CN108340392B - A kind of advanced manufacturing technology robot finger - Google Patents
A kind of advanced manufacturing technology robot finger Download PDFInfo
- Publication number
- CN108340392B CN108340392B CN201810225759.8A CN201810225759A CN108340392B CN 108340392 B CN108340392 B CN 108340392B CN 201810225759 A CN201810225759 A CN 201810225759A CN 108340392 B CN108340392 B CN 108340392B
- Authority
- CN
- China
- Prior art keywords
- finger
- fixedly connected
- bar
- hinged
- motor
- Prior art date
- 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.)
- Active
Links
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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to advanced manufacturing technology fields, are in particular a kind of advanced manufacturing technology robot fingers, and mechanical finger can be bent by motor control, and mechanical finger can be deformed into clip, to facilitate clamping object.The right end of fixing seat is fixedly connected with hinged protrusive board II, the middle position of hinged protrusive board II is fixedly connected with partial gear I, the upper end of fixing seat is fixedly connected with sideslip bar sliding sleeve, the upper end of sideslip bar is provided with T shape fin, T shape fin, sideslip bar is slidably connected on sideslip bar sliding sleeve, the upper end of sideslip bar sliding sleeve has been connected through a screw thread fastening screw I, fastening screw I is withstood on T shape fin, the rear and front end of the left end of fixing seat is hingedly connected with clamping bar, middle bar is fixedly connected on the left end of sideslip bar, the rear and front end of middle bar is hingedly connected with push-pull rod, the other end of two push-pull rods is respectively hinged on two clamping bars, the lower end of sideslip bar is provided with the gear teeth of rack shape.
Description
Technical field
The present invention relates to advanced manufacturing technology fields, are in particular a kind of advanced manufacturing technology robot fingers.
Background technique
Application No. is a kind of flat folder coupling conversion handyman finger apparatus of rack gear of CN201710428783.7, belong to
Robot finger's technical field, including pedestal, first motor, the first transmission mechanism, the second motor, the second transmission mechanism, middle part
Segment, end segment, nearly joint shaft, remote joint shaft, connector, shaft, half gear, lower rack gear, upper rack, sleeve, jackshaft
And gear.The arrangement achieves the flat folder active grasp modes of robot finger to cut with coupling active grasp mode and can simply be translatable
The function of changing.The device can reach the coupling that the single motor that tradition coupling finger is realized drives multiple joints while rotation
Effect, and there is tradition coupling finger independently to rotate the decoupling crawl effect of single joint, two traditional effects are had
The fusion of machine, so that control is easy, conveniently when crawl object；All motors, retarder are hidden in pedestal, finger rotating part
It is small in size, light-weight.But the patent is unable to deformation as clip, it has not been convenient to clamp object.
Summary of the invention
The present invention provides a kind of advanced manufacturing technology robot finger, and its advantages mechanical finger can pass through motor control
System bending, and mechanical finger can become clip with deformation, to facilitate clamping object.
The present invention relates to advanced manufacturing technology fields, are in particular a kind of advanced manufacturing technology robot fingers, packet
Including finger, finger segments plate I and finger segments plate II, mechanical finger can be bent by motor control, and mechanical finger can be with
It is deformed into clip, to facilitate clamping object.
