CN107243915A - A kind of flat folder coupling switching adaptive robot finger apparatus of duplex rack - Google Patents
A kind of flat folder coupling switching adaptive robot finger apparatus of duplex rack Download PDFInfo
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- CN107243915A CN107243915A CN201710431270.1A CN201710431270A CN107243915A CN 107243915 A CN107243915 A CN 107243915A CN 201710431270 A CN201710431270 A CN 201710431270A CN 107243915 A CN107243915 A CN 107243915A
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- belt wheel
- joint shaft
- half gear
- rack
- segment
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of flat folder coupling switching adaptive robot finger apparatus of duplex rack, belong to robot technical field, including pedestal, two segments, two joint shafts, motor, half gear, gear, connector, rotating shaft, lower rack, upper rack, jackshaft, two limited blocks, sleeve and spring part etc..Taken the arrangement achieves the flat gripper of robot finger, couple crawl and a variety of grasp modes of self-adapting grasping.The device realizes flat folder and the steady switching coupled using half gear, and the setting of half gear improves the transmission accuracy of flat folder and coupling stages, mechanism has been simplified using the adaptation function of pinion and rack, flat folder or couple state and the contradiction of adaptive state are avoided using the cooperation of spring part and position limiting slide block；Capture scope big；Two joints are driven using single motor, without complicated sensing and control system；Simple in construction, small volume, cost is low.
Description
Technical field
The invention belongs to robot technical field, the adaptive machine of the flat folder coupling switching of more particularly to a kind of duplex rack
The structure design of finger device.
Background technology
Under-actuated robot hand refers to that joint freedom degrees number is more than a class robot of used motor number, this
The self-adapting grasping function that class robot has can capture a variety of different sizes, object of different shapes, can be not
Accurate, stable crawl effect is realized in the case of using complicated sensing and control module.The machinery of under-actuated robot hand
It is simple for structure, with low cost, powerful, it is adapted to the differences such as industrial robot, community service robot or human body artifucial limb
In field, to the crawl demand of robot.
Two of under-actuated robot hand with two joint freedom degrees basic crawl classifications be coupling grasp mode and
Self-adapting grasping pattern.Coupling grasp mode is：Moved according to certain proportionate relationship in two joints of robot.Coupling
Close grasp mode and be divided into positive coupling and reverse coupled.Forward direction coupling also commonly referred to as coupling crawl, the bending fortune of coupling crawl
Dynamic effect has personification, and can realize thin rod-shaped objects are hooked up；Reverse coupled is referred to as when motion ratio is 1 to 1
Flat gripper takes, it is possible to achieve the parallel clamping to the object with two parallel surfaces.Self-adapting grasping refers to, robot
Final athletic posture is influenceed by the profile and size of being grabbed object, it is possible to achieve to the envelope of object.
By the combination to basic grasp mode, two kinds of compound grasp modes are formd：Coupling adaptive grasp mode and
Flat folder self-adapting grasping pattern.Both compound grasp modes are divided into two stages, first stage machine during crawl
The pattern further that human hand takes according to the peaceful gripper of coupling crawl respectively, can carry out the crawl to object, can also be used as to the
The preliminary exercise of two-stage；Second stage robot carries out self-adapting grasping.
A kind of existing finger device of double-joint parallel under-actuated robot (Chinese patent CN101633171B), including base
Seat, motor, two joint shafts, two segments, coupled transmission mechanism, drive lacking transmission mechanism and multiple spring parts.The device is realized
Coupling adaptive grasp mode, is just presented the effect of multi-joint coupling rotational when finger is touched before object, personalizes very much, together
When also contribute to grip mode and capture object；The effect just rotated after finger touches object using a kind of multi-joint drive lacking mode
Really, with the self-reacting benefit of size dimension to captured object.It is disadvantageous in that the device is only capable of realizing coupling
Self-adapting grasping pattern, it is impossible to realize flat folder self-adapting grasping pattern；In addition, mechanism is complicated, installation and maintenance are difficult；Spring number of packages mesh
Excessively, the contradiction reconciled between coupled transmission mechanism and adaptive transmission mechanism is decoupled using spring part, usually causes multiple spring parts
Deformation is larger, causes excessive and unnecessary energy loss.
