CN107932549B - Self-adaptive under-actuated steering three-finger robot clamping jaw - Google Patents
Self-adaptive under-actuated steering three-finger robot clamping jaw Download PDFInfo
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- CN107932549B CN107932549B CN201810041377.XA CN201810041377A CN107932549B CN 107932549 B CN107932549 B CN 107932549B CN 201810041377 A CN201810041377 A CN 201810041377A CN 107932549 B CN107932549 B CN 107932549B
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- finger
- transmission mechanism
- driving rod
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- steering
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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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- 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
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
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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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of robot clamping jaws, and particularly relates to a self-adaptive under-actuated steering three-finger robot clamping jaw, which comprises a clamping jaw shell, a driving module, a first finger module, a second finger module and a third finger module; the driving module is arranged in the clamping jaw shell and comprises a first driving motor, a second driving motor, a first power transmission system, a second power transmission system and three driving rods; the three finger modules are distributed along the circumference and are respectively arranged on three sides of the top end of the clamping jaw shell, and each finger module comprises a finger base, a first finger section and a second finger section; the first driving motor drives the three finger modules to complete the grabbing action through the first power transmission system, and the second driving motor drives the second finger module and the third finger module to rotate around the axes of the second driving motor and the third finger module through the second power transmission system, so that different relative poses of the finger modules are obtained. The invention can realize self-adaptive gripping of a target object, has large stroke of the clamping jaw, is stable in gripping and can realize self-locking of the gripping.
Description
Technical Field
The invention relates to the field of robot clamping jaws, in particular to a self-adaptive under-actuated steering three-finger robot clamping jaw.
Background
The robot clamping jaw is widely applied to industrial assembly lines such as part sorting and part moving, and can realize moving operation on a target in a structural environment or a non-structural environment. At present, most clamping jaws are specially designed for being matched with a robot to grab specific articles, and are usually designed and manufactured according to the structural characteristics of the grabbed articles, the production conditions of manufacturers and the actual needs, so that the production efficiency is low, and the cost is high. When the robot clamping jaw is used for clamping an object, two clamping methods are mainly adopted, namely parallel clamping and enveloping clamping. Parallel grasping means that during grasping a small-sized object or a larger object with an opposite surface, the end finger sections of the fingers of the clamping jaw are kept parallel for grasping; the enveloping grasping refers to stably grasping a target object by using a plurality of finger sections of fingers of a clamping jaw through multi-point contact, however, the clamping jaw of the robot disclosed in the prior art is designed to be a very complex structure no matter in a mechanical structure or a control system, the rigidity is low, the grasping force is small, the production cost is high, and the actual development requirement is not met, so that how to develop a clamping jaw which can really have better adaptability to the target object and has lower production cost is a problem to be solved urgently.
Disclosure of Invention
Aiming at the defects in the technology, the invention aims to provide a self-adaptive under-actuated steering three-finger robot clamping jaw. The clamping jaw comprises two driving motors, wherein one driving motor realizes the self-adaptive grasping function of the three finger modules, and the other driving motor realizes that the two finger modules in the three finger modules rotate around the axis of the finger modules, so that the relative pose between the three finger modules is changed. The invention has compact structure, large gripping range of the clamping jaw, capability of realizing gripping self-locking, large gripping force, integrated key panel and simple and easy-to-operate key teaching function.
In order to achieve the aim, the invention discloses a self-adaptive under-actuated steering three-finger robot clamping jaw, which comprises a clamping jaw shell, a driving module and a finger module, wherein the clamping jaw shell is provided with a clamping jaw body;
the clamping jaw shell comprises a shell cover plate, a shell box and a fixed flange, wherein one end of the shell box is fixedly connected with the shell cover plate, and the other end of the shell box is connected with the fixed flange;
the driving module comprises a first power transmission system, a second power transmission system, a first driving rod, a second driving rod and a third driving rod; the first driving rod, the second driving rod and the third driving rod are driven by a first driving motor to synchronously and linearly move along the axis direction of a rod piece, the first driving motor transmits torque through the first power transmission system, the second driving rod and the third driving rod are driven by a second driving motor to reversely and synchronously rotate around the axis direction of the rod piece, and the second driving motor transmits torque through the second power transmission system;
the finger module comprises a first finger module, a second finger module and a third finger module, and each finger module comprises a first finger section and a second finger section which are fixed on the finger base; the first finger module, the second finger module and the third finger module are uniformly distributed in the circumferential direction of the shell cover plate.
