manipulation's task is directly related with the action of the mankind, if end effector of robot be designed to
Possess the robots of a variety of different crawl configurations, so that it may so that robot object is flexibly captured and complete it is a variety of not
Same operation task.Possess crawl and the operational capacity of similar human hand by design robot end effector, it is possible to achieve machine
The versatility of device people's end effector, and flexibility is improved, robot is preferably substituted the mankind and complete a variety of different
Task.In the research process of robot, to realize grasp stability and adaptability, capture robot many
The object of shape and size is planted, an important research contents is the structure and crawl configuration of robot.
Emphasis is needed to consider mechanism complexity, the volume size and weight of paw in the design process of robot.Its
Finger structure and distributing position determine the configuration and working space of robot, the contact point that influence is formed when being contacted with object
Distribution situation.In addition, the variation of robot manipulation's task needs end effector to have higher flexibility, to a certain degree
On add the free degree of robot and the complexity of mechanism, while also having influence on its operating characteristics and maintenance.And use
Paw can be split as different functional parts by modularized design, can be simplified the internal structure of an organization on the premise of operating characteristics is not reduced
And it is easy to safeguard, being capable of cost-effective and raising reliability.
One kind three is disclosed in United States Patent (USP) US7168748 and refers to robot, the characteristics of its is maximum is that each finger is closed
Section is all driven by a motor, using Worm Wheel System.It has a finger base to fix, and two other finger base can be with
Rotate.Position relationship between three fingers is changed by the rotation of the two finger bases, so as to form different crawl structures
Type.But there is coupling between the Rotatable base of the two of robot fingers, flexibility and adaptability are not high enough.
A kind of machine with several palm sections that can move relative to each other is disclosed in Chinese patent CN1964822
Human hand.The characteristics of its is maximum is that palm is made up of multiple palm sections, and relative motion can be carried out between palm section, changes hand
Spatial relation between finger, and can be with the free degree of changing mechanism.But the robot is by the joint of palm section
Size limitation causes reliability to reduce, and range of movement is limited and is unfavorable for control.
To sum up, because existing three refer to limitation of the robot in terms of mechanical structure and complex manipulation, three refer to robot
Hand lacks flexibility and reliability.
The content of the invention
The present invention refers to robot by the restriction in terms of mechanical structure and complex manipulation to solve existing three, there are three fingers
The problem of robot flexibility and not high reliability, and then propose that a kind of modular allosteric type three refers to robot.
The present invention adopts the technical scheme that to solve above-mentioned technical problem：
Modular allosteric type three, which refers to robot, includes palm, base, three fingers and three finger bases；Palm is pacified
On base, three fingers are the first finger, second finger and the 3rd finger respectively；
Three finger bases are respectively the flexible base of the first finger swinging base, second finger swinging base and the 3rd finger
Seat；The flexible pedestal of the first finger swinging base, second finger swinging base and the 3rd finger is disposed between palm and base；The
One finger swinging base is connected with the first finger and the first finger can be driven to rotate；Second finger swinging base connects with second finger
Connect and drive second finger to rotate；First finger swinging base and second finger swinging base pass through lower rotary joint and bottom respectively
Seat connection；3rd finger stretches pedestal on base, and the flexible pedestal of the 3rd finger can drive the 3rd finger to rotate and flexible.
The present invention has the advantages that compared with prior art：A kind of modular allosteric type three of the present invention refers to machine
Include in each finger finger joint of device human hand and worm screw is socketed in independent motor, driving motor output shaft and is nibbled with worm gear
Close transmission, with auto-lock function, leave cable notch between finger-joint, cable through-hole is left in finger bottom, three fingers it
Between there is no mechanism coupling, with modular feature.The motion of swinging base and flexible pedestal enhances the spirit of robot hand
Activity, working space is big, can form a variety of crawl postures, and crawl object type extensively, captures diversification of forms, improves and grab
Take stability and maintainability.Size of the present invention is small, lightweight simultaneously, and flexibility is high, and operation and maintenance is easy.