The finger segments I includes fixing seat, hinged protrusive board II, partial gear I, T shape fin, sideslip bar, sideslip bar
Sliding sleeve, fastening screw I, push-pull rod, clamping bar and middle bar, the right end of fixing seat are fixedly connected with hinged protrusive board II, hinged protrusive board II
Middle position be fixedly connected with partial gear I, the upper end of fixing seat is fixedly connected with sideslip bar sliding sleeve, the upper end of sideslip bar
It is provided with T shape fin, T shape fin, sideslip bar are slidably connected on sideslip bar sliding sleeve, and the upper end of sideslip bar sliding sleeve passes through screw thread
It is connected with fastening screw I, fastening screw I is withstood on T shape fin, and the rear and front end of the left end of fixing seat is hingedly connected with folder
Bar, middle bar are fixedly connected on the left end of sideslip bar, and the rear and front end of middle bar is hinged with one end of a push-pull rod respectively, two push-and-pulls
The other end of bar is respectively hinged on two clamping bars, and the lower end of sideslip bar is provided with the gear teeth of rack shape；
Resettlement groove I, fastening screw II, rotation round bar, rotation round bar seat, motor rack are provided on the finger segments plate I
I, motor I, gear I, hinged projection seat I, T-slot and door frame, the rear and front end of the left end of finger segments plate I are fixedly connected to hingedly
Projection seat I, finger segments plate I are hinged by two hinged projection seat I and hinged protrusive board II, and the left end of finger segments plate I is provided with resettlement groove
I is fixedly connected with gear I on the output shaft of motor I, and motor I is fixedly connected on motor rack I, and the upper end of motor rack I is fixed to be connected
It is connected to rotation round bar, the upper end of finger segments plate I is fixedly connected with rotation round bar seat, and rotation round bar clearance fit is inserted in rotation round bar
On seat, the upper end of rotation round bar seat has been connected through a screw thread fastening screw II, and fastening screw II is withstood on rotation round bar, motor I
In resettlement groove I, the upper end of finger segments plate I is fixedly connected with door frame, and T-slot, gear I and incomplete tooth are provided on door frame
I engagement is taken turns, the right end of T shape fin is slidably connected in T-slot.
The finger further includes limit film I, and the upper end of fixing seat is fixedly connected with limit film I；The upper end of fixing seat
In same plane, limit film I is bonded with the upper surface of finger segments plate I for face and the upper surface of finger segments plate I.
Hinged protrusive board I, partial gear II and limit film II are additionally provided on the finger segments plate I, finger segments plate I's
Right end is fixedly connected with hinged protrusive board I, and the middle position of hinged protrusive board I is fixedly connected with partial gear II, finger segments plate I's
The upper end of right end is fixedly connected with limit film II.
Resettlement groove II, hinged projection seat II, gear II, motor II and motor rack II are provided on the finger segments plate II,
The rear and front end of the left end of finger segments plate II is fixedly connected to hinged projection seat II, and the left end of finger segments plate II is provided with resettlement groove
II is fixedly connected with gear II on the output shaft of motor II, and motor II is fixedly connected on motor rack II, and motor rack II is fixed to be connected
It connects on finger segments plate II, motor II is located in resettlement groove II, and finger segments plate II is hinged on hingedly by two hinged projection seat II
On protrusive board I, gear II is engaged with partial gear II, and the upper surface of finger segments plate I and the upper end surface of finger segments plate II are in same
When one plane, limit film II is bonded with the upper surface of finger segments plate II.
The motor I and motor II passes through conducting wire and is connected with power supply and control switch.
A kind of advanced manufacturing technology robot finger's of the invention has the beneficial effect that
A kind of advanced manufacturing technology robot finger of the present invention, mechanical finger can be bent by motor control, and machine
Tool finger can be deformed into clip, to facilitate clamping object.
Detailed description of the invention
The present invention will be further described in detail with specific implementation method with reference to the accompanying drawing.
Fig. 1 is a kind of structural schematic diagram one of advanced manufacturing technology robot finger of the present invention；
Fig. 2 is a kind of structural schematic diagram two of advanced manufacturing technology robot finger of the present invention；
Fig. 3 is the structural schematic diagram one of finger；
Fig. 4 is the structural schematic diagram two of finger；
Fig. 5 is the structural schematic diagram one of finger segments plate I；
Fig. 6 is the structural schematic diagram two of finger segments plate I；
Fig. 7 is the structural schematic diagram of finger segments plate II.
