CN107214720B - Modular configuration-variable three-finger robot hand - Google Patents
Modular configuration-variable three-finger robot hand Download PDFInfo
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- CN107214720B CN107214720B CN201710607285.9A CN201710607285A CN107214720B CN 107214720 B CN107214720 B CN 107214720B CN 201710607285 A CN201710607285 A CN 201710607285A CN 107214720 B CN107214720 B CN 107214720B
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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
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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
- B25J15/08—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
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Abstract
A modularized variable-configuration three-finger robot hand relates to a three-finger robot hand, and aims to solve the problems that the existing three-finger robot hand is limited by a mechanical structure and complex operation, and the three-finger robot hand is low in flexibility and reliability, and comprises a palm, a base, three fingers and three finger bases; the palm is arranged on the base, and the three fingers are respectively a first finger, a second finger and a third finger; the three finger bases are respectively a first finger swinging base, a second finger swinging base and a third finger telescopic base; a first finger swinging base, a second finger swinging base and a third finger telescopic base are arranged between the palm and the base; the first finger swing base is connected with the first finger and can drive the first finger to rotate; the first finger swing base and the second finger swing base are respectively connected with the base through lower rotary joints; the third finger telescopic base is installed on the base. The invention is applied to robots.
Description
Technical Field
The invention relates to a three-finger robot hand, in particular to a modular variable-configuration three-finger robot hand, and belongs to the field of robot application.
Background
End effectors are components of the robot that make direct contact with the external environment, affecting the efficiency and ability of the robot to perform operations. The robot operation task is directly related to the work content of human beings, and if the robot end effector is designed into a robot hand with various different grabbing configurations, the robot can grab objects flexibly and complete various different operation tasks. The robot end effector has the grabbing and operating capabilities similar to human hands, the universality of the robot end effector can be realized, the flexibility is improved, and the robot can better replace human beings to complete various different work tasks. In the research process of the robot hand, in order to realize the grabbing stability and adaptability and enable the robot hand to grab objects in various shapes and sizes, an important research content is the structure and grabbing configuration of the robot hand.
In the design process of the robot hand, the mechanism complexity, the volume and the weight of the paw need to be considered. The finger structure and the distribution position determine the configuration and the working space of the robot hand, and influence the distribution condition of contact points formed when the robot hand is in contact with an object. In addition, the diversification of the operation tasks of the robot requires that the end effector has higher flexibility, the degree of freedom of the robot hand and the complexity of the mechanism are increased to a certain extent, and the operation performance and the maintenance of the robot hand are influenced. And adopt the modularized design can be with the hand claw split into different functional unit, can simplify the mechanism and be convenient for maintain under the prerequisite that does not reduce operating performance, can practice thrift the cost and improve the reliability.
In US7168748 a three-finger robot hand is disclosed, which is characterized in that each finger joint is driven by a motor and adopts worm and gear transmission. It has a finger base fixed, and two other finger bases can rotate. The positional relationship between the three fingers is changed by rotation of the two finger bases, thereby forming different gripping configurations. But the coupling between the rotatable bases of the two fingers of the robot hand is not high enough in flexibility and adaptability.
A robot hand with several palm units that can be moved relative to each other is disclosed in chinese patent CN 1964822. The palm is composed of a plurality of palm units, relative movement can be carried out between the palm units, the space position relation between fingers can be changed, and the degree of freedom of the mechanism can be changed. However, the robot hand is limited by the joint size of the palm section, resulting in reduced reliability, limited range of motion and poor control.
In summary, the three-finger robot hand lacks flexibility and reliability due to limitations in mechanical structure and complex manipulation of the existing three-finger robot hand.
Disclosure of Invention
The invention provides a modularized variable-configuration three-finger robot hand, aiming at solving the problems that the existing three-finger robot hand is limited by a mechanical structure and complex operation and has low flexibility and reliability.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the modularized variable-configuration three-finger robot hand comprises a palm, a base, three fingers and three finger bases; the palm is arranged on the base, and the three fingers are respectively a first finger, a second finger and a third finger;
the three finger bases are respectively a first finger swinging base, a second finger swinging base and a third finger telescopic base; a first finger swinging base, a second finger swinging base and a third finger telescopic base are arranged between the palm and the base; the first finger swing base is connected with the first finger and can drive the first finger to rotate; the second finger swing base is connected with the second finger and drives the second finger to rotate; the first finger swing base and the second finger swing base are respectively connected with the base through lower rotary joints; the flexible base of third finger is installed on the base, and the flexible base of third finger can drive the third finger rotatory and flexible.