Brief description of the drawings
Fig. 1 is that the modular allosteric type three of the present invention refers to the overall structure stereogram of robot；
Fig. 2 is the overall structure stereogram of single finger in the specific embodiment of the invention；
Fig. 3 is the half-sectional structure chart of single finger in the specific embodiment of the invention；
Fig. 4 is lower rotary joint and finger swinging base structural representation in the specific embodiment of the invention；
Fig. 5 is that the modular allosteric type three of the present invention refers to the finger flattened state figure of robot；
The modular allosteric type three that Fig. 6 is the present invention refers to finger flattened state figure after robot swinging base is rotated；
The modular allosteric type three that Fig. 7 is the present invention refers to the rotation of robot finger's pedestal and the flexible pedestal state of finger
Figure；
The modular allosteric type three that Fig. 8 is the present invention refers to robot crawl cylinder state diagram；
The modular allosteric type three that Fig. 9 is the present invention refers to robot grasping spanner state diagram；
The modular allosteric type three that Figure 10 is the present invention refers to robot operation scissors state diagram；
The modular allosteric type three that Figure 11 is the present invention refers to robot holding pencil-shaped state figure.
Embodiment
Technical scheme is further described with reference to the accompanying drawings and detailed description.
Illustrate referring to Fig. 1, modular allosteric type three, which refers to robot, includes palm 6, base 1, three fingers and three
Finger base；Palm 6 is arranged on base 1, and three fingers are the first finger, second finger and the 3rd finger respectively；
Three finger bases be respectively the first finger swinging base 2, the finger of second finger swinging base 10 and the 3rd stretch
Pedestal 14；The first finger swinging base 2, the finger of second finger swinging base 10 and the 3rd is disposed between palm 6 and base 1 to stretch
Contracting pedestal 14；First finger swinging base 2 is connected with the first finger and the first finger can be driven to rotate；Second finger swinging base
10 are connected with second finger and drive second finger to rotate；First finger swinging base 2 and second finger swinging base 10 are distinguished
It is connected by lower rotary joint with base 1；The 3rd finger pedestal 14 that stretches is arranged on base 1, and the 3rd finger stretches pedestal 14
The 3rd finger can be driven to rotate and flexible.
It is so designed that, the first finger is accommodated by the lower rotary joint being connected with the first finger swinging base 2 around vertical
The axle of the plane of palm 6 of circuit board does horizontal revolving motion, and second finger with second finger swinging base 10 by being connected
Lower rotary joint rotates around the vertical axle for accommodating circuit board palm plane 6, and the 3rd finger passes through the flexible base of the 3rd finger
Axle of the seat 14 along the vertical plane of palm 6 for accommodating circuit board moves along a straight line, so change three fingers and robot palm it
Between spatial relation, form a variety of crawl configurations.
In one embodiment, each finger includes finger fixed seat 16, first knuckle 4 and second knuckle 5；First knuckle
4 include the first fixed support 15, the second fixed support 17, first knuckle support 23, first knuckle set casing 1, first knuckle
Set casing 2 25, first knuckle retainer plate 1, first knuckle retainer plate 2 27, first knuckle worm screw 28, first knuckle worm gear
33 and first knuckle motor；First fixed support 15 and the second fixed support of finger 17 are arranged in finger joint fixed seat 16；First
Finger joint retainer plate 1, first knuckle support 23 and first knuckle retainer plate 2 27 are arranged in the first fixed support of finger 15 and hand
Refer between the second fixed support 17；First knuckle motor is arranged on first knuckle support 23, and first knuckle worm screw 33 is fixed in
On the output shaft of first knuckle motor and with the engaged transmission of first knuckle worm gear 33, first knuckle retainer plate 1 and first knuckle
Retainer plate 2 27 is respectively provided with central bore, and the both sides of first knuckle support 23 are disposed with connected first knuckle retainer plate one
18 and first knuckle retainer plate 2 27；In the central bore of first knuckle retainer plate 1 and first knuckle retainer plate 2 27 and axle
Bearing outer-ring is fastened, and the both sides of first knuckle worm gear 33 are fastened with two bearing inner races respectively, the wheel shaft of first knuckle worm gear 33
Two ends are affixed with the first fixed support 15 and the second fixed support 17 respectively.