Further, the first power transmission system comprises a first transmission mechanism and a second transmission mechanism, and the input end of the first transmission mechanism is connected with the output end of the first driving motor; the output end of the first transmission mechanism is connected with the input end of the second transmission mechanism; the first driving rod, the second driving rod and the third driving rod are arranged on the output end of the second transmission mechanism.
Further, the first transmission mechanism adopts one or a combination of a plurality of gear transmission mechanisms, flat belt wheel transmission mechanisms, toothed belt wheel transmission mechanisms, rope wheel transmission mechanisms, chain transmission mechanisms, gear rack transmission mechanisms or connecting rod transmission mechanisms, and the second transmission mechanism adopts one or a combination of a plurality of lead screw nut transmission mechanisms or worm and gear transmission mechanisms with self-locking function.
Further, the second power transmission system comprises a first steering transmission mechanism and a second steering transmission mechanism; the output end of the first steering transmission mechanism is connected with the output shaft of the second driving motor; the output end of the first steering transmission mechanism is connected with the second driving rod; the input shaft of the second steering transmission mechanism is connected with the output shaft of the second driving motor, the output shaft of the second steering transmission mechanism is connected with the third driving rod, and the rotating speeds of the second driving rod and the third driving rod are the same and the rotating directions are opposite.
Further, the first steering transmission mechanism and the second steering transmission mechanism adopt one or a combination of a plurality of gear transmission mechanisms, flat belt wheel transmission mechanisms, tooth-shaped belt wheel transmission mechanisms, rope wheel transmission mechanisms, chain transmission mechanisms, gear rack transmission mechanisms or connecting rod transmission mechanisms.
Further, the finger base of the first finger module is fixedly connected with the housing cover plate, the first finger module is hinged to the first driving rod, the first driving rod is arranged on the central axis of the first finger module, and the first finger module is driven by the first driving rod to complete a gripping action; the second finger module is hinged with the second driving rod, the second driving rod is arranged on a central axis of the second finger module, and the second finger module is driven by the second driving rod to complete a gripping action and coaxial rotation; the third finger module is hinged to the third driving rod, the third driving rod is arranged on a central axis of the third finger module, and the third finger module is driven by the third driving rod to complete gripping action and coaxial rotation.
Furthermore, one end of the first finger section is hinged with the finger base, and the other end of the first finger section is hinged with the second finger section; the finger module comprises three working modes: the parallel pose, the centering pose and the two-finger grasping pose are automatically switched according to actual conditions.
Further, an operation panel, an indicator light and an aviation plug are arranged on the shell box, the operation panel is used for controlling the whole device, the indicator light represents the running state of the device, and the aviation plug is used for being connected with an external device.
The invention has the beneficial effects that: the dual-drive motor is adopted for control, so that the self-adaptive grasping function of the three finger modules is realized, and meanwhile, the rotation of two finger modules in the three finger modules around the axis of the finger modules is ensured, the relative poses among the three finger modules are changed, and the grasping of different articles is realized; the clamping jaw snatchs the scope greatly, can realize grabbing the auto-lock, and it is big to grab the dynamics of grabbing to have integrated button panel, have the button teaching function of simple easy operation.
Drawings
FIG. 1 is a body diagram of the present invention;
FIG. 2 is a frame diagram of the present invention;
FIG. 3 is a schematic view of a driving module according to the present invention;
FIG. 4 is a schematic view of a finger module of the present invention;
FIG. 5 is a schematic view of parallel pose parallel grasping of an object by the finger modules of the present invention;
FIG. 6 is a schematic view of a finger module grasping an object in a parallel pose envelope of the present invention;
FIG. 7 is a schematic diagram of the finger module enveloping a grasping object in a center pose of the present invention;
FIG. 8 is a schematic view of the finger module of the present invention in a two-finger gripping pose for parallel gripping of an object.