In figure: finger 1；Fixing seat 1-1；Hinged protrusive board II1-2；Partial gear I1-3；T shape fin 1-4；Sideslip bar
1-5；Sideslip bar sliding sleeve 1-6；Fastening screw I1-7；Limit film I1-8；Push-pull rod 1-9；Clamping bar 1-10；Middle bar 1-11；Finger segments
Plate I2；Hinged protrusive board I2-1；Partial gear II2-2；Resettlement groove I2-3；Fastening screw II2-4；Rotate round bar 2-5；Rotation circle
Pole socket 2-6；Motor rack I2-7；Motor I2-8；Gear I2-9；Hinged projection seat I2-10；T-slot 2-11；Door frame 2-12；Limit film
II2-13；Finger segments plate II3；Resettlement groove II3-1；Hinged projection seat II3-2；Gear II3-3；Motor II3-4；Motor rack II3-5.
Specific embodiment
Specific embodiment 1:
Illustrate present embodiment below with reference to Fig. 1-7, in particular it to be one that the present invention relates to advanced manufacturing technology fields
Kind advanced manufacturing technology robot finger, including finger 1 and finger segments plate I2, mechanical finger can be curved by motor control
Song, and mechanical finger can be deformed into clip, to facilitate clamping object.
The finger 1 includes fixing seat 1-1, hinged protrusive board II1-2, partial gear I1-3, T shape fin 1-4, cross
Slide bar 1-5, sideslip bar sliding sleeve 1-6, fastening screw I1-7, push-pull rod 1-9, clamping bar 1-10 and middle bar 1-11, the right side of fixing seat 1-1
End is fixedly connected with hinged protrusive board II1-2, and the middle position of hinged protrusive board II1-2 is fixedly connected with partial gear I1-3, Gu
The upper end of reservation 1-1 is fixedly connected with sideslip bar sliding sleeve 1-6, and the upper end of sideslip bar 1-5 is provided with T shape fin 1-4, T shape fin
1-4, sideslip bar 1-5 are slidably connected on sideslip bar sliding sleeve 1-6, and the upper end of sideslip bar sliding sleeve 1-6 has been connected through a screw thread tightly
Gu screw I1-7, fastening screw I1-7 are withstood on T shape fin 1-4, the rear and front end of the left end of fixing seat 1-1 is hingedly connected with
Clamping bar 1-10, middle bar 1-11 are fixedly connected on the left end of sideslip bar 1-5, the rear and front end of middle bar 1-11 respectively with a push-pull rod 1-
9 one end is hinged, and the other end of two push-pull rod 1-9 is respectively hinged on two clamping bar 1-10, the lower end setting of sideslip bar 1-5
There is the gear teeth of rack shape；Sideslip bar 1-5 can be slided on sideslip bar sliding sleeve 1-6, and fastening screw I1-7 can be by sideslip bar
1-5 is fixed on sideslip bar sliding sleeve 1-6；Sideslip bar 1-5 can be driven when moving left and right in bar 1-11 move left and right, middle bar 1-11
Two clamping bar 1-10 rotations can be pulled by two push-pull rod 1-9 when moving left and right, to realize two clamping bar 1-10 of control
Opening and closing, when two clamping bar 1-10 closure can clamp object.