Second knuckle 5 includes second knuckle support 26, second knuckle retainer plate 1, second knuckle retainer plate 2 24, the
Two finger joint motors, second knuckle worm screw 32 and second knuckle worm gear 31；Second knuckle retainer plate 1, the and of second knuckle support 26
Second knuckle retainer plate 2 24 is arranged in first knuckle set casing 1 and first knuckle set casing 2 25；Second knuckle electricity
Machine is arranged on second knuckle support 26, and second knuckle worm screw 32 is fixed on the output shaft of second knuckle motor and referred to second
The engaged transmission of worm gear 31 is saved, second knuckle retainer plate 1 and second knuckle retainer plate 2 24 are respectively provided with central bore, second
The both sides of finger joint support 26 are disposed with connected second knuckle retainer plate 1 and second knuckle retainer plate 2 24, second knuckle
Fastened in the central bore of retainer plate 1 and second knuckle retainer plate 2 24 with bearing outer ring, the both sides of second knuckle worm gear 31
Fastened respectively with two bearing inner races, the two ends of the wheel shaft of second knuckle worm gear 31 respectively with first knuckle set casing 1 and the
One direct set casing 2 25 is affixed.Selection of Bearings miniature bearing, the first fixed support 15 and the second fixed support 17 pass through bolt
It is fixed in finger fixed seat 16, the central through hole of finger fixed seat 16 can be by Electric Wires ＆ Cables, and first knuckle worm screw 33 is
Under the drive of one finger joint motor 29, and the engaged transmission of first knuckle worm gear 33, because the worm-wheel shaft of first knuckle worm gear 33 is affixed
On the first fixed support 15 and the second fixed support 17, therefore, first knuckle worm gear 33 drives first knuckle support 23, first
The worm-wheel shaft of finger joint retainer plate 1 and second knuckle retainer plate 2 27 around first knuckle worm gear 33 under bearing effect is rotated, real
Existing first knuckle 4 is rotated；Similarly, second knuckle worm screw 32 nibbles under the drive of second knuckle motor 30 with second knuckle worm gear 31
Transmission is closed, because the worm-wheel shaft of second knuckle worm gear 31 is fixed in first knuckle set casing 1 and first knuckle set casing 2 25
On, therefore, second knuckle worm gear 31 drives second knuckle support 26, second knuckle retainer plate 1 and second knuckle retainer plate two
24 worm-wheel shaft around second knuckle worm gear 31 under bearing effect is rotated, and realizes that second knuckle 5 is rotated.It is so designed that, can makes
The rotation of each joint of finger and self-locking, compact conformation, reliable transmission, realize the modularization of finger, complete the crawl of various targets.
First knuckle motor is controlled by first knuckle circuit board 29, and second knuckle motor is controlled by second knuckle circuit board 30.
In another embodiment, the first finger swinging base 2 includes swinging base shell 43, swinging base motor 45, pendulum
Moving base worm screw 41, swinging base worm gear 42 and swinging base axle 44；
Swinging base motor 45 is arranged on swinging base shell 43, the output end connection swinging base of swinging base motor 45
Worm screw 41, swinging base axle 44 is rotatably installed on swinging base shell 43, and swinging base worm gear is fitted with swinging base axle 44
42, swinging base worm screw 41 and the engaged transmission of swinging base worm gear 42, the first finger swinging base 2 or second finger swinging base
10 finger fixed seat 16 is arranged on the upper end of swinging base axle 44, the first finger swinging base 2 and second finger swinging base
10 structure is identical.Lower rotary joint includes oscillating motor 37, swings worm screw 38, swings worm gear 39 and swinging axle 40；Swing electricity
Machine 37 is arranged on base 1, and the output end connection of oscillating motor 37 swings worm screw 38, cloth between swinging base shell 43 and base 1
It is equipped with the swinging axle 40 being connected with the two rotation, swinging axle 40 and is fitted with swing worm gear 39.
