CN108214523A - Robot bionic finger - Google Patents
Robot bionic finger Download PDFInfo
- Publication number
- CN108214523A CN108214523A CN201711448559.0A CN201711448559A CN108214523A CN 108214523 A CN108214523 A CN 108214523A CN 201711448559 A CN201711448559 A CN 201711448559A CN 108214523 A CN108214523 A CN 108214523A
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- Prior art keywords
- thumb
- palm
- component
- steering engine
- finger
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 24
- 210000003813 thumb Anatomy 0.000 claims abstract description 129
- 210000003811 finger Anatomy 0.000 claims abstract description 83
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000010355 oscillation Effects 0.000 claims abstract description 4
- 210000005224 forefinger Anatomy 0.000 claims description 11
- 241000905957 Channa melasoma Species 0.000 claims description 9
- 244000060701 Kaempferia pandurata Species 0.000 claims description 3
- 235000016390 Uvaria chamae Nutrition 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims 1
- 230000001404 mediated effect Effects 0.000 abstract description 4
- 241000282376 Panthera tigris Species 0.000 abstract description 3
- 238000005452 bending Methods 0.000 description 5
- 210000001145 finger joint Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000004898 kneading Methods 0.000 description 1
- 210000004932 little finger Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The present invention relates to a kind of robot bionic fingers, including palm component, palm component is connected with four generic finger components and a thumb component, the thumb component includes joint and thumb root joint in thumb end joint, thumb, three thumb joints are sequentially connected, independent swing mechanism driving is both provided in three thumb joints, three groups of swing mechanisms can drive three thumb joints respectively to centre of the palm y direction flexural oscillations；Thumb root joint connects the second rotating mechanism, and the second rotating mechanism can drive whole thumb component to be rotated along centre of the palm X direction, and the second rotating mechanism connects the first rotating mechanism, and the first rotating mechanism can drive whole thumb component to be rotated along centre of the palm y direction.Robot bionic finger dexterity of the invention is high, and thumb component has 5 degree of freedom, and independent control can coordinate other finger components to realize that tiger's jaw foldings, the flexible of each finger are mediated, clenched fist, standing the actions such as the palm, crawl.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to robot bionic finger.
Background technology
In recent years, no matter robot technology has development at full speed in industry or in the application of civil field.Manipulator
It is the final executing agency of robot work, performance directly determines the ability to work of robot.It is similar to the mankind, there is height
The exploitation for spending the manipulator of versatility and dexterity is very necessary.
Existing robot finger, controls the activity in each joint using wire-control type mostly, the degree of freedom of each finger be limited compared with
Greatly, such as the Chinese patent (publication number of Tsinghua University's application：CN104942818A), a kind of 7 degree of freedom the five fingers manipulators are disclosed,
Its thumb is made of two finger joints, is gathered around there are one degree of freedom and a swing degree of freedom is bent, the degree of freedom of each finger is real
Now mainly wire rope gearing is pulled to complete by motor.Thumb degree of freedom sets very few, thumb and the wire-control type control of other fingers
Mode processed causes the manipulator to be only capable of completing minimal amount of simple action, and the articulations digitorum manus of each hand can only rotate simultaneously, can not be polygonal
The action of simple joint control biomimetics is spent, many anthropomorphic bionical actions can not be realized.
Invention content
The application provides a kind of robot bionic finger, solves bionic hand wire-control type control mode in the prior art and causes respectively
Finger transport motion, the degree of freedom of each finger especially thumb are few, it is impossible to which multi-angle independently rotates mutual cooperation, is only capable of completing pole
The technical issues of a small amount of simple action, most bionical action can not be completed.
To solve the above-mentioned problems, technical scheme is as follows：
Robot bionic finger, including palm component, generic finger component and thumb component, the generic finger component and
Thumb component is connect with palm component, which is characterized in that the thumb component includes joint and thumb in thumb end joint, thumb
Root joint, joint and thumb root joint are sequentially connected in thumb end joint, thumb, are both provided with solely in each thumb joint
Vertical swing mechanism, every group of swing mechanism can drive corresponding thumb joint to centre of the palm y direction flexural oscillations；The thumb
Refer to root joint and connect the second rotating mechanism, second rotating mechanism can drive whole thumb component to turn along centre of the palm X direction
Dynamic, second rotating mechanism connects the first rotating mechanism, and first rotating mechanism can drive whole thumb component along the centre of the palm
Y direction rotates.