Compared with the prior art, the invention has the following beneficial effects: the modular configuration-variable three-finger robot hand has the advantages that each finger knuckle of the modular configuration-variable three-finger robot hand comprises an independent driving motor, a worm is sleeved on an output shaft of the driving motor and is in meshed transmission with a worm wheel, the modular configuration-variable three-finger robot hand has a self-locking function, cable notches are reserved among the finger knuckles, cable through holes are reserved at the bottoms of the fingers, and the three fingers are not coupled with each other mechanically, so that the modular configuration-variable three-finger robot hand. The motion of swing base and flexible base has strengthened the flexibility of robot hand claw, and workspace is big, can form multiple gesture of snatching, snatchs the object type extensive, snatchs the form diversified, has improved and has snatched stability and maintainability. Meanwhile, the invention has small size, light weight, high flexibility and simple and convenient operation and maintenance.
Drawings
FIG. 1 is a perspective view of the overall construction of a modular, reconfigurable three-finger robotic hand of the present invention;
FIG. 2 is a perspective view of the overall structure of a single finger in accordance with an embodiment of the present invention;
FIG. 3 is a half-section view of a single finger in accordance with an embodiment of the present invention;
FIG. 4 is a schematic view of the structure of the lower rotary joint and the finger swing base according to the embodiment of the present invention;
FIG. 5 is a finger flat state diagram of a modular, reconfigurable three-finger robotic hand of the present invention;
FIG. 6 is a view showing the flat state of the fingers of the modular and configuration-changeable three-finger robot after the swing base of the invention is rotated;
FIG. 7 is a state diagram of a finger base rotation and finger telescoping base of the modular and reconfigurable three-finger robot of the present invention;
FIG. 8 is a state diagram of a modular, reconfigurable three-finger robot hand grasping cylinder according to the present invention;
FIG. 9 is a state view of a modular, reconfigurable three finger robotic hand gripping wrench of the present invention;
FIG. 10 is a state diagram of a modular, reconfigurable three finger robotic hand operated scissors of the present invention;
fig. 11 is a state diagram of a modular configuration-changing three-finger robot holding a pencil according to the invention.
Detailed Description
The technical solution of the present invention will be further described with reference to the accompanying drawings and the detailed description.
Referring to the illustration of fig. 1, the modular, configuration-changed three-finger robot hand comprises a palm 6, a base 1, three fingers and three finger bases; the palm 6 is arranged on the base 1, and the three fingers are respectively a first finger, a second finger and a third finger;
the three finger bases are a first finger swing base 2, a second finger swing base 10 and a third finger telescopic base 14 respectively; a first finger swinging base 2, a second finger swinging base 10 and a third finger telescopic base 14 are arranged between the palm 6 and the base 1; the first finger swing base 2 is connected with a first finger and can drive the first finger to rotate; the second finger swing base 10 is connected with a second finger and drives the second finger to rotate; the first finger swing base 2 and the second finger swing base 10 are respectively connected with the base 1 through lower rotary joints; the flexible base of third finger 14 installs on base 1, and the flexible base of third finger 14 can drive the third finger rotation and stretch out and draw back.
By the design, the first finger makes horizontal rotation motion around the axis of the palm 6 plane vertically accommodating the circuit board through the lower rotation joint connected with the first finger swing base 2, the second finger makes rotation motion around the axis of the palm 6 plane vertically accommodating the circuit board through the lower rotation joint connected with the second finger swing base 10, and the third finger makes linear motion along the axis of the palm 6 plane vertically accommodating the circuit board through the third finger telescopic base 14, so that the spatial position relation between the three fingers and the palm of the robot is changed, and various grabbing configurations are formed.