Pedestal axle 44 has endoporus and is provided with notch, and finger fixed seat 16 can be socketed and pass through with the miner diameter end of pedestal axle 44
Bolt is fixed, and is so designed that, can by Electric Wires ＆ Cables are by the endoporus of pedestal axle 44 and draw notch so that with other electric wires
Cable is connected, and first-hand finger swinging base 2 and second finger swinging base 10, the rotation of swinging base axle 44 can be made in addition so as to change
Become the sensing in each finger face, and realize self-locking.
Preferably, the 3rd finger stretches pedestal 14 by the way of lead screw transmission and motor transmission are combined, and is specially：The
The flexible pedestal 14 of three fingers includes leading screw connecting plate 34, leading screw 36, spindle motor 46, axis of pedestal rotation 50 and pedestal electric rotating machine
52；Leading screw 36 is rotatably installed on base 1, and spindle motor 46, leading screw connecting plate 34 and the screw thread of leading screw 36 are provided with leading screw 36
Pedestal electric rotating machine 52 is fixed with connection, leading screw connecting plate 34, the output end of pedestal electric rotating machine 52 is upwardly disposed and connects
Axis of pedestal rotation 50, the finger fixed seat 16 of the 3rd finger is arranged on the upper end of axis of pedestal rotation 50.Axis of pedestal rotation 50 is socketed
On the output shaft of pedestal electric rotating machine 52, axis of pedestal rotation 50 has endoporus and is provided with notch, the finger fixed seat of the 3rd finger
16 can be socketed and be bolted with the miner diameter end of axis of pedestal rotation 50, accommodate the control that the inside of palm 6 of circuit board is placed
Circuit board processed.It is so designed that, may be constructed the pedestal and palm portion of robot, makes the flexible of the flexible pedestal 14 of the 3rd finger
Self-locking is realized, power transmission is reliable, and pedestal electric rotating machine 52 can drive the 3rd finger to rotate.
Preferably, base 1 includes bottom plate 35, drain pan 51 and middle casing 47, and drain pan 51 is arranged on the upper surface of bottom plate 35
On, middle casing 47 is arranged on the upper end of drain pan 51, and drain pan 51 and middle casing 47 constitute the side wall of a groove, and lower rotation is closed
Section and the 3rd finger stretch pedestal 14 in the groove.It is arranged such, three refer to robot good appearance, and structure is tight
Gather, save space.