The main element symbols are as follows:
1. a clamping jaw shell 2 and a driving module,
3. first finger module 4, second finger module
5. Third finger module 6, housing cover
7. Casing box, 8, mounting flange
9. Operation panel 10 and indicator lamp
11. Is an aviation plug 12 and a first driving motor
13. Second driving motor 14 and first power transmission system
15. Secondary drive train 16, primary drive rod
17. Second drive rod 18, third drive rod
19. Finger base 20, first finger section
21. Second finger section 22, first transmission mechanism
23. Second transmission mechanism 24 and first steering transmission mechanism
25. Second steering gear 26, first gripping gear
27. Second grasping drive gear 28, lead screw
29. Nut slider 30, first steering gear
31. A second steering transmission gear 32, a third steering transmission gear
33. A fourth steering transmission gear 34, a fifth steering transmission gear
35. An object.
Detailed Description
In order to more clearly describe the present invention, the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, 2 and 3, the invention discloses a self-adaptive under-actuated steering three-finger robot clamping jaw, which comprises a clamping jaw housing 1, a driving module 2 and a finger module; the clamping jaw shell 1 comprises a shell cover plate 6, a shell box 7 and a fixed flange 8, wherein one end of the shell box 7 is fixedly connected with the shell cover plate 6, and the other end of the shell box 7 is connected with the fixed flange 8; the drive module 2 comprises a first power transmission system 14, a second power transmission system 15, a first drive rod 16, a second drive rod 17 and a third drive rod 18; the first driving rod 16, the second driving rod 17 and the third driving rod 18 are driven by the first driving motor 12 to make synchronous linear motion along the rod axis direction, the first driving motor 12 transmits torque through the first power transmission system 14, the second driving rod 17 and the third driving rod 18 are driven by the second driving motor 13 to reversely rotate synchronously around the rod axis direction, and the second driving motor 13 transmits torque through the second power transmission system 15; the finger modules comprise a first finger module 3, a second finger module 4 and a third finger module 5, each finger module comprises a first finger section 20 and a second finger section 21, and the finger modules are fixed on a finger base 19; the first finger module 3, the second finger module 4 and the third finger module 5 are uniformly distributed in the circumferential direction of the housing cover plate 6. An operation panel 9, an indicator light 10 and an aviation plug 11 are arranged on the casing box 7, a teaching button is arranged on the operation panel 9, the indicator light 10 shows the operation state of the device, and the aviation plug 11 is used for connecting an external device.
Referring to fig. 3 and 4, the driving module 2 includes a first power transmission system 14, a second power transmission system 15, a first driving rod 16, a second driving rod 17 and a third driving rod 18; the first driving motor 12 and the second driving motor 13 are fixed inside the clamping jaw shell 1; the first power transmission system 14 comprises a first transmission mechanism 22 and a second transmission mechanism 23, the first transmission mechanism 22 of the embodiment adopts a gear transmission mechanism, and comprises a first holding transmission gear 26 and a second holding transmission gear 27, the second transmission mechanism 23 adopts a screw-nut transmission mechanism, and comprises a screw 28 and a nut slider 29, the first holding transmission gear 26 is arranged on the motor output shaft of the first driving motor 12, the second holding transmission gear 27 is engaged with the first holding transmission gear 26 and is arranged at the bottom end of the screw 28, the nut slider 29 is in threaded connection with the screw 28, and the first driving rod 16, the second driving rod 17 and the third driving rod 18 are arranged on the nut slider 29; the second power transmission system 15 includes a first steering transmission mechanism 24 and a second steering transmission mechanism 25, the first steering transmission mechanism 24 of the present embodiment adopts a gear transmission mechanism, which includes a first steering transmission gear 30 and a second steering transmission gear 31, the second steering transmission mechanism 25 adopts a gear transmission mechanism, which includes a third steering transmission gear 32, a fourth steering transmission gear 33 and a fifth steering transmission gear 34, the first steering transmission gear 30 and the third steering transmission gear 32 are disposed on the motor output shaft of the second driving motor 13, the second steering transmission gear 31 is engaged with the first steering transmission gear 30 and is installed on the second driving rod 17, the fourth steering transmission gear 33 is engaged with the third steering transmission gear 32, and the fifth steering transmission gear 34 is installed on the third driving rod 18 and is engaged with the fourth steering transmission gear 33.