Resettlement groove I2-3, fastening screw II2-4, rotation round bar 2-5, rotation round bar are provided on the finger segments plate I2
Seat 2-6, motor rack I2-7, motor I2-8, gear I2-9, hinged projection seat I2-10, T-slot 2-11 and door frame 2-12, finger segments plate
The rear and front end of the left end of I2 is fixedly connected to hinged projection seat I2-10, finger segments plate I2 by two hinged projection seat I2-10 and
Hinged protrusive board II1-2 is hinged, and the left end of finger segments plate I2 is provided with resettlement groove I2-3, is fixedly connected on the output shaft of motor I2-8
There are gear I2-9, motor I2-8 to be fixedly connected on motor rack I2-7, the upper end of motor rack I2-7 is fixedly connected with rotation round bar
2-5, the upper end of finger segments plate I2 are fixedly connected with rotation round bar seat 2-6, and rotation round bar 2-5 clearance fit is inserted in rotation round bar seat
On 2-6, the upper end of rotation round bar seat 2-6 has been connected through a screw thread fastening screw II2-4, and fastening screw II2-4 withstands on rotation circle
On bar 2-5, motor I2-8 is located in resettlement groove I2-3, and the upper end of finger segments plate I2 is fixedly connected with door frame 2-12, door frame 2-12
On be provided with T-slot 2-11, gear I2-9 is engaged with partial gear I1-3, and the right end of T shape fin 1-4 is slidably connected at T shape
In slot 2-11.Device as finger in use, sideslip bar 1-5 is pushed to left end, using fastening screw I1-7 by sideslip bar
1-5 is fixed, and so that T shape fin 1-4 is left T-slot 2-11, since gear I2-9 is engaged with partial gear I1-3, so motor
I2-8 rotation driven gear I2-9 rotation, gear I2-9 rotation drive partial gear I1-3 rotation, thus control finger 1 with
Rotation between finger segments plate I2；Device as clip in use, unclamp fastening screw I1-7, sideslip bar 1-5 is moved right,
Make T shape fin 1-4 in conjunction with T-slot 2-11, at this moment becomes the state that can not be rotated between finger 1 and finger segments plate I2, it is inverse
Hour hands rotation rotation round bar 2-5, turns to the gear tooth engagement with the lower end of sideslip bar 1-5 for gear I2-9, at this moment gear I2-
9 are detached from partial gear I1-3, and gear I2-9 can drive T shape fin 1-4 to horizontally slip when rotating, to realize motor I2-8
Control the opening and closing of two clamping bar 1-10.
The finger 1 further includes limit film I1-8, and the upper end of fixing seat 1-1 is fixedly connected with limit film I1-8；Gu
The upper surface of reservation 1-1 and the upper surface of finger segments plate I2 are in same plane, the upper end of limit film I1-8 and finger segments plate I2
Face paste is closed.Limit film I1-8 make fixing seat 1-1 upper surface and finger segments plate I2 upper surface in same plane, the two is not
It can be further continued for rotating.
It is additionally provided with hinged protrusive board I2-1, partial gear II2-2 and limit film II2-13 on the finger segments plate I2,
The right end of finger segments plate I2 is fixedly connected with hinged protrusive board I2-1, and the middle position of hinged protrusive board I2-1 is fixedly connected with not exclusively
The upper end of gear II2-2, the right end of finger segments plate I2 are fixedly connected with limit film II2-13.
Resettlement groove II3-1, hinged projection seat II3-2, gear II3-3, motor II3- are provided on the finger segments plate II3
4 and motor rack II3-5, the rear and front end of the left end of finger segments plate II3 are fixedly connected to hinged projection seat II3-2, finger segments plate
The left end of II3 is provided with resettlement groove II3-1, and gear II3-3 is fixedly connected on the output shaft of motor II3-4, and motor II3-4 is solid
Surely it is connected on motor rack II3-5, motor rack II3-5 is fixedly connected on finger segments plate II3, and motor II3-4 is located at resettlement groove
In II3-1, finger segments plate II3 is hinged on hinged protrusive board I2-1 by two hinged projection seat II3-2, gear II3-3 with it is endless
All gear II2-2 engagement, the upper surface of finger segments plate I2 and the upper end surface of finger segments plate II3 are when same plane, limit film
II2-13 is bonded with the upper surface of finger segments plate II3.Motor II3-4 can be rotated when rotating with moving gear II3-3, gear II3-
3 engage with partial gear II2-2, and gear II3-3 rotation drives partial gear II2-2 rotation, to control finger segments plate
Rotation between I2 and finger segments plate II3；The setting of limit film II2-13 so that finger segments plate I2 upper surface and finger segments plate
When same plane, the two cannot be further continued for rotating for the upper end surface of II3.
The motor I2-8 and motor II3-4 passes through conducting wire and is connected with power supply and control switch.