A kind of existing flat folder coupling switching adaptive robot finger apparatus (Chinese patent CN105835083A) of flexible piece,
The flat folder self-adapting grasping pattern of manual switching and coupling adaptive grasp mode can be realized, half gear, connector, limit is employed
Position projection, two sets of flexible piece transmission mechanisms and two spring parts.Its deficiency is：Due in the first segment around the center of nearly joint shaft
During the rotating forward of line, tendon rope only have lower section a part in half gear circular arc outer rim on, and have quite a few tendon rope with
The mode of most short broken line connects the middle part transition wheel on half gear top and the first segment, causes in flat folder stage of gripping, transmission is not
Steadily, and transmission there is larger error (there is controlling dead error), when the second segment has one section in the first segment rotation process
Between there is no any action, be not accurate parallel clamping therefore so as to can not accurately ensure the translation of the second segment；In addition, group
Many into number of parts, complicated, volume is big, and cost is high.
The content of the invention
The invention aims to the weak point for overcoming prior art, there is provided a kind of flat folder coupling switching of duplex rack
Adaptive robot finger apparatus.The device can realize flat folder self-adapting grasping pattern, after simplified manual switching, again can be with
Realize coupling adaptive grasp mode；The device can the parallel clamping object of the segment of translation second, also can two joints just simultaneously
To bending uncoupling grip object, the first segment and the adaptive envelope different shapes and sizes of the second segment can also be successively rotated
Object；Capture scope big；The device makes mechanism succinct by way of rack and pinion engagement is driven, with low cost；Without multiple
Miscellaneous sensing and control system.
Technical scheme is as follows：
What the present invention was designed is that a kind of flat press from both sides of duplex rack couples switching adaptive robot finger apparatus, including pedestal,
First segment, the second segment, nearly joint shaft, remote joint shaft, motor, transmission mechanism, the first belt wheel, the second belt wheel and transmission belt；
The nearly joint shaft is movably set in pedestal, and first segment is socketed on nearly joint shaft, the remote joint shaft movable sleeve
It is located in the first segment, second segment is socketed on remote joint shaft；The center line of the nearly joint shaft and remote joint shaft
Centerline parallel；The motor and pedestal are affixed, and the transmission mechanism is arranged in pedestal, the output shaft of the motor and transmission
The input of mechanism is connected, and the output end of the transmission mechanism is connected with the first belt wheel；First belt wheel is actively socketed on closely
On joint shaft, second belt wheel is fixed on remote joint shaft；Second belt wheel and the second segment are affixed；The transmission belt connects
Connect the first belt wheel and the second belt wheel；Belt wheel transmission pass is cooperatively formed between the transmission belt, the first belt wheel and the second belt wheel three
System；Described belt wheel transmission part formation " O " font；The transmission radius of first belt wheel is more than the transmission radius of the second belt wheel；Its
It is characterised by：The flat folder coupling switching adaptive robot finger apparatus of the duplex rack also include half gear, gear, connector,
Rotating shaft, lower rack, upper rack, jackshaft, the first limited block, the second limited block, sleeve and spring part；The connector is socketed in closely
On joint shaft, the rotating shaft is set in connector；The central axis of the center line of the rotating shaft and nearly joint shaft；Described half
Gear is socketed in rotating shaft；Half gear and nearly joint shaft are concentric；The gear is fixed on remote joint shaft；The lower rack
Engaged with half gear；The upper end of the lower rack and sleeve are affixed；The jackshaft is set in sleeve；Under the upper rack
End is affixed with jackshaft；The upper rack is engaged with gear；The upper rack is slided and is embedded in the first segment；The spring part
Two ends connect half gear and pedestal respectively；The transmission radius of half gear is equal with the transmission radius of gear；If the nearly pass
The center line of the center line of nodal axisn and remote joint shaft constitutes plane U, and the rotating shaft is located on plane U；The jackshaft and rotating shaft
It is coplanar；First limited block, the second limited block are affixed with pedestal respectively；In original state, when half gear is located at side, half tooth
Wheel is contacted with the first limited block, and when half gear is located at opposite side, half gear is contacted with the second limited block.
The flat folder coupling switching adaptive robot finger apparatus of duplex rack of the present invention, it is characterised in that：It is described
Spring part uses extension spring, stage clip, leaf spring or torsion spring.