The working principle of the invention is as follows:
in this embodiment, the finger module of the three-finger grip jaw mainly has three working positions: parallel pose, centering pose and two-finger grasping pose. Unlike the first finger module 3 in a fixed orientation, the second finger module 4 and the third finger module 5 are designed to rotate around their axes at the same angle and in opposite directions. The parallel pose is defined as the pose of the first finger module 3 when the second finger module 4 and the third finger module 5 are parallel to each other, and the second finger module 4 and the third finger module 5 are rotated by 0 ° as shown in fig. 5 and 6, which are schematic diagrams of parallel grasping of a rectangular parallelepiped and enveloping grasping of an object in the parallel pose of the three-finger gripper. When the second finger module 4 rotates clockwise by 60 degrees around the axis, the third finger module 5 rotates counterclockwise by 60 degrees, and at the moment, the three finger modules are symmetrically distributed on the clamping jaw housing 1 in pairs at an angle of 120 degrees, which is called a centering pose, as shown in fig. 7, the three finger clamping jaws envelop the gripping ball in the centering pose. When the second finger module 4 rotates clockwise by 90 ° around the axis, the third finger module 5 rotates counterclockwise by 90 °, and the second finger module 4 and the third finger module 5 are parallel and opposite to each other, which is called a two-finger gripping pose, as shown in fig. 8, which is a schematic diagram of parallel gripping of a small square block in a three-finger gripper centering pose.
The working principle of the driving module is as follows:
the first driving motor 12 rotates, and transmits torque through the first power transmission system 14, that is, the first transmission mechanism 22 and the second transmission mechanism 23 drive the first driving rod 16, the second driving rod 17 and the third driving rod 18 to synchronously and linearly move along the axis direction of the first driving rod, the second driving rod 17 and the third driving rod 18; the second driving motor 13 rotates, and transmits torque through the second power transmission system 15, that is, the second driving rod 17 and the third driving rod 18 are respectively driven to rotate around their axes by the first steering transmission mechanism 24 and the second steering transmission mechanism 25.
In this embodiment, when the first driving motor 12 rotates, the first grasping transmission gear 26 is driven to rotate, the second grasping transmission gear 27 engaged therewith rotates to drive the coaxial lead screw 28 to rotate, so that the nut slider 29 linearly moves along the axial direction of the lead screw 28, and the first driving rod 16, the second driving rod 17 and the third driving rod 18 mounted on the nut slider 29 synchronously and linearly move to drive the fingers of the first finger module 3, the second finger module 4 and the third finger module 5 to extend, thereby completing the grasping, operation and release of the self-adaptive grasping.
In this embodiment, when the second driving motor 13 rotates clockwise, the first steering transmission gear 30 and the third steering transmission gear 32 which are coaxial are driven to rotate clockwise, the first steering transmission gear 30 drives the engaged second steering transmission gear 31 to rotate counterclockwise, and the second driving rod 17 is driven to rotate counterclockwise around the axis of the second driving rod; the third steering transmission gear 32 rotates clockwise to drive the engaged fourth steering transmission gear 33 to rotate anticlockwise, so as to drive the fifth steering transmission gear 34 to rotate clockwise, so that the third driving rod 18 rotates clockwise around the axis thereof, and the anticlockwise rotation of the second finger module 4 and the clockwise rotation of the third finger module 5 are realized. When the second driving motor 13 rotates counterclockwise, the first steering transmission gear 30 and the third steering transmission gear 32 which are coaxial are driven to rotate counterclockwise, the subsequent process is just opposite to the process of grabbing the object, which is not repeated, and clockwise rotation of the second finger module 4 and counterclockwise rotation of the third finger module 5 are realized.
The invention has the advantages that:
1) the dual-drive motor is adopted for control, so that the self-adaptive grasping function of the three finger modules is realized, and meanwhile, the rotation of two finger modules in the three finger modules around the axis of the finger modules is ensured, the relative poses among the three finger modules are changed, and the grasping of different articles is realized;
2) the clamping jaw has a large grabbing range, can realize grabbing self-locking, has large grabbing force, is provided with an integrated key panel, and has a key teaching function which is simple and easy to operate;
3) be provided with the circular connector, but external device for the application range of whole robot clamping jaw is wider.