Further, second rotating mechanism includes bearing supporting frame, runing rest and the second steering engine, the rotation branch
Frame is connect with thumb root joint, and the output shaft of second steering engine is engaged by bearing supporting frame with runing rest, the rotation
Stent can drive whole thumb component to be rotated along centre of the palm X direction.
Further, first rotating mechanism includes bearing support block and the first steering engine, the output of first steering engine
Pinion gear is set on axis；Connection shaft, one end setting gear wheel of the connection shaft, the other end are worn in the bearing support block
It is fixedly connected with the second steering engine outer wall, the connection shaft is vertical with the output shaft of the second steering engine, the pinion gear and gear wheel
Engagement.
Further, the generic finger component includes small finger assembly, unknown finger assembly, middle finger assembly and forefinger component,
The palm component includes the centre of the palm, palm steering engine stent and the palm back of the body, and connection cavity, the company are formed between the centre of the palm and the palm back of the body
Setting centre of the palm mechanism in cavity is met, the centre of the palm mechanism drives small finger assembly, unknown finger assembly, middle finger assembly and forefinger component to do
Rotation and stretching motion, the thumb component are fixed on palm steering engine stent, and the palm steering engine stent is arranged on company
It connects in cavity.
Further, the every generic finger component includes three articulations digitorum manus, and each articulations digitorum manus is both provided with
Three degree of freedom being bent to centre of the palm X direction, are respectively provided at the finger root of every generic finger component there are one being indulged along the centre of the palm
Axis direction swings the degree of freedom of folding.
Further, third steering engine, the 4th steering engine and the 5th steering engine are further included, thumb end joint connects with the 5th steering engine
It connects, the 5th steering engine can drive thumb end joint to swing 0-90 degree to centre of the palm y direction；Joint and the 4th in the thumb
Steering engine connects, and the 4th steering engine can drive joint in thumb to swing 0-90 degree to centre of the palm y direction；The thumb root joint
It is connect with third steering engine, the third steering engine can drive thumb root joint to swing 0-90 degree to centre of the palm y direction.
Further, first steering engine 14 drives whole thumb component to rotate 0-112 degree along centre of the palm y direction.
Robot bionic finger as claimed in claim 7, which is characterized in that it is characterized in that, second steering engine 12 drives
It moves whole thumb component and rotates 0-90 degree along centre of the palm X direction.
Beneficial effects of the present invention：
The manner height of the robot bionic finger of the present invention is anthropomorphic, and dexterity is high, the drive of each finger-joint
For flowing mode by the way of independent control, thumb component has 5 degree of freedom, and other finger components can be coordinated to realize that tiger's jaw opens
It closes, the flexible of each finger mediates, clenches fist, standing the bionical actions such as the palm, crawl.
Description of the drawings
Fig. 1 is the overall structure diagram of robot bionic finger of the present invention；
Fig. 2 is the decomposition diagram of Fig. 1；
Fig. 3 is the structure diagram of thumb component of the present invention.
In figure, 1- palm components, 2- thumb components, 3- forefinger components, finger assembly in 4-, the unknown finger assemblies of 5-, 6- little fingers of toe
Component, 7- thumbs end joint, joint in 8- thumbs, 9- thumb roots joint, 10- bearing supporting frames, 11- runing rests, 12- second
Steering engine, 13- bearing support blocks, the first steering engines of 14-, 15- pinion gears, 16- connection shafts, 17- gear wheels, the 18- centres of the palm, 19- hands
It operates the rudder machine support, the 20- palm back ofs the body, 21- centres of the palm mechanism, the 5th steering engines of 22-, the 4th steering engines of 23-, 24- third steering engines.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made below in conjunction with attached drawing into
It is described in detail to one step, it is clear that described embodiment is only the implementation of part of the embodiment of the present invention rather than whole
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
All other embodiment, shall fall within the protection scope of the present invention.