The present invention compared with prior art, with advantages below and high-lighting effect：
Apparatus of the present invention using pedestal, two segments, two joint shafts, motor, half gear, gear, connector, rotating shaft,
Lower rack, upper rack, jackshaft, two limited blocks, sleeve and spring part etc..Taken the arrangement achieves the flat gripper of robot finger,
Coupling crawl and a variety of grasp modes of self-adapting grasping.The device realizes flat folder and the steady switching coupled using half gear,
And the setting of half gear improves the transmission accuracy of flat folder and coupling stages, the adaptation function essence of pinion and rack is utilized
Jian Liao mechanisms, flat folder or couple state and the contradiction of adaptive state are avoided using the cooperation of spring part and position limiting slide block；Crawl
Scope is big；Using drive lacking mode, two joints are driven using single motor, without complicated sensing and control system；Structure
Simply, small volume, cost is low.The apparatus structure is simple, small volume, and manufacture and maintenance cost are low, it is adaptable to robot.
Brief description of the drawings
Fig. 1 is a kind of embodiment for the flat folder coupling switching adaptive robot finger apparatus of duplex rack that the present invention is designed
Front appearance figure.
Fig. 2, Fig. 3 are the side external views of embodiment illustrated in fig. 1.
Fig. 4 is the three-dimensional explosive view (being not drawn into part) of the present embodiment.
Fig. 5 to Fig. 8 is the action process that embodiment illustrated in fig. 1 adaptive envelope under flat folder adaptive model captures object
Schematic diagram.
Fig. 9 to Figure 11 is the action that embodiment illustrated in fig. 1 segment of translation second under flat folder adaptive model clamps object
Process schematic.
Figure 12 to Figure 14 is the action that embodiment illustrated in fig. 1 adaptive envelope under coupling adaptive pattern captures object
Journey schematic diagram.
Figure 15 to Figure 16 is the action process signal that embodiment illustrated in fig. 1 couples crawl object under coupling adaptive pattern
Figure.
In Fig. 1 into Figure 16：
1- pedestals, 14- motors the first segments of 2-, the segments of 3- second, the nearly joint shafts of 4-, 41- rotating shafts, 5- is far closed
Rack under nodal axisn, the belt wheels of 61- first, the belt wheels of 62- second, the gears of 71- half, 72- gears, 81-, 82- upper racks,
821- jackshaft axles, 9- springs.
Embodiment
Below in conjunction with the accompanying drawings and embodiment be described in further detail the present invention concrete structure, the content of operation principle.
The flat folder coupling switching a kind of embodiment of adaptive robot finger apparatus of duplex rack that the present invention is designed, including base
Seat, the first segment, the second segment, nearly joint shaft, remote joint shaft, motor, transmission mechanism, the first belt wheel, the second belt wheel and transmission
Band；The nearly joint shaft is movably set in pedestal, and first segment is socketed on nearly joint shaft, the remote joint shaft activity
It is set in the first segment, second segment is socketed on remote joint shaft；The center line of the nearly joint shaft and remote joint shaft
Centerline parallel；The motor and pedestal are affixed, and the transmission mechanism is arranged in pedestal, the output shaft and biography of the motor
The input of motivation structure is connected, and the output end of the transmission mechanism is connected with the first belt wheel；First belt wheel is actively socketed on
On nearly joint shaft, second belt wheel is fixed on remote joint shaft；Second belt wheel and the second segment are affixed；The transmission belt
Connect the first belt wheel and the second belt wheel；Belt wheel transmission is cooperatively formed between the transmission belt, the first belt wheel and the second belt wheel three
Relation；Described belt wheel transmission part formation " O " font；The transmission radius of first belt wheel is more than the transmission radius of the second belt wheel；
The present embodiment also includes half gear, gear, connector, rotating shaft, lower rack, upper rack, jackshaft, the first limited block, the second limit
Position block, sleeve and spring part；The connector is socketed on nearly joint shaft, and the rotating shaft is set in connector；The rotating shaft
The central axis of center line and nearly joint shaft；Half gear is socketed in rotating shaft；Half gear and nearly joint shaft are concentric；
The gear is fixed on remote joint shaft；The lower rack is engaged with half gear；The upper end of the lower rack and sleeve are affixed；Institute
Jackshaft is stated to be set in sleeve；The lower end of the upper rack and jackshaft are affixed；The upper rack is engaged with gear；On described
Rack is slided and is embedded in the first segment；The two ends of the spring part connect half gear and pedestal respectively；The transmission of half gear
Radius is equal with the transmission radius of gear；If the center line of the center line of the nearly joint shaft and remote joint shaft constitutes plane U, institute
Rotating shaft is stated on plane U；The jackshaft and rotating shaft are coplanar；First limited block, the second limited block are affixed with pedestal respectively；
During original state, when half gear is located at side, half gear is contacted with the first limited block, when half gear is located at opposite side, and half
Gear is contacted with the second limited block.