The above disclosure is only one embodiment of the present invention, but the present invention is not limited thereto, and the number of the jaws may be increased or decreased, and those variations which can be considered by those skilled in the art are within the scope of the present invention.
Claims (6)
1. A self-adaptive under-actuated steering three-finger robot clamping jaw is characterized by comprising a clamping jaw shell, a driving module and a finger module;
the clamping jaw shell comprises a shell cover plate, a shell box and a fixed flange, wherein one end of the shell box is fixedly connected with the shell cover plate, and the other end of the shell box is connected with the fixed flange;
the driving module comprises a first power transmission system, a second power transmission system, a first driving rod, a second driving rod and a third driving rod; the first driving rod, the second driving rod and the third driving rod are driven by a first driving motor to synchronously and linearly move along the axis direction of a rod piece, the first driving motor transmits torque through the first power transmission system, the second driving rod and the third driving rod are driven by a second driving motor to reversely and synchronously rotate around the axis direction of the rod piece, and the second driving motor transmits torque through the second power transmission system;
the finger module comprises a first finger module, a second finger module and a third finger module, and each finger module comprises a first finger section and a second finger section which are fixed on the finger base; the first finger module, the second finger module and the third finger module are uniformly distributed in the circumferential direction of the shell cover plate;
the first power transmission system comprises a first transmission mechanism and a second transmission mechanism, and the input end of the first transmission mechanism is connected with the output end of the first driving motor; the output end of the first transmission mechanism is connected with the input end of the second transmission mechanism; the first driving rod, the second driving rod and the third driving rod are arranged at the output end of the second transmission mechanism;
one end of the first finger section is hinged with the finger base, and the other end of the first finger section is hinged with the second finger section; the finger module comprises three working modes: the parallel pose, the centering pose and the two-finger grasping pose are automatically switched according to actual conditions.
2. The adaptive under-actuated steering three-finger robot gripper according to claim 1, wherein the first transmission mechanism is one or a combination of a plurality of gear transmission mechanisms, a flat belt wheel transmission mechanism, a tooth-shaped belt wheel transmission mechanism, a rope wheel transmission mechanism, a chain transmission mechanism, a gear rack transmission mechanism or a connecting rod transmission mechanism, and the second transmission mechanism is one or a combination of a lead screw nut transmission mechanism or a worm and gear transmission mechanism with a self-locking function.
3. The adaptive under-actuated steering three finger robot gripper of claim 1, wherein the second power transmission system comprises a first steering transmission mechanism and a second steering transmission mechanism; the input shaft of the first steering transmission mechanism is connected with the output shaft of the second driving motor; the output shaft of the first steering transmission mechanism is connected with the second driving rod; the input shaft of the second steering transmission mechanism is connected with the output shaft of the second driving motor, the output shaft of the second steering transmission mechanism is connected with the third driving rod, and the rotating speeds of the second driving rod and the third driving rod are the same and the rotating directions are opposite.
4. The adaptive under-actuated steering three-finger robot gripper according to claim 3, wherein the first steering transmission mechanism and the second steering transmission mechanism are one or a combination of a gear transmission mechanism, a flat belt wheel transmission mechanism, a toothed belt wheel transmission mechanism, a rope wheel transmission mechanism, a chain transmission mechanism, a rack-and-pinion transmission mechanism or a connecting rod transmission mechanism.
5. The adaptive under-actuated steering three-finger robot gripper according to claim 1, wherein the finger base of the first finger module is fixedly connected with the housing cover plate, the first finger module is hinged to the first driving rod, the first driving rod is arranged on a central axis of the first finger module, and the first finger module is driven by the first driving rod to complete a gripping action; the second finger module is hinged with the second driving rod, the second driving rod is arranged on a central axis of the second finger module, and the second finger module is driven by the second driving rod to complete a gripping action and coaxial rotation; the third finger module is hinged to the third driving rod, the third driving rod is arranged on a central axis of the third finger module, and the third finger module is driven by the third driving rod to complete gripping action and coaxial rotation.