A kind of working principle of advanced manufacturing technology robot finger of the present invention: sideslip bar 1-5 can be in sideslip bar sliding sleeve
It is slided on 1-6, sideslip bar 1-5 can be fixed on sideslip bar sliding sleeve 1-6 by fastening screw I1-7；Sideslip bar 1-5 is moved left and right
When can drive in bar 1-11 move left and right, two folders can be pulled by two push-pull rod 1-9 when middle bar 1-11 is moved left and right
Bar 1-10 rotation, to realize the opening and closing of two clamping bar 1-10 of control, two clamping bar 1-10 can clamp object when being closed.Device
As finger in use, sideslip bar 1-5 is pushed to left end, sideslip bar 1-5 is fixed using fastening screw I1-7, makes T shape
Fin 1-4 leaves T-slot 2-11, since gear I2-9 is engaged with partial gear I1-3, so motor I2-8 rotation band movable tooth
I2-9 rotation is taken turns, gear I2-9 rotation drives partial gear I1-3 rotation, to control between finger 1 and finger segments plate I2
Rotation；Device as clip in use, unclamp fastening screw I1-7, sideslip bar 1-5 is moved right, make T shape fin 1-4 with
T-slot 2-11 is combined, and at this moment becomes the state that can not be rotated between finger 1 and finger segments plate I2, rotates counterclockwise rotation circle
Gear I2-9 is turned to the gear tooth engagement with the lower end of sideslip bar 1-5 by bar 2-5, and at this moment gear I2-9 is detached from incomplete tooth
I1-3 is taken turns, gear I2-9 can drive T shape fin 1-4 to horizontally slip when rotating, to realize that motor I2-8 controls two clamping bars
The opening and closing of 1-10.Limit film I1-8 make fixing seat 1-1 upper surface and finger segments plate I2 upper surface in same plane, two
Person cannot be further continued for rotating.Motor II3-4 can be rotated when rotating with moving gear II3-3, gear II3-3 and partial gear
II2-2 engagement, gear II3-3 rotation drives partial gear II2-2 rotation, to control finger segments plate I2 and finger segments plate
Rotation between II3；The setting of limit film II2-13 is so that the upper surface of finger segments plate I2 and the upper end surface of finger segments plate II3
When same plane, the two cannot be further continued for rotating.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (5)
1. a kind of advanced manufacturing technology robot finger, including finger (1) and finger segments plate I (2), it is characterised in that: described
Finger (1) include fixing seat (1-1), hinged protrusive board II (1-2), partial gear I (1-3), T shape fin (1-4), sideslip
Bar (1-5), sideslip bar sliding sleeve (1-6), fastening screw I (1-7), push-pull rod (1-9), clamping bar (1-10) and middle bar (1-11), Gu
The right end of reservation (1-1) is fixedly connected with hinged protrusive board II (1-2), and the middle position of hinged protrusive board II (1-2) is fixedly connected with
Partial gear I (1-3), the upper end of fixing seat (1-1) are fixedly connected with sideslip bar sliding sleeve (1-6), the upper end of sideslip bar (1-5)
It is provided with T shape fin (1-4), T shape fin (1-4), sideslip bar (1-5) are slidably connected on sideslip bar sliding sleeve (1-6), sideslip
The upper end of bar sliding sleeve (1-6) has been connected through a screw thread fastening screw I (1-7), and fastening screw I (1-7) withstands on T shape fin (1-4)
On, the rear and front end of the left end of fixing seat (1-1) is hingedly connected with clamping bar (1-10), and middle bar (1-11) is fixedly connected on sideslip
The rear and front end of the left end of bar (1-5), middle bar (1-11) is hinged with one end of a push-pull rod (1-9) respectively, two push-pull rod (1-
9) the other end is respectively hinged on two clamping bars (1-10), and the lower end of sideslip bar (1-5) is provided with the gear teeth of rack shape；