The flat folder coupling switching adaptive robot finger apparatus of duplex rack of the present invention, it is characterised in that：It is described
Spring part uses extension spring, stage clip, leaf spring or torsion spring.
If the present embodiment additionally uses the parts such as dry bearing, some sleeves, some screws and some pins, belong to known normal
With technology, do not repeat.
The operation principle of the present embodiment, with reference to accompanying drawing, is described below：
The device has two kinds of grasp modes：One kind is coupling adaptive grasp mode, and another is that flat folder is adaptively grabbed
Modulus formula, the switching of both of which can be by half gear around the shaft and lower rack is realized around the rotation of jackshaft.
Flat folder self-adapting grasping pattern and the manual switching method of coupling adaptive grasp mode are：
Half gear is rotated into 180 degree around the shaft, the lower rack that engage with half gear is rotated into 180 degree around jackshaft.
1) realization of folder self-adapting grasping pattern is put down
Half gear is toggled it to the side for being close to rear, rack, half gear, upper rack, sleeve, jackshaft and tooth is at this moment descended
Wheel constitutes constant speed drive in the same direction.It is described in detail below for flat folder self-adapting grasping pattern：
Initial position is finger straight configuration.
When motor 14 starts to rotate forward, drive the first belt wheel 61 to rotate by transmission mechanism, by transmission belt, make the second band
Wheel 62 is rotated, and keeps posture to be influenceed because the second belt wheel, the second segment and gear are affixed, therefore by gear, and first refers to
Section 2 is rotated forward around nearly joint shaft 4, and the second segment keeps the posture of original state.
When half gear 71 around nearly joint shaft the anglec of rotation be 0 degree when, the position of half gear opposite base 1 is constant；Due to
Half gear 71 is equal with the transmission radius of gear 72, and (i.e. both corners are identical, and gearratio is 1), in lower rack, sleeve, jackshaft
In the presence of upper rack, no matter what position is the first segment 2 be in, and gear 72 keeps same angle, tooth with half gear 71 all the time
That takes turns 72 opposite bases 1 only carries out translational motion without rotating, because gear 72 and the second segment 3 are affixed, so second refers to
3 opposite base of section 1 carries out translational motion without rotating；When half gear around nearly joint shaft the anglec of rotation be timing, gear
72 corner is equal to the corner of half gear 71.
When the present embodiment captures object 17, the transmission that driver 14 passes through transmission mechanism so that the first belt wheel 61 is rotated forward,
The corner of the opposite base 1 of first belt wheel 61 is α.In the presence of transmission belt, the corner of relative first segment 2 of the first belt wheel 6 with
The corner of relative first segment 2 of second belt wheel 62 has a certain proportion of relation.If being transferred to from the first belt wheel 61 by transmission belt
The gearratio of second belt wheel 62 is i, and the gearratio is the rotating speed (relative to the first segment 2) and the second belt wheel 62 of the first belt wheel 61
The ratio between rotating speed (relative to the first segment 2), it is equal to the transmission radius of the second belt wheel 62 and the transmission radius of the first belt wheel 61
The ratio between.Because the transmission radius of the first belt wheel 61 is more than the transmission radius of the second belt wheel 62, therefore it is step-up drive, output speed
More than input speed, therefore gearratio i is less than 1.If the first segment 2 is δ around the corner of nearly joint shaft 4.Due to the second belt wheel 62 with
Second segment 3 is affixed, and the second segment 3 does not rotate relative to pedestal 1, thus now the second belt wheel 62 also with respect to
Pedestal 1 does not rotate, and can then be derived from the present embodiment device will be equilibrated at the position for meeting following (formula 1)：
α=δ (1-i) (formula 1)
Because i is less than 1, it is respectively positive different angles that can obtain a α and δ (wherein α is less than δ).Therefore when driving
Device 14 have rotated an angle [alpha] by the transmission of transmission mechanism, the first belt wheel 61, and now, the first segment 2 is around nearly 4 turns of joint shaft
An angle δ is crossed, the second segment 3 is same posture all the time relative to pedestal 1, and simply position is changed.This is flat
The stage (such as Fig. 4, Fig. 5, Fig. 6, Figure 12) of row clamping.This stage is adapted to the de-clamping object 17 of the second segment 3, or passes through
The mode opened outside goes a support outside the mode opened from inside to outside to take object 17 with the second segment 3.Such as one hollow cylindrical tube
Take, be flared out propping up barrel on the inside of the object, so that object of taking.