6. The adaptive under-actuated steering three-finger robot gripper according to claim 1, wherein an operation panel, an indicator light and an aviation plug are arranged on the housing box, the operation panel has a teaching function, the indicator light indicates the operation state of the device, and the aviation plug is used for connecting an external device.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810041377.XA CN107932549B (en) | 2018-01-16 | 2018-01-16 | Self-adaptive under-actuated steering three-finger robot clamping jaw |
| PCT/CN2018/105324 WO2019140930A1 (en) | 2018-01-16 | 2018-09-12 | Three-fingered robotic gripper having adaptive under-actuated steering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810041377.XA CN107932549B (en) | 2018-01-16 | 2018-01-16 | Self-adaptive under-actuated steering three-finger robot clamping jaw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107932549A CN107932549A (en) | 2018-04-20 |
| CN107932549B true CN107932549B (en) | 2020-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810041377.XA Active CN107932549B (en) | 2018-01-16 | 2018-01-16 | Self-adaptive under-actuated steering three-finger robot clamping jaw |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107932549B (en) |
| WO (1) | WO2019140930A1 (en) |
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| CN107932549B (en) * | 2018-01-16 | 2020-01-14 | 深圳市大寰机器人科技有限公司 | Self-adaptive under-actuated steering three-finger robot clamping jaw |
| CN108214534B (en) * | 2018-01-16 | 2020-03-31 | 深圳市大寰机器人科技有限公司 | Self-adaptive under-actuated robot clamping jaw |
| CN108748233A (en) * | 2018-06-08 | 2018-11-06 | 广州聚芳阁服饰有限公司 | A kind of robot arm for garment production |
| CN108908392B (en) * | 2018-08-10 | 2021-07-27 | 山东省科学院自动化研究所 | Cooperative multi-finger manipulator and robot system |
| CN109434867A (en) * | 2018-12-05 | 2019-03-08 | 广东科佩克机器人有限公司 | A kind of electronic two fingers mechanical paw of adaptivity |
| CN110202606B (en) * | 2019-07-03 | 2020-10-27 | 江南大学 | Dexterous soft-touch end effector capable of changing various fingers and finger nails |
| CN110788875B (en) * | 2019-10-14 | 2020-12-18 | 安徽大学 | Single-motor-driven self-adaptive paw with RCC function |
| CN111136680B (en) * | 2020-01-22 | 2024-08-09 | 深圳国信泰富科技有限公司 | Mechanical arm |
| CN111872932A (en) * | 2020-08-04 | 2020-11-03 | 武汉轻工大学 | Mechanical arm |
| CN111993450B (en) * | 2020-08-17 | 2021-12-21 | 苏州国岭技研智能科技有限公司 | Elastic pressure rod and three-finger-section parallel clamping self-adaptive robot hand device |
| CN112518708B (en) * | 2020-12-26 | 2024-09-13 | 张学莉 | Large-scale cargo handling robot |
| CN112936130A (en) * | 2021-02-01 | 2021-06-11 | 杭州英飞创机械设备有限公司 | Self-rotation clamping mechanism |
| CN113146676A (en) * | 2021-05-31 | 2021-07-23 | 广东靓彩产业孵化投资有限公司 | Bionic joint |
| CN113305870B (en) * | 2021-06-30 | 2022-08-05 | 雅安恒成精密刀具有限公司 | Cutter bar type air pressure clamping jaw with air pressure system |
| CN113510741A (en) * | 2021-07-28 | 2021-10-19 | 华中科技大学 | Under-actuated self-adaptive manipulator based on metamorphic principle |
| CN113752293B (en) * | 2021-08-30 | 2023-09-22 | 西安交通大学 | Multi-mode mechanical gripper |
| CN114939885B (en) * | 2022-06-06 | 2024-02-27 | 周鑫 | Rope-driven three-finger mechanical gripper and control method thereof |
| CN115319777B (en) * | 2022-07-26 | 2024-07-16 | 华中科技大学 | Industrial clamp holder based on underactuated differential mechanism |
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2018
- 2018-01-16 CN CN201810041377.XA patent/CN107932549B/en active Active
- 2018-09-12 WO PCT/CN2018/105324 patent/WO2019140930A1/en active Application Filing
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| WO2019140930A1 (en) | 2019-07-25 |
| CN107932549A (en) | 2018-04-20 |
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