However, those skilled in the art may be aware that one or more detail description can be by
Omit or can also adopt with other methods, component or material.In some instances, some embodiments are not described
Or it is not described later in detail.
The purpose of detailed description below is easy for becoming apparent from thorough explanation to present disclosure, wherein about
Along centre of the palm horizontal axis and the location expression of the centre of the palm longitudinal axis, be only for shown structure in respective figure for position.Wherein：The centre of the palm
Y direction is referred to using centre of the palm planar central point as origin, is directed toward the direction of four generic finger components (in the accompanying drawings with Y-axis
Represent), centre of the palm X direction is referred to using centre of the palm planar central point as origin, perpendicular to the direction of four generic finger components
(being represented in the accompanying drawings with X-axis).
The robot bionic finger movement mode height of the present invention is anthropomorphic, and the type of drive of each finger-joint is using single rudder
The mode of machine independent control avoids the movement implications that the control of conventional robot wire-control type is brought, there is higher flexibility；
There are three joints for the setting of thumb component 2 of bionic hand of the present invention, and 2 each joint of thumb component is in the respective bending for having independent control
While degree of freedom, thumb component 2 can be rotated integrally along centre of the palm horizontal axis and (or) the longitudinal axis, there are five thumb component 2 is gathered around altogether
Degree of freedom coordinates other fingers that can complete multiple bionical actions.Meanwhile robot bionic finger structure of the invention is simply, again
It measures light, easy to use and safeguards.
Embodiment：
It please refers to Fig.1, the present embodiment provides a kind of robot bionic fingers, connect including palm component 1 and with palm component 1
The four generic finger components and a thumb component 2 connect, thumb component 2 include joint 8 and thumb in thumb end joint 7, thumb
Refer to root joint 9, joint 8 and 9 joint of thumb root joint are sequentially connected from top to bottom in thumb end joint 7, thumb, and three thumbs close
Independent swing mechanism is both provided in section, this three groups of swing mechanisms can drive three thumb joints respectively to the centre of the palm longitudinal axis (Y
Axis) direction flexural oscillations, three bending degree of freedom of three thumb joints of completion；Thumb root joint 9 connects the second rotating mechanism,
Second rotating mechanism can drive whole thumb component 2 to be rotated along centre of the palm horizontal axis (X-axis) direction, complete the one of whole thumb component 2
A rotational freedom；Second rotating mechanism connects the first rotating mechanism, and the first rotating mechanism can drive the second rotating mechanism to connect
Whole thumb component 2 is driven to be rotated along the centre of the palm longitudinal axis (Y-axis) direction, completes a rotational freedom of whole thumb component 2；
It please refers to Fig.2 and Fig. 3, the second rotating mechanism includes bearing supporting frame 10,11 and second steering engine 12 of runing rest, axis
It holds supporting rack 10 and plays 2 each joint of connection and support thumb component；Runing rest 11 and the third steering engine in thumb root joint 9
24 connections play the role of that thumb component 2 is driven to rotate and fasten, the output shaft of the second steering engine 12 by bearing supporting frame 10 and
Runing rest 11 engages, and runing rest 11 can drive whole thumb component 2 to rotate 0-90 degree along centre of the palm horizontal axis (X-axis) direction.
It should be noted that in the present embodiment, whole thumb component 2 is used along the realization of centre of the palm horizontal axis rotational freedom
Be the second steering engine 12 drive runing rest rotate so that drive whole thumb component 2 along centre of the palm horizontal axis (X-axis) direction rotate；
In other embodiments, other revolute pair type of drive can also be used to realize, as long as in short, whole thumb component 2 can be complete
The degree of freedom rotated into one along centre of the palm horizontal axis (X-axis) direction.