In one embodiment, each finger includes a finger holder 16, a first knuckle 4 and a second knuckle 5; the first knuckle 4 comprises a first fixing support 15, a second fixing support 17, a first knuckle support 23, a first knuckle fixing shell 19, a first knuckle fixing shell 25, a first knuckle fixing ring 18, a first knuckle fixing ring 27, a first knuckle worm 28, a first knuckle worm wheel 33 and a first knuckle motor; the first fixing bracket 15 and the second finger fixing bracket 17 are arranged on the knuckle fixing seat 16; the first knuckle mounting ring one 18, the first knuckle mount 23 and the first knuckle mount two 27 are arranged between the finger first mount 15 and the finger second mount 17; the first knuckle motor is arranged on the first knuckle support 23, the first knuckle worm 33 is fixedly connected to an output shaft of the first knuckle motor and is in meshed transmission with the first knuckle worm wheel 33, the first knuckle fixing ring I18 and the first knuckle fixing ring II 27 are respectively provided with a central inner hole, and the first knuckle fixing ring I18 and the first knuckle fixing ring II 27 which are connected with the first knuckle support 23 are arranged on two sides of the first knuckle support 23; the inner holes of the centers of the first knuckle fixing ring 18 and the second knuckle fixing ring 27 are fastened with the outer ring of the bearing, two sides of the first knuckle worm wheel 33 are respectively fastened with the two inner rings of the bearing, and two ends of the wheel shaft of the first knuckle worm wheel 33 are respectively fixedly connected with the first fixing support 15 and the second fixing support 17.
The second knuckle 5 comprises a second knuckle bracket 26, a first knuckle fixing ring 20, a second knuckle fixing ring 24, a second knuckle motor, a second knuckle worm 32 and a second knuckle worm wheel 31; the first second knuckle fixing ring 20, the second knuckle bracket 26 and the second knuckle fixing ring 24 are respectively arranged on the first knuckle fixing shell 19 and the second knuckle fixing shell 25; the second knuckle motor is installed on the second knuckle support 26, a second knuckle worm 32 is fixedly connected to an output shaft of the second knuckle motor and in meshed transmission with a second knuckle worm wheel 31, a first second knuckle fixing ring 20 and a second knuckle fixing ring 24 are respectively provided with a central inner hole, a first second knuckle fixing ring 20 and a second knuckle fixing ring 24 which are connected with the second knuckle support 26 are arranged on two sides of the second knuckle support 26, the central inner holes of the first second knuckle fixing ring 20 and the second knuckle fixing ring 24 are fastened with bearing outer rings, two sides of the second knuckle worm wheel 31 are respectively fastened with two bearing inner rings, and two ends of a wheel shaft of the second knuckle worm wheel 31 are respectively fixedly connected with a first knuckle fixing shell 19 and a second direct-connection fixing shell 25. The bearing is a miniature bearing, the first fixing support 15 and the second fixing support 17 are fixed on the finger fixing support 16 through bolts, a through hole in the center of the finger fixing support 16 can be connected with an electric cable, the first knuckle worm 33 is driven by the first knuckle motor 29 to be in meshing transmission with the first knuckle worm wheel 33, and as a worm wheel shaft of the first knuckle worm wheel 33 is fixedly connected to the first fixing support 15 and the second fixing support 17, the first knuckle worm wheel 33 drives the first knuckle support 23, the first knuckle fixing ring I18 and the second knuckle fixing ring II 27 to rotate around the worm wheel shaft of the first knuckle worm wheel 33 under the action of the bearing, so that the first knuckle 4 can rotate; similarly, the second knuckle worm 32 is driven by the second knuckle motor 30 to be in meshing transmission with the second knuckle worm wheel 31, and a worm wheel shaft of the second knuckle worm wheel 31 is fixedly connected to the first knuckle fixing shell 19 and the first knuckle fixing shell 25, so that the second knuckle worm wheel 31 drives the second knuckle bracket 26, the second knuckle fixing ring 20 and the second knuckle fixing ring 24 to rotate around the worm wheel shaft of the second knuckle worm wheel 31 under the action of a bearing, and the second knuckle 5 is rotated. By the design, each joint of the finger can rotate and be self-locked, the structure is compact, the transmission is reliable, the modularization of the finger is realized, and the grabbing of various targets is completed. The first knuckle motor is controlled by a first knuckle circuit board 29 and the second knuckle motor is controlled by a second knuckle circuit board 30.
In another embodiment, the first finger swing base 2 includes a swing base housing 43, a swing base motor 45, a swing base worm 41, a swing base worm gear 42, and a swing base shaft 44;
the swinging base motor 45 is installed on the swinging base shell 43, the output end of the swinging base motor 45 is connected with the swinging base worm 41, the swinging base shaft 44 is rotatably installed on the swinging base shell 43, the swinging base worm 42 is inserted on the swinging base shaft 44, the swinging base worm 41 is in meshing transmission with the swinging base worm 42, the finger fixing seat 16 of the first finger swinging base 2 or the second finger swinging base 10 is installed at the upper end of the swinging base shaft 44, and the first finger swinging base 2 and the second finger swinging base 10 have the same structure. The lower rotary joint comprises a swing motor 37, a swing worm 38, a swing worm wheel 39 and a swing shaft 40; the swing motor 37 is installed on the base 1, the output end of the swing motor 37 is connected with the swing worm 38, a swing shaft 40 which is rotatably connected with the swing base shell 43 and the base 1 is arranged between the swing base shell and the base, and a swing worm wheel 39 is inserted on the swing shaft 40.