Operation principle：As Figure 1-4, allosteric type three of the invention refers to robot by three fingers, palm and pedestal
Composition, has carried out modularized design.The structure that allosteric type three refers to three fingers of robot is identical, integrated in each finger joint
There is driving motor output shaft inside motor and drive circuit board, each finger joint to be socketed with finger joint worm screw, by with finger joint
The engaged transmission of worm gear rotates finger, and the function with self-locking.It is provided with retainer plate between the joint of each finger
Cable through-hole is left in cable notch, the bottom of finger, and cable can be electrically connected by these Path Setups, and the finger of finger is consolidated
The miner diameter end of reservation and swinging base axle or axis of pedestal rotation is socketed and uses bolt to be fixed, and does not have machine between three fingers
Structure is coupled, and finger has certain independence relative to palm and pedestal.Control board is placed with inside palm 6, by electricity
Gas joint is set up electrically by the through hole and electric notch reserved in each joint in finger and pedestal with motor and drive circuit
Connection, with modular feature, is easy to operation and maintenance.Pedestal includes two finger swinging bases and a flexible base
Pedestal electric rotating machine 52 is placed with seat, flexible pedestal, axis of pedestal rotation 50 is socketed on the output shaft of pedestal electric rotating machine 52,
Leading screw connecting plate 34 is connected with the one end of spindle motor 46, and middle level housing 47 has the effect that slideway is oriented, and passes through spindle motor 46
Leading screw 36 is driven leading screw connecting plate 34 is moved along a straight line, so that the axle that the 3rd finger can prolong vertical palm plane does straight line fortune
Dynamic, power transmission is reliable, and can realize expansion self-locking.The socket of the output shaft of oscillating motor 37 swings worm screw 38, swings worm gear
39 are connected by swinging axle 40 and swinging base shell 43, are swung worm screw 38 and are swung the engaged transmission of worm gear 39, put the first finger
Moving base 2 or second finger swinging base 10 can rotate around the axle of the plane of vertical palm 6, and then change three hands
Refer to the spatial relation between the palm 6 of robot.Swinging base worm screw 41 and the output sleeve of swinging base motor 45
Connect, swinging base worm screw 41 is connected with swinging base axle 44, swinging base worm screw 41 and the engaged transmission of swinging base worm gear 42 make
Swinging base axle 44 rotates, and pedestal electric rotating machine 52 drives the rotation of the 3rd finger, so that change the sensing in each finger face, and in fact
Existing self-locking.
The present invention is disclosed as above with preferable case study on implementation, but is not limited to the present invention, any to be familiar with this specialty
Technical staff, without departing from the scope of the present invention, when can using the disclosure above structure and technology contents do
Go out a little change or be modified to the equivalence enforcement case of equivalent variations, but it is every without departing from technical solution of the present invention
Hold, any simple modification, equivalent variations and modification that the technical spirit according to the present invention is made to above case study on implementation still belong to
Technical solution of the present invention scope.
Claims (6)
1. modular allosteric type three refers to robot, it is characterised in that：It include palm (6), base (1), three fingers and
Three finger bases；Palm (6) is arranged on base (1), and three fingers are the first finger, second finger and the 3rd hand respectively
Refer to；
Three finger bases are respectively that the first finger swinging base (2), second finger swinging base (10) and the 3rd finger are flexible
Pedestal (14)；Be disposed between palm (6) and base (1) the first finger swinging base (2), second finger swinging base (10) and
3rd finger stretches pedestal (14)；First finger swinging base (2) is connected with the first finger and the first finger can be driven to rotate；The
Two finger swinging bases (10) are connected with second finger and drive second finger to rotate；First finger swinging base (2) and second
Finger swinging base (10) is connected by lower rotary joint with base (1) respectively；3rd finger stretches pedestal (14) bottom of installed in
On seat (1), the flexible pedestal (14) of the 3rd finger can drive the 3rd finger to rotate and flexible.
2. modular allosteric type three refers to robot according to claim 1, it is characterised in that：Each finger includes finger
Fixed seat (16), first knuckle (4) and second knuckle (5)；
First knuckle (4) includes the first fixed support (15), the second fixed support (17), first knuckle support (23), the first finger
Save set casing one (19), first knuckle set casing two (25), first knuckle retainer plate one (18), first knuckle retainer plate two
(27), first knuckle worm screw (28), first knuckle worm gear (33) and first knuckle motor；First fixed support (15) and finger
Two fixed supports (17) are arranged in finger joint fixed seat (16)；First knuckle retainer plate one (18), first knuckle support (23) and
First knuckle retainer plate two (27) is arranged between the fixed support of finger first (15) and the fixed support of finger second (17)；
First knuckle motor is arranged on first knuckle support (23), and first knuckle worm screw (33) is fixed in first knuckle motor
On output shaft and with first knuckle worm gear (33) engaged transmission, first knuckle retainer plate one (18) and first knuckle retainer plate two
(27) central bore is respectively provided with, first knuckle support (23) both sides are disposed with connected first knuckle retainer plate one (18)
With first knuckle retainer plate two (27)；In the central bore of first knuckle retainer plate one (18) and first knuckle retainer plate two (27)
Fastened with bearing outer ring, the both sides of first knuckle worm gear (33) are fastened with two bearing inner races respectively, first knuckle worm gear (33)
Wheel shaft two ends it is affixed with the first fixed support (15) and the second fixed support (17) respectively.