First rotating mechanism includes 13 and first steering engine 14 of bearing support block, and small tooth is set on the output shaft of the first steering engine 14
Wheel 15；Connection shaft 16, one end setting gear wheel 17 of connection shaft 16, the other end and the second steering engine are worn in bearing support block 13
12 outer walls are fixedly connected, and the direction that connection shaft 16 is set is vertical with the output shaft of the second steering engine 12, pinion gear 15 and gear wheel
17 engagements, the first steering engine 14 drive whole thumb component 2 to rotate 0-112 degree along the centre of the palm longitudinal axis (Y-axis) direction.
It should be noted that in the present embodiment, whole thumb component 2 is used along the realization of centre of the palm horizontal axis rotational freedom
Be that the first steering engine 14 drives the second steering engine 12 to rotate and then drives whole thumb component 2 along the centre of the palm longitudinal axis (Y-axis) direction turn
It is dynamic；In other embodiments, other revolute pair type of drive can also be used to realize, as long as in short, whole thumb component 2 can
Complete a degree of freedom rotated along the centre of the palm longitudinal axis (Y-axis) direction.
The setting of rotational freedom of the above-mentioned whole thumb component 2 along centre of the palm horizontal axis (X-axis) and along the centre of the palm longitudinal axis (Y-axis) is suitable
Sequence, can as the case may be depending on, in the present embodiment, using thumb root joint 9 first connect driving whole thumb group
The automatic degree mechanism that part 2 is rotated along centre of the palm horizontal axis (X-axis), then whole thumb component 2 of driving is set to be rotated along the centre of the palm longitudinal axis (Y-axis)
Automatic degree mechanism, but in other embodiments, first set along what the centre of the palm longitudinal axis (Y-axis) rotate and spend mechanism automatically, edge is set again
The automatic degree mechanism of centre of the palm horizontal axis (X-axis) rotation also falls into protection scope of the present invention.
Thumb end joint 7 is connect with the 5th steering engine 22, and the 5th steering engine 22 can drive thumb end joint 7 to centre of the palm y direction
Swing 0-90 degree；Joint 8 is connect with the 4th steering engine 23 in thumb, and the 4th steering engine 23 can drive in thumb joint 8 to the centre of the palm longitudinal axis
Direction swings 0-90 degree；Thumb root joint is connect with third steering engine 24, and third steering engine 24 can drive thumb root joint to be indulged to the centre of the palm
Axis direction swings 0-90 degree.The independent steering engine being respectively provided in three thumb joints can realize three bending degree of freedom, three thumbs
Articulations digitorum manus is individually swung or collaboration is swung, and the gesture control of thumb is more accurate, and execution is more.
Four generic finger components include small finger assembly 6, unknown finger assembly 5, middle finger assembly 4 and forefinger component 3, palm group
Part 1 includes the centre of the palm 18, palm steering engine stent 19 and the palm back of the body 20,20 each finger of composition of the centre of the palm 18, palm steering engine stent 19 and the palm back of the body
Connecting platform；Connection cavity is formed between the centre of the palm 18 and the palm back of the body 20, connects setting centre of the palm mechanism 21, centre of the palm mechanism 21 in cavity
Small finger assembly 6, unknown finger assembly 5, middle finger assembly 4 and forefinger component 3 is driven to do to rotate and stretching motion, thumb component 2 is independent
Be fixed on palm steering engine stent 19, palm steering engine stent 19 be arranged on connection cavity in.
Four generic finger components include three articulations digitorum manus, and three articulations digitorum manus of every generic finger component are both provided with
Three degree of freedom being bent to centre of the palm X direction, the finger root joint of every generic finger component are respectively provided with that there are one indulge along the centre of the palm
Axis direction swings the degree of freedom of folding.The bending degree of freedom of three articulations digitorum manus settings of generic finger component, can be by every
The steering engine individually controlled is set to realize at finger-joint respectively.In order to save cost, the bending degree of freedom of generic finger component
Wire rope gearing can also be pulled to complete by motor of the prior art.
The operation principle of the brief description present invention：
Following 1-5 are the elemental motion modes of thumb component 2, and 6-8 is thumb component 2 and four generic finger component cooperations
The bionical manner of execution completed.