Resettlement groove I (2-3), fastening screw II (2-4), rotation round bar (2-5), rotation are provided on the finger segments plate I (2)
Round bar seat (2-6), motor rack I (2-7), motor I (2-8), gear I (2-9), hinged projection seat I (2-10), T-slot (2-11) and
Door frame (2-12), the rear and front end of the left end of finger segments plate I (2) are fixedly connected to hinged projection seat I (2-10), finger segments plate I
(2) hingedly by two hinged projection seat I (2-10) and hinged protrusive board II (1-2), the left end of finger segments plate I (2) is provided with placement
Slot I (2-3) is fixedly connected with gear I (2-9) on the output shaft of motor I (2-8), and motor I (2-8) is fixedly connected on motor rack I
On (2-7), the upper end of motor rack I (2-7) is fixedly connected with rotation round bar (2-5), and the upper end of finger segments plate I (2) is fixedly connected
There is rotation round bar seat (2-6), rotation round bar (2-5) clearance fit is inserted in rotation round bar seat (2-6), rotates round bar seat (2-6)
Upper end be connected through a screw thread fastening screw II (2-4), fastening screw II (2-4) withstand on rotation round bar (2-5) on, motor I
(2-8) is located in resettlement groove I (2-3), and the upper end of finger segments plate I (2) is fixedly connected with door frame (2-12), is set on door frame (2-12)
It is equipped with T-slot (2-11), gear I (2-9) is engaged with partial gear I (1-3), and the right end of T shape fin (1-4) is slidably connected at
In T-slot (2-11).
2. a kind of advanced manufacturing technology robot finger according to claim 1, it is characterised in that: the finger
It (1) further include limit film I (1-8), the upper end of fixing seat (1-1) is fixedly connected with limit film I (1-8)；Fixing seat (1-1) it is upper
End face and the upper surface of finger segments plate I (2) are in same plane, the upper end face paste of limit film I (1-8) and finger segments plate I (2)
It closes.
3. a kind of advanced manufacturing technology robot finger according to claim 1, it is characterised in that: the finger segments plate
Hinged protrusive board I (2-1), partial gear II (2-2) and limit film II (2-13) are additionally provided on I (2), finger segments plate I's (2)
Right end is fixedly connected with hinged protrusive board I (2-1), and the middle position of hinged protrusive board I (2-1) is fixedly connected with partial gear II
(2-2), the upper end of the right end of finger segments plate I (2) are fixedly connected with limit film II (2-13).
4. a kind of advanced manufacturing technology robot finger according to claim 3, it is characterised in that: further include finger segments plate
Resettlement groove II (3-1), hinged projection seat II (3-2), gear II (3-3), electricity are provided on II (3), the finger segments plate II (3)
Machine II (3-4) and motor rack II (3-5), the rear and front end of the left end of finger segments plate II (3) are fixedly connected to hinged projection seat II
(3-2), the left end of finger segments plate II (3) are provided with resettlement groove II (3-1), are fixedly connected on the output shaft of motor II (3-4)
Gear II (3-3), motor II (3-4) are fixedly connected on motor rack II (3-5), and motor rack II (3-5) is fixedly connected on finger
It saves on plate II (3), motor II (3-4) is located in resettlement groove II (3-1), and finger segments plate II (3) passes through two hinged projection seat II (3-
2) it is hinged on hinged protrusive board I (2-1), gear II (3-3) is engaged with partial gear II (2-2), and finger segments plate I's (2) is upper
End face and the upper end surface of finger segments plate II (3) are when same plane, the upper end of limit film II (2-13) and finger segments plate II (3)
Face paste is closed.