Second knuckle (5) includes second knuckle support (26), second knuckle retainer plate one (20), second knuckle retainer plate two
(24), second knuckle motor, second knuckle worm screw (32) and second knuckle worm gear (31)；Second knuckle retainer plate one (20),
Two finger joint supports (26) and second knuckle retainer plate two (24) are arranged in first knuckle set casing one (19) and first knuckle
Set casing two (25)；Second knuckle motor is arranged on second knuckle support (26), and second knuckle worm screw (32) is fixed in second
On the output shaft of finger joint motor and with second knuckle worm gear (31) engaged transmission, second knuckle retainer plate one (20) and second knuckle
Retainer plate two (24) is respectively provided with central bore, and second knuckle support (26) both sides are disposed with connected second knuckle and fixed
Enclose in one (20) and second knuckle retainer plate two (24), second knuckle retainer plate one (20) and second knuckle retainer plate two (24)
Fastened in intracardiac hole with bearing outer ring, the both sides of second knuckle worm gear (31) are fastened with two bearing inner races respectively, second knuckle
The two ends of the wheel shaft of worm gear (31) are affixed with first knuckle set casing one (19) and the first direct set casing two (25) respectively.
3. modular allosteric type three refers to robot according to claim 3, it is characterised in that：First finger swinging base
(2) swinging base shell (43), swinging base motor (45), swinging base worm screw (41), swinging base worm gear (42) and pendulum are included
Moving base axle (44)；
Swinging base motor (45) is arranged on swinging base shell (43), and the output end connection of swinging base motor (45) swings base
Seat worm screw (41), swinging base axle (44) is rotatably installed on swinging base shell (43), and swinging base axle is fitted with pendulum on (44)
Moving base worm gear (42), swinging base worm screw (41) and swinging base worm gear (42) engaged transmission, the first finger swinging base (2)
Or the finger fixed seat (16) of second finger swinging base (10) is arranged on the upper end of swinging base axle (44), the first finger is swung
Pedestal (2) is identical with the structure of second finger swinging base (10).
4. modular allosteric type three according to claim 1 or claim 2 refers to robot, it is characterised in that：Lower rotary joint bag
Oscillating motor (37) is included, worm screw (38) is swung, swings worm gear (39) and swinging axle (40)；Oscillating motor (37) is arranged on base
(1) on, the output end connection of oscillating motor (37) swings worm screw (38), is disposed between swinging base shell (43) and base (1)
Swing worm gear (39) is fitted with the swinging axle (40) being connected with the two rotation, swinging axle (40).
5. modular allosteric type three refers to robot according to claim 4, it is characterised in that：3rd finger stretches pedestal
(14) leading screw connecting plate (34), leading screw (36), spindle motor (46), axis of pedestal rotation (50) and pedestal electric rotating machine are included
(52)；
Leading screw (36) is rotatably installed on base (1), is provided with spindle motor (46) on leading screw (36), leading screw connecting plate (34) with
Leading screw (36) is threadedly coupled, and is fixed with pedestal electric rotating machine (52) on leading screw connecting plate (34), pedestal electric rotating machine (52) it is defeated
Go out to hold upwardly disposed and connect axis of pedestal rotation (50), the finger fixed seat (16) of the 3rd finger is arranged on axis of pedestal rotation (50)
Upper end.