1st, the first steering engine 14 rotates, and the second steering engine 12 is driven along the centre of the palm longitudinal axis (Y-axis) direction through pinion gear 15, gear wheel 17
Rotation, can turn range 0-112 degree angle；
2nd, the second steering engine 12 rotates, and runing rest 11 and third steering engine 24 is driven to be rotated along centre of the palm horizontal axis (X-axis) direction, can
Turn range 0-90 degree angle；Joint 8 and thumb root joint 9 in thumb end joint 7, thumb
3rd, third steering engine 24 rotates, and thumb root joint 9 is driven to rotate, can turn range 0-90 degree angle；
4th, the 4th steering engine 23 rotates, and joint 8 in thumb is driven to rotate, can turn range 0-90 degree angle；
5th, the 5th steering engine 22 rotates, and thumb end joint 7 is driven to rotate, can turn range 0-90 degree angle；
6th, when the first steering engine 14 and the second steering engine 12 are at 0 degree of angle, rotation third steering engine 24 drives thumb root joint 9 to put
It is dynamic, and then whole thumb component 2 is driven to be swung to centre of the palm y direction, cooperation forefinger component 3 can complete the opening and closing movement of tiger's jaw；
7th, when the first steering engine 14 goes to an angle of 90 degrees, the second steering engine 12 of rotation can complete thumb and forefinger component 3, middle finger group
Cooperation is acted between two fingers of part 4, unknown finger assembly 5 and small finger assembly 6, such as thumbtip and forefinger tip kneading, thumbtip and middle finger
The actions such as point is mediated, thumbtip and unknown finger tip are mediated, thumbtip and small finger tip are mediated；
8th, five degree of freedom of thumb component 2 and forefinger component 3, middle finger assembly 4, unknown finger assembly 5 and small finger assembly 6 can
The completion of various bionic hand actions is completed, such as is clenched fist, the vertical palm, grasping movement；
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not limiting
The system present invention.For those skilled in the art, thought according to the present invention can also be made several simple
It deduces, deform or replaces.
Claims (8)
1. robot bionic finger, including palm component (1), generic finger component and thumb component (2), the generic finger group
Part and thumb component (2) are connect with palm component (1), which is characterized in that the thumb component (2) including thumb end joint (7),
Joint (8) and thumb root joint (9) in thumb, joint (8) and thumb root joint (9) connect successively in thumb end joint (7), thumb
Connect, be both provided with independent swing mechanism in each thumb joint, every group of swing mechanism can drive corresponding thumb joint to
Centre of the palm y direction flexural oscillations；The thumb root joint (9) connects the second rotating mechanism, and second rotating mechanism can drive
Whole thumb component (2) rotates along centre of the palm X direction, the first rotating mechanism of the second rotating mechanism connection, described first turn
Motivation structure can drive whole thumb component (2) to be rotated along centre of the palm y direction.
2. robot bionic finger as described in claim 1, which is characterized in that second rotating mechanism includes bearing supporting frame
(10), runing rest (11) and the second steering engine (12), the runing rest (11) connect with thumb root joint (9), and described second
The output shaft of steering engine (12) is engaged by bearing supporting frame (10) with runing rest (11), and the runing rest (10) can drive
Whole thumb component (2) rotates along centre of the palm X direction.
3. robot bionic finger as claimed in claim 2, which is characterized in that first rotating mechanism includes bearing support block
(13) and the first steering engine (14), setting pinion gear (15) on the output shaft of first steering engine (14)；The bearing support block
(13) connection shaft (16), one end setting gear wheel (17) of the connection shaft (16), the other end and the second steering engine are worn in
(12) outer wall is fixedly connected, it is described connection shaft (16) it is vertical with the output shaft of the second steering engine (12), the pinion gear (15) and
Gear wheel (17) engages.