5. a kind of advanced manufacturing technology robot finger according to claim 4, it is characterised in that: the motor I (2-
8) and motor II (3-4) is connected with power supply and control switch by conducting wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810225759.8A CN108340392B (en) | 2018-03-19 | 2018-03-19 | A kind of advanced manufacturing technology robot finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810225759.8A CN108340392B (en) | 2018-03-19 | 2018-03-19 | A kind of advanced manufacturing technology robot finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108340392A CN108340392A (en) | 2018-07-31 |
| CN108340392B true CN108340392B (en) | 2019-01-25 |
Family
ID=62957142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810225759.8A Active CN108340392B (en) | 2018-03-19 | 2018-03-19 | A kind of advanced manufacturing technology robot finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108340392B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5639136A (en) * | 1995-02-27 | 1997-06-17 | Tol-O-Matic, Inc. | Multimotion actuator for a rotary gripper |
| JPH11156778A (en) * | 1997-08-07 | 1999-06-15 | Haruhisa Kawasaki | Robot hand |
| KR101340294B1 (en) * | 2012-07-04 | 2013-12-11 | 한국과학기술원 | Under-actuated robot finger with joint locking mechanism |
| CN103895025A (en) * | 2014-03-31 | 2014-07-02 | 哈尔滨工程大学 | Multi-freedom-degree micro-operation finger for minimally invasive surgery robot |
| CN105583849A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Parallel-clamping handy robot finger device with connection rods |
-
2018
- 2018-03-19 CN CN201810225759.8A patent/CN108340392B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5639136A (en) * | 1995-02-27 | 1997-06-17 | Tol-O-Matic, Inc. | Multimotion actuator for a rotary gripper |
| JPH11156778A (en) * | 1997-08-07 | 1999-06-15 | Haruhisa Kawasaki | Robot hand |
| KR101340294B1 (en) * | 2012-07-04 | 2013-12-11 | 한국과학기술원 | Under-actuated robot finger with joint locking mechanism |
| CN103895025A (en) * | 2014-03-31 | 2014-07-02 | 哈尔滨工程大学 | Multi-freedom-degree micro-operation finger for minimally invasive surgery robot |
| CN105583849A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Parallel-clamping handy robot finger device with connection rods |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108340392A (en) | 2018-07-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104224254B (en) | Surgical operating instrument and driving device thereof | |
| CN106027715A (en) | Handset clamping device | |
| CN108340392B (en) | A kind of advanced manufacturing technology robot finger | |
| CN109794693A (en) | A kind of chuck mechanism and laser cutting clamping device | |
| CN107309623A (en) | Board is installed | |
| CN109193306A (en) | A kind of electric field wiring wire connection device | |
| CN108340393B (en) | A kind of advanced manufacturing technology robot functionality finger | |
| CN208280683U (en) | Clamp push-pull device at fixed | |
| CN208163447U (en) | It is a kind of can adjust automatically clamped position clamp system | |
| CN207223308U (en) | Board is installed | |
| CN110405803A (en) | Multi-functional clamping jaw | |
| CN207728815U (en) | A kind of clutch structure for window opener | |
| CN109226901A (en) | A kind of pulsating portable power tool and its application method | |
| CN209881567U (en) | Full-open and full-close type motor slide rail | |
| CN209477153U (en) | Double end broken line machine thread rolling mechanism | |
| CN216359538U (en) | Quick clamping device for automatic assembly of linking pipe joint | |
| CN211438156U (en) | Rotating disc type synchronous connecting rod electric chuck | |
| CN211541260U (en) | Grabbing device and assembly equipment | |
| CN106031999B (en) | Clamping device with labor-saving effect | |
| CN105225598B (en) | Gear model for demonstration purpose | |
| CN209233893U (en) | A kind of electronic clamp bracket | |
| CN109397234A (en) | Manipulator | |
| CN208337652U (en) | Electronic clamp bracket | |
| CN208539957U (en) | Electronic clamp bracket | |
| CN109395989A (en) | A kind of plate bonding glue stations for construction and decoration decoration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181211 Address after: 201207 Shanghai Pudong New Area free trade trial area, 1 spring 3, 400 Fang Chun road. Applicant after: Shanghai Baxi Robot Co., Ltd. Address before: 154300 No. 5, group 2, Hou he village, HengTou Town, Huachuan, Jiamusi, Heilongjiang Applicant before: Ding Yang |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |