CN108406826B - Mechanical arm and grabbing device thereof - Google Patents
Mechanical arm and grabbing device thereof Download PDFInfo
- Publication number
- CN108406826B CN108406826B CN201810473202.6A CN201810473202A CN108406826B CN 108406826 B CN108406826 B CN 108406826B CN 201810473202 A CN201810473202 A CN 201810473202A CN 108406826 B CN108406826 B CN 108406826B
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- connecting rod
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- shell
- bevel gear
- rod
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- 230000005540 biological transmission Effects 0.000 claims abstract description 73
- 230000009467 reduction Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 description 5
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000007480 spreading Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000126 substance Substances 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
- B25J15/02—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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a mechanical arm and a grabbing device thereof, comprising at least two operating fingers, wherein the operating fingers comprise a first connecting rod, a second connecting rod and a third connecting rod; one end of the first connecting rod and one end of the second connecting rod are connected with one end of a third connecting rod, and the other end of the third connecting rod is a free end; the other end of the first connecting rod is connected with a transmission rod driven by a main motor and a transmission nut base, and the second connecting rod is connected with a bevel gear transmission pair driven by an independent motor through a connecting rod base. The invention can ensure that the grabbing of the heavy objects with complex forms is more flexible and stable, and greatly improves the grabbing capacity of the grabbing device for the objects with complex forms and the environment self-adaptive capacity.
Description
Technical Field
The invention belongs to the technical field of machinery, and particularly relates to a mechanical arm and a grabbing device thereof.
Background
With the gradual implementation of space station strategic plans in China, the operation function module of the reconfigurable mechanical arm can be designed based on the modularized reconfigurable design idea in order to solve the problems of on-orbit maintenance and off-cabin operation monitoring of the spacecraft, and the like for increasing the requirements of various tasks outside the cabin of the spacecraft. The grabbing device needs to have higher flexibility as the terminal operation function module of the mechanical arm, and also needs to have higher environment adaptability in the face of changeable environment, but the current grabbing device only uses a single motor to drive the operation hand to point to the center to get close, and the grabbing force of each operation finger can not be independently adjusted for the complex-shaped object, so that the grabbing force of the object is insufficient and the stability is lacking.
Disclosure of Invention
Aiming at the technical problems, one of the purposes of the invention is to provide a grabbing device of a mechanical arm, which not only can drive each operating finger to cooperatively operate through a main motor, but also can independently drive each operating finger to act through an independent motor, so that grabbing of heavy objects in complex forms is more flexible and stable.
The aim of the invention is realized by the following technical scheme:
the utility model provides a grabbing device of arm which characterized in that: the device comprises at least two operating fingers, wherein each operating finger comprises a first connecting rod, a second connecting rod and a third connecting rod; one end of the first connecting rod and one end of the second connecting rod are both rotationally connected with one end of the third connecting rod, and the other end of the third connecting rod is a free end; the second connecting rod is closer to the central line than the first connecting rod;
The operating finger is arranged outside a cavity surrounded by the connecting shell and the supporting shell; the other end of the first connecting rod of each operating finger is connected with a transmission nut base, the transmission nut base is arranged on a transmission rod and forms a ball screw nut pair with the transmission rod, the transmission rod is driven by a main motor arranged in a cavity through a reduction gear pair, and the number of the main motors is one;
The other end of each second connecting rod of the operating finger and the middle part of each first connecting rod are simultaneously fixed on the outer side of the supporting shell through one end of a connecting rod seat, the other end of the connecting rod seat is connected with a bevel gear transmission pair, the bevel gear transmission pair is driven by independent motors arranged in the cavity, and the number of the independent motors is consistent with that of the operating fingers.
Optionally, the first connecting rod is formed by connecting a connecting rod a, a connecting rod b, a connecting rod c, a connecting rod d and a connecting rod e in a rotatable mode sequentially from head to tail, and the connecting rod a is rotatably connected with the other end of the third connecting rod; the second connecting rod is formed by rotatably connecting one end of a connecting rod f with one end of a connecting rod g, and the other end of the connecting rod f is connected with the other end of a third connecting rod; one end of the connecting rod h is rotatably connected with one end of the connecting rod f, which is connected with the connecting rod g, and the other end of the connecting rod h is rotatably connected with one end of the connecting rod b, which is connected with the connecting rod c; the other end of each connecting rod e of the operating finger is connected with the transmission nut base, and the other end of each connecting rod g of the operating finger and the middle part of each connecting rod d are simultaneously fixed on the outer side of the supporting shell through one end of the connecting rod base.
Optionally, at least two operating fingers are uniformly arranged around the central line in 360 degrees, and the transmission rod is arranged on the central line.
Optionally, the main motor is arranged on the inner side surface of the connecting shell, the main motor shaft is fixedly arranged on the connecting shell through a first bearing arranged in an inner hole on the inner side surface of the connecting shell, and a first straight gear is arranged on the main motor shaft.
Optionally, one end of the transmission rod is fixedly arranged on the inner side surface of the connecting shell through a second bearing arranged in the inner hole of the connecting shell, and the other end of the transmission rod is provided with a transmission nut base; the transmission rod is provided with a second spur gear, and the first spur gear and the second spur gear form a reduction gear pair.
Optionally, each connecting rod e is connected with the transmission nut base through a through hole arranged on the supporting shell.
Optionally, an end cover covering the first bearing and the second bearing is arranged on the outer surface of the connecting shell, and the end cover is fixed on the connecting shell through a screw.
Optionally, each independent motor is arranged on the inner side surface of the supporting shell, the finger transmission shaft of the independent motor penetrates through the supporting shell and is fixedly arranged on the supporting shell through a third bearing arranged in an inner hole of the supporting shell, and the finger transmission shaft drives a bevel gear transmission pair arranged on the outer side of the supporting shell to rotate.
Optionally, the connecting rod seat is composed of an annular bottom column and two support plates, the two support plates are vertically arranged on the annular bottom column and are in axisymmetric structures, a through hole is formed in one end of each support plate, which is not connected with the annular bottom column, and the other end of the connecting rod g and the middle part of the connecting rod d are connected with the connecting rod seat through the through holes; the connecting rod seat is fixedly connected with the supporting shell through an annular bottom post.
Optionally, the finger transmission shaft passes through the annular bottom post of connecting rod seat, and through the shaft coupling with the driving shaft of bevel gear drive pair is connected, the driving bevel gear of bevel gear drive pair sets up on the driving shaft, driven bevel gear sets up on the driven shaft between two backup pad through-holes, the other end of connecting rod g and the middle part of connecting rod d are connected respectively on the driven shaft of two through-holes, and driving bevel gear and driven bevel gear meshing constitute bevel gear drive pair.
Another object of the present invention is to provide a robot arm, at the end of which a robot arm gripping device as described above is provided, said robot arm being provided with a universal connection part for connection with a connection housing of said gripping device.
The beneficial effects of the invention are as follows:
According to the mechanical arm grabbing device, the changeable environment is considered, and the grabbing task of an object with a complex shape is aimed, the operating fingers of the mechanical arm grabbing device can be driven by the main motor arranged on the connecting shell to cooperatively operate, and also can be independently driven by the independent motor arranged on the inner side of the supporting shell, so that the grabbing of a heavy object with a complex shape is more flexible and stable, and the grabbing capability of the grabbing device on the object with the complex shape and the environment self-adaptive capability are greatly improved.
Drawings
Description of the drawings:
fig. 1 