4. robot bionic finger as claimed in claim 3, which is characterized in that the generic finger component includes small finger assembly
(6), unknown finger assembly (5), middle finger assembly (4) and forefinger component (3), the palm component include the centre of the palm (18), palm steering engine
Stent (19) and the palm back of the body (20) form connection cavity, are set in the connection cavity between the centre of the palm (18) and the palm back of the body (20)
Centre of the palm mechanism (21), the centre of the palm mechanism (21) drive small finger assembly (6), unknown finger assembly (5), middle finger assembly (4) and forefinger
Component (3), which is done, to be rotated and stretching motion, the thumb component (2) are fixed on palm steering engine stent (19), the palm
Steering engine stent (19) is arranged in connection cavity.
5. robot bionic finger as claimed in claim 4, which is characterized in that the every generic finger component includes three
Articulations digitorum manus, each articulations digitorum manus are respectively provided with there are three the degree of freedom being bent to centre of the palm X direction, in every generic finger group
The degree of freedom of folding is swung there are one being respectively provided at the finger root of part along centre of the palm y direction.
6. robot bionic finger as claimed in claim 5, which is characterized in that further include third steering engine (24), the 4th steering engine
(23) it is connect with the 5th steering engine (22), thumb end joint (7) with the 5th steering engine (22), the 5th steering engine (22) can drive
Thumb end joint (7) swings 0-90 degree to centre of the palm y direction；Joint (8) are connect with the 4th steering engine (23) in the thumb, institute
Stating the 4th steering engine (23) can drive joint in thumb (8) to swing 0-90 degree to centre of the palm y direction；The thumb root joint (9) with
Third steering engine (24) connects, and the third steering engine (24) can drive thumb root joint (9) to swing 0-90 degree to centre of the palm y direction.
7. robot bionic finger as claimed in claim 6, which is characterized in that it is characterized in that, first steering engine 14 drives
Whole thumb component (2) rotates 0-112 degree along centre of the palm y direction.
8. robot bionic finger as claimed in claim 7, which is characterized in that it is characterized in that, second steering engine 12 drives
Whole thumb component (2) rotates 0-90 degree along centre of the palm X direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711448559.0A CN108214523A (en) | 2017-12-27 | 2017-12-27 | Robot bionic finger |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711448559.0A CN108214523A (en) | 2017-12-27 | 2017-12-27 | Robot bionic finger |
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| Publication Number | Publication Date |
|---|---|
| CN108214523A true CN108214523A (en) | 2018-06-29 |
Family
ID=62649123
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711448559.0A Pending CN108214523A (en) | 2017-12-27 | 2017-12-27 | Robot bionic finger |
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| Country | Link |
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| CN (1) | CN108214523A (en) |
Cited By (5)
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| CN110270994A (en) * | 2019-07-29 | 2019-09-24 | 永嘉县信达智能设备制造有限公司 | A kind of electronic multi-freedom robot hand |
| CN110640774A (en) * | 2019-10-22 | 2020-01-03 | 上海理工大学 | Six-degree-of-freedom five-finger manipulator |
| WO2020024729A1 (en) * | 2018-08-01 | 2020-02-06 | 北京因时机器人科技有限公司 | Mechanical finger and mechanical hand |
| CN111265349A (en) * | 2020-02-17 | 2020-06-12 | 中国人民解放军军事科学院军事医学研究院 | Thumb connecting mechanism and bionic hand |
| CN116079690A (en) * | 2023-02-10 | 2023-05-09 | 哈尔滨工业大学 | Thumb installation device and built-in smart hand of driver |
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| CN110640774A (en) * | 2019-10-22 | 2020-01-03 | 上海理工大学 | Six-degree-of-freedom five-finger manipulator |
| CN110640774B (en) * | 2019-10-22 | 2021-10-29 | 上海理工大学 | Six-degree-of-freedom five-finger manipulator |
| CN111265349A (en) * | 2020-02-17 | 2020-06-12 | 中国人民解放军军事科学院军事医学研究院 | Thumb connecting mechanism and bionic hand |
| CN111265349B (en) * | 2020-02-17 | 2021-08-31 | 中国人民解放军军事科学院军事医学研究院 | Thumb connecting mechanism and bionic hand |
| CN116079690A (en) * | 2023-02-10 | 2023-05-09 | 哈尔滨工业大学 | Thumb installation device and built-in smart hand of driver |
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