6. modular allosteric type three refers to robot according to claim 5, it is characterised in that：Base (1) includes bottom plate
(35), drain pan (51) and middle casing (47), drain pan (51) are arranged on the upper surface of bottom plate (35), and middle casing (47) is installed
Upper end in drain pan (51), drain pan (51) and middle casing (47) constitute the cell wall of a groove, lower rotary joint and the 3rd hand
Refer to flexible pedestal (14) to be arranged in the groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710607285.9A CN107214720B (en) | 2017-07-24 | 2017-07-24 | Modular configuration-variable three-finger robot hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710607285.9A CN107214720B (en) | 2017-07-24 | 2017-07-24 | Modular configuration-variable three-finger robot hand |
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| CN107214720A true CN107214720A (en) | 2017-09-29 |
| CN107214720B CN107214720B (en) | 2020-07-07 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901058A (en) * | 2017-10-13 | 2018-04-13 | 杭州若比邻机器人科技有限公司 | Manipulator |
| CN107901060A (en) * | 2017-10-13 | 2018-04-13 | 杭州若比邻机器人科技有限公司 | Screw drives and the finger mechanism of worm and gear driving |
| CN108274486A (en) * | 2018-03-21 | 2018-07-13 | 知行高科（北京）科技有限公司 | A kind of modular end effector of robot and its reconstructing method and grasping means |
| CN110640776A (en) * | 2019-11-04 | 2020-01-03 | 深圳蓝胖子机器人有限公司 | Dexterous hand finger and multi-finger dexterous hand |
| CN112405591A (en) * | 2020-11-26 | 2021-02-26 | 东北大学 | Three-finger dexterous hand based on full-drive fingers |
| CN112517527A (en) * | 2020-10-19 | 2021-03-19 | 张家港三能机电设备有限公司 | Ultrasonic cleaning device convenient to adjust |
| CN113894832A (en) * | 2021-11-08 | 2022-01-07 | 北京理工大学 | Three-finger rope-driven dexterous hand |
| CN114474111A (en) * | 2020-11-13 | 2022-05-13 | 株式会社理光 | Three-finger manipulator |
| US11958188B2 (en) | 2017-11-23 | 2024-04-16 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Modular end effector |
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| CN107901058A (en) * | 2017-10-13 | 2018-04-13 | 杭州若比邻机器人科技有限公司 | Manipulator |
| CN107901060A (en) * | 2017-10-13 | 2018-04-13 | 杭州若比邻机器人科技有限公司 | Screw drives and the finger mechanism of worm and gear driving |
| US11958188B2 (en) | 2017-11-23 | 2024-04-16 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Modular end effector |
| CN108274486A (en) * | 2018-03-21 | 2018-07-13 | 知行高科（北京）科技有限公司 | A kind of modular end effector of robot and its reconstructing method and grasping means |
| CN110640776A (en) * | 2019-11-04 | 2020-01-03 | 深圳蓝胖子机器人有限公司 | Dexterous hand finger and multi-finger dexterous hand |
| CN110640776B (en) * | 2019-11-04 | 2024-03-29 | 深圳蓝胖子机器智能有限公司 | Dexterous hand finger and multi-finger dexterous hand |
| CN112517527A (en) * | 2020-10-19 | 2021-03-19 | 张家港三能机电设备有限公司 | Ultrasonic cleaning device convenient to adjust |
| CN114474111A (en) * | 2020-11-13 | 2022-05-13 | 株式会社理光 | Three-finger manipulator |
| CN112405591A (en) * | 2020-11-26 | 2021-02-26 | 东北大学 | Three-finger dexterous hand based on full-drive fingers |
| CN113894832A (en) * | 2021-11-08 | 2022-01-07 | 北京理工大学 | Three-finger rope-driven dexterous hand |
| CN113894832B (en) * | 2021-11-08 | 2023-03-14 | 北京理工大学 | Three-finger rope-driven dexterous hand |
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