The base shaft 44 is provided with an inner hole and a notch, the finger fixing base 16 can be sleeved with the small-diameter end of the base shaft 44 and fixed through a bolt, and the design can lead the electric cable out of the notch through the inner hole of the base shaft 44 so as to be connected with other electric cables, and in addition, the first finger swing base 2, the second finger swing base 10 and the swing base shaft 44 can rotate to change the direction of each finger face and realize self-locking.
Preferably, the third finger telescopic base 14 adopts a mode of combining screw transmission and motor transmission, specifically: the third finger telescoping base 14 comprises a lead screw connecting plate 34, a lead screw 36, a lead screw motor 46, a base rotating shaft 50 and a base rotating motor 52; the lead screw 36 is rotatably installed on the base 1, the lead screw motor 46 is installed on the lead screw 36, the lead screw connecting plate 34 is in threaded connection with the lead screw 36, the base rotating motor 52 is fixedly installed on the lead screw connecting plate 34, the output end of the base rotating motor 52 is arranged upwards and connected with the base rotating shaft 50, and the finger fixing seat 16 of the third finger is installed at the upper end of the base rotating shaft 50. The base rotating shaft 50 is sleeved on an output shaft of the base rotating motor 52, the base rotating shaft 50 is provided with an inner hole and is provided with a notch, and the finger fixing seat 16 of the third finger can be sleeved with the small-diameter end of the base rotating shaft 50 and is fixed through a bolt to accommodate a control circuit board placed inside the palm 6 of the circuit board. By the design, the base and the palm part of the robot hand can be formed, self-locking of the extension of the third finger extension base 14 is achieved, power transmission is reliable, and the base rotating motor 52 can drive the third finger to rotate.
Preferably, the base 1 includes a bottom plate 35, a bottom case 51 and an intermediate case 47, the bottom case 51 is mounted on an upper end surface of the bottom plate 35, the intermediate case 47 is mounted on an upper end of the bottom case 51, the bottom case 51 and the intermediate case 47 constitute a side wall of a recess in which the lower rotary joint and the third finger telescopic base 14 are mounted. By the arrangement, the three-finger robot hand is attractive in appearance, compact in structure and space-saving.
The working principle is as follows: as shown in fig. 1-4, the modified three-finger robot hand of the invention is composed of three fingers, a palm and a base, and is designed in a modular way. The structure of three fingers of the variable-configuration three-finger robot hand is the same, a driving motor and a driving circuit board are integrated in each knuckle, an output shaft of the driving motor in each knuckle is sleeved with a knuckle worm, the fingers rotate through meshing transmission with knuckle worm wheels, and the variable-configuration three-finger robot hand has a self-locking function. The fixing ring between the joints of each finger is provided with a cable notch, the bottom of each finger is provided with a cable through hole, the cables can establish electrical connection through the channels, the finger fixing seat of each finger is sleeved with the small-diameter end of the swinging base shaft or the base rotating shaft and fixed by bolts, no mechanism is coupled among the three fingers, and the fingers have certain independence relative to the palm and the base. Control circuit board has been placed to 6 insides of palm, establishes electrical connection with motor and drive circuit through the through-hole and the electric notch that leave among each joint in finger and the base with the help of electrical connector, has the modular characteristics, the operation and maintenance of being convenient for. The base includes two finger swing bases and a flexible base, base rotating electrical machines 52 has been placed in the flexible base, base rotation axis 50 cup joints on base rotating electrical machines 52's output shaft, lead screw connecting plate 34 links firmly with lead screw motor 46 one end, middle level casing 47 has the directional effect of slide, it makes lead screw connecting plate 34 be linear motion to drive lead screw 36 through lead screw motor 46, thereby the third finger can prolong the axis of perpendicular palm plane and be linear motion, power transmission is reliable, and can realize flexible auto-lock. An output shaft of the swing motor 37 is sleeved with a swing worm 38, a swing worm gear 39 is fixedly connected with a swing base shell 43 through a swing shaft 40, and the swing worm 38 is in meshed transmission with the swing worm gear 39, so that the first finger swing base 2 or the second finger swing base 10 can rotate around an axis vertical to the plane of the palm 6, and the spatial position relation between the three fingers and the palm 6 of the robot is further changed. The swing base worm 41 is sleeved with an output shaft of a swing base motor 45, the swing base worm 41 is fixedly connected with a swing base shaft 44, the swing base worm 41 is in meshing transmission with a swing base worm gear 42, the swing base shaft 44 rotates, and the base rotating motor 52 drives a third finger to rotate, so that the direction of each finger surface is changed, and self-locking is realized.