Stopped by object 17 and be no longer able to turn when the first segment 2 contacts object 17, the second of adaptive envelope will be entered
Stage (as shown in Fig. 4, Fig. 5, Figure 10, Figure 11, Figure 13), at this moment driver 14 first band is driven by the transmission of transmission mechanism
Wheel 6, makes the second segment 3, the second belt wheel 62 and the gear 72 that are fixed together while joint shaft 5 of going the long way round is rotated, passes through lower rack
81 half gears 71 of drive are rotated around nearly joint shaft 4, and spring part 9 deforms, and now the second segment 3 can go the long way round the center of joint shaft 5
Line is rotated further, and untill the second segment 3 contact object 17, completes the effect that adaptive envelope captures object.For difference
The object of shape, size, the present embodiment has adaptivity, being capable of the general a variety of objects of crawl.
Discharge the process of object 17：Driver 14 is inverted, the process of subsequent process and above-mentioned crawl object 17 just on the contrary,
Do not repeat.
2) realization of coupling adaptive grasp mode
Half gear 71 is toggled it to the side (front) for being close to crawl object 17, lower rack 81, half gear 71 and gear 72
Constitute reverse constant speed drive.
It is introduced below for coupling adaptive grasp mode.
It is close to when driver 14 drives the first segment 2 to rotate forward by the first belt wheel 61, transmission belt and the second belt wheel 62
During object 17, because half gear 9 is close to spacing block set without rotating all the time, now the first segment 2 is relative to half gear
71 rotation can cause the lower part of rack 81 to leave half gear 71, and now the first segment 3 is pulled to crawl object 17 1 by spring part 9
Side, so as to tighten up lower rack 81, the second segment 3 is close to the rotation of the direction of object 17.Now have：
α=δ (1+i) (formula 2)
The process of release object 17 is with said process on the contrary, not repeating.
Apparatus of the present invention utilize driver, tape handler, rack and pinion drive mechanism, spring part, half gear, rotating shaft, half
The comprehensive flat folder self-adapting grasping pattern of robot finger that realizes such as gear linkage, half gear projection and spacing block set is with coupling
The function that self-adapting grasping pattern can simply switch：The device can realize flat folder self-adapting grasping pattern, in simplified manual
After switching, coupling adaptive grasp mode can be realized again.In flat folder self-adapting grasping pattern, the device can translation second
Segment grip object, the object of the first segment and the second segment envelope different shapes and sizes can be also rotated successively；It is adaptive coupling
Answer in grasp mode, the device can link two articulations simultaneously, and it is natural after the first segment contact object is blocked
It is transferred to the self-adapting grasping stage of the second segment of bending；Capture scope big；By the way of drive lacking, driven using a driver
Two joints are moved, without complicated sensing and control system；The apparatus structure is compact, small volume, and manufacture and maintenance cost are low, fits
For robot.
Claims (2)
1. a kind of flat folder coupling switching adaptive robot finger apparatus of duplex rack, including pedestal, the first segment, the second finger
Section, nearly joint shaft, remote joint shaft, motor, transmission mechanism, the first belt wheel, the second belt wheel and transmission belt；The nearly joint shaft activity
It is set in pedestal, first segment is socketed on nearly joint shaft, the remote joint shaft is movably set in the first segment, institute
The second segment is stated to be socketed on remote joint shaft；The center line of the nearly joint shaft and the centerline parallel of remote joint shaft；The electricity
Machine is affixed with pedestal, and the transmission mechanism is arranged in pedestal, and the output shaft of the motor is connected with the input of transmission mechanism,
The output end of the transmission mechanism is connected with the first belt wheel；First belt wheel is actively socketed on nearly joint shaft, and described second
Belt wheel is fixed on remote joint shaft；Second belt wheel and the second segment are affixed；The side of definition crawl object is the duplex-gear
The front of the flat folder coupling switching adaptive robot finger apparatus of bar, relative opposite side is that side away from crawl object is
The rear of the device；The transmission belt connects the first belt wheel and the second belt wheel；The transmission belt, the first belt wheel and the second belt wheel three
Belt wheel transmission relation is cooperatively formed between person；Described belt wheel transmission part formation " O " font；The transmission radius of first belt wheel is big
In the transmission radius of the second belt wheel；It is characterized in that：The flat folder coupling switching adaptive robot finger apparatus of the duplex rack is also
Including half gear, gear, connector, rotating shaft, lower rack, upper rack, jackshaft, the first limited block, the second limited block, sleeve and
Spring part；The connector is socketed on nearly joint shaft, and the rotating shaft is set in connector；The center line of the rotating shaft and nearly pass
The central axis of nodal axisn；Half gear is socketed in rotating shaft；Half gear and nearly joint shaft are concentric；The geared sleeve is consolidated
On remote joint shaft；The lower rack is engaged with half gear；The upper end of the lower rack and sleeve are affixed；The jackshaft is arranged
In sleeve；The lower end of the upper rack and jackshaft are affixed；The upper rack is engaged with gear；The upper rack, which is slided, to be inlayed
In the first segment；The two ends of the spring part connect half gear and pedestal respectively；The transmission radius of half gear and gear
Transmission radius is equal；If the center line of the center line of the nearly joint shaft and remote joint shaft constitutes plane U, the rotating shaft is located at flat
On the U of face；The jackshaft and rotating shaft are coplanar；First limited block, the second limited block are affixed with pedestal respectively；In original state,
When half gear is located at side, half gear is contacted with the first limited block, when half gear is located at opposite side, half gear and the second limit
Position block contact.
2. the flat folder coupling switching adaptive robot finger apparatus of duplex rack as claimed in claim 1, it is characterised in that：Institute
Spring part is stated using extension spring, stage clip, leaf spring or torsion spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710431270.1A CN107243915B (en) | 2017-06-08 | 2017-06-08 | Parallel-clamping coupling switching self-adaptive robot finger device with duplex racks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710431270.1A CN107243915B (en) | 2017-06-08 | 2017-06-08 | Parallel-clamping coupling switching self-adaptive robot finger device with duplex racks |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107243915A true CN107243915A (en) | 2017-10-13 |
| CN107243915B CN107243915B (en) | 2023-05-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710431270.1A Active CN107243915B (en) | 2017-06-08 | 2017-06-08 | Parallel-clamping coupling switching self-adaptive robot finger device with duplex racks |
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| CN (1) | CN107243915B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109677906A (en) * | 2018-12-04 | 2019-04-26 | 贵州埃克森环保建材有限公司 | A kind of thermal insulation strip plate barrow based on driving |
| CN111469155A (en) * | 2020-06-02 | 2020-07-31 | 朱睿勋 | Idle-stroke dual-drive parallel clamp coupling self-adaptive robot finger device |
| CN113968482A (en) * | 2021-09-29 | 2022-01-25 | 四川大学华西医院 | Gear and belt wheel coupled passive clamping mechanism |
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| US20130057004A1 (en) * | 2010-03-24 | 2013-03-07 | Kabushiki Kaisha Yaskawa Denki | Robot hand and robot device |
| CN106799742A (en) * | 2016-12-09 | 2017-06-06 | 清华大学 | Accurate flat folder self adaptation and coupling adaptive pattern switching robot finger apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20130057004A1 (en) * | 2010-03-24 | 2013-03-07 | Kabushiki Kaisha Yaskawa Denki | Robot hand and robot device |
| CN106799742A (en) * | 2016-12-09 | 2017-06-06 | 清华大学 | Accurate flat folder self adaptation and coupling adaptive pattern switching robot finger apparatus |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109677906A (en) * | 2018-12-04 | 2019-04-26 | 贵州埃克森环保建材有限公司 | A kind of thermal insulation strip plate barrow based on driving |
| CN109677906B (en) * | 2018-12-04 | 2020-09-08 | 贵州埃克森环保建材有限公司 | Heat preservation slat transport frame based on driving |
| CN111469155A (en) * | 2020-06-02 | 2020-07-31 | 朱睿勋 | Idle-stroke dual-drive parallel clamp coupling self-adaptive robot finger device |
| CN113968482A (en) * | 2021-09-29 | 2022-01-25 | 四川大学华西医院 | Gear and belt wheel coupled passive clamping mechanism |
| CN113968482B (en) * | 2021-09-29 | 2022-05-17 | 四川大学华西医院 | Gear and belt wheel coupled passive clamping mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107243915B (en) | 2023-05-16 |
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