The present invention is not limited to the above embodiments, and any person skilled in the art can make many modifications and equivalent variations by using the above-described structures and technical contents without departing from the scope of the present invention.
Claims (4)
1. Modular configuration-variable three-finger robot hand is characterized in that: the palm type finger stick comprises a palm (6), a base (1), three fingers and three finger bases; the palm (6) is arranged on the base (1), and the three fingers are a first finger, a second finger and a third finger respectively;
the three finger bases are respectively a first finger swinging base (2), a second finger swinging base (10) and a third finger telescopic base (14); a first finger swing base (2), a second finger swing base (10) and a third finger telescopic base (14) are arranged between the palm (6) and the base (1); the first finger swing base (2) is connected with the first finger and can drive the first finger to rotate; the second finger swing base (10) is connected with the second finger and drives the second finger to rotate; the first finger swing base (2) and the second finger swing base (10) are respectively connected with the base (1) through lower rotary joints; the third finger telescopic base (14) is arranged on the base (1), and the third finger telescopic base (14) can drive a third finger to rotate and stretch;
each finger includes a finger holder (16);
the third finger telescopic base (14) comprises a lead screw connecting plate (34), a lead screw (36), a lead screw motor (46), a base rotating shaft (50) and a base rotating motor (52); the lead screw (36) is rotatably installed on the base (1), a lead screw motor (46) is installed on the lead screw (36), a lead screw connecting plate (34) is in threaded connection with the lead screw (36), a base rotating motor (52) is fixedly installed on the lead screw connecting plate (34), the output end of the base rotating motor (52) is arranged upwards and connected with a base rotating shaft (50), and a finger fixing seat (16) of a third finger is installed at the upper end of the base rotating shaft (50);
the lower rotary joint comprises a swing motor (37), a swing worm (38), a swing worm wheel (39) and a swing shaft (40); the first finger swing base (2) comprises a swing base shell (43); the swing motor (37) is installed on the base (1), the output end of the swing motor (37) is connected with the swing worm (38), a swing shaft (40) which is rotatably connected with the swing motor and the swing base is arranged between the swing base shell (43) and the base (1), and a swing worm wheel (39) is inserted on the swing shaft (40).
2. The modular, reconfigurable, three-finger robotic hand of claim 1, wherein: each finger comprises a first knuckle (4) and a second knuckle (5);
the first knuckle (4) comprises a first fixing support (15), a second fixing support (17), a first knuckle support (23), a first knuckle fixing shell I (19), a first knuckle fixing shell II (25), a first knuckle fixing ring I (18), a first knuckle fixing ring II (27), a first knuckle worm (28), a first knuckle worm wheel (33) and a first knuckle motor; the first fixing support (15) and the second fixing support (17) are arranged on the finger fixing seat (16); the first knuckle fixing ring I (18), the first knuckle support (23) and the first knuckle fixing ring II (27) are arranged between the finger first fixing support (15) and the finger second fixing support (17);
the first knuckle motor is arranged on the first knuckle support (23), the first knuckle worm (28) is fixedly connected to an output shaft of the first knuckle motor and is in meshed transmission with the first knuckle worm wheel (33), the first knuckle fixing ring I (18) and the first knuckle fixing ring II (27) are respectively provided with a central inner hole, and the first knuckle fixing ring I (18) and the first knuckle fixing ring II (27) connected with the first knuckle support (23) are arranged on two sides of the first knuckle support (23); the inner holes of the centers of the first knuckle fixing ring I (18) and the first knuckle fixing ring II (27) are fastened with the outer ring of a bearing, two sides of a first knuckle worm wheel (33) are respectively fastened with the inner rings of the two bearings, and two ends of a wheel shaft of the first knuckle worm wheel (33) are respectively fixedly connected with a first fixing support (15) and a second fixing support (17);
the second knuckle (5) comprises a second knuckle bracket (26), a first knuckle fixing ring (20), a second knuckle fixing ring (24), a second knuckle motor, a second knuckle worm (32) and a second knuckle worm wheel (31); the first knuckle fixing ring (20), the second knuckle bracket (26) and the second knuckle fixing ring (24) are respectively arranged on the first knuckle fixing shell (19) and the second knuckle fixing shell (25); the second knuckle motor is installed on a second knuckle support (26), a second knuckle worm (32) is fixedly connected to an output shaft of the second knuckle motor and is in meshed transmission with a second knuckle worm wheel (31), a first knuckle fixing ring (20) and a second knuckle fixing ring (24) are respectively provided with a central inner hole, a first knuckle fixing ring (20) and a second knuckle fixing ring (24) which are connected with the second knuckle support (26) are arranged on two sides of the second knuckle support (26), the central inner holes of the first knuckle fixing ring (20) and the second knuckle fixing ring (24) are fastened with outer rings of bearings, two sides of the second knuckle worm wheel (31) are fastened with two inner rings of the bearings respectively, and two ends of a wheel shaft of the second knuckle worm wheel (31) are fixedly connected with a first knuckle fixing shell (19) and a first direct fixing shell (25) respectively.
3. The modular, reconfigurable, three-finger robotic hand of claim 2, wherein: the first finger swing base (2) further comprises a swing base motor (45), a swing base worm (41), a swing base worm gear (42) and a swing base shaft (44);
the swing base motor (45) is installed on a swing base shell (43), the output end of the swing base motor (45) is connected with a swing base worm (41), a swing base shaft (44) is rotatably installed on the swing base shell (43), a swing base worm wheel (42) is inserted on the swing base shaft (44), the swing base worm (41) is in meshing transmission with the swing base worm wheel (42), a finger fixing seat (16) of a first finger swing base (2) or a second finger swing base (10) is installed at the upper end of the swing base shaft (44), and the first finger swing base (2) and the second finger swing base (10) are identical in structure.
4. The modular, reconfigurable, three-finger robotic hand of claim 1 or 2, wherein: the base (1) comprises a bottom plate (35), a bottom shell (51) and a middle shell (47), the bottom shell (51) is installed on the upper end face of the bottom plate (35), the middle shell (47) is installed at the upper end of the bottom shell (51), the bottom shell (51) and the middle shell (47) form a groove wall of a groove, and the lower rotary joint and the third finger telescopic base (14) are installed in the groove.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710607285.9A CN107214720B (en) | 2017-07-24 | 2017-07-24 | Modular configuration-variable three-finger robot hand |
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| CN201710607285.9A CN107214720B (en) | 2017-07-24 | 2017-07-24 | Modular configuration-variable three-finger robot hand |
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| CN107214720A CN107214720A (en) | 2017-09-29 |
| CN107214720B true CN107214720B (en) | 2020-07-07 |
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| CN107901060B (en) * | 2017-10-13 | 2020-03-27 | 杭州若比邻机器人科技有限公司 | Spiral drive and worm gear drive finger mechanism |
| CN107901058B (en) * | 2017-10-13 | 2020-11-20 | 杭州若比邻机器人科技有限公司 | Mechanical arm |
| DE102017220999B4 (en) | 2017-11-23 | 2019-07-04 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Modular end effector |
| CN108274486B (en) * | 2018-03-21 | 2023-11-07 | 知行高科（北京）科技有限公司 | Modularized robot end effector, reconstruction method and grabbing method thereof |
| 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 |
| CN111571632B (en) * | 2020-06-05 | 2024-06-07 | 浙江工业大学 | Multi-scene self-adaptive three-finger manipulator |
| 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 |
| CN114474111B (en) * | 2020-11-13 | 2024-09-13 | 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 |
| CN113894832B (en) * | 2021-11-08 | 2023-03-14 | 北京理工大学 | Three-finger rope-driven dexterous hand |
| CN114888833A (en) * | 2022-05-17 | 2022-08-12 | 哈尔滨工业大学 | Humanoid manipulator |
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| AU2003278994A1 (en) * | 2002-09-26 | 2004-04-19 | Barrett Technology, Inc. | Intelligent, self-contained robotic hand |
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| CN105522587B (en) * | 2016-02-03 | 2017-06-13 | 中国科学院自动化研究所 | Bionical three refer to manipulator |
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| CN107214720A (en) | 2017-09-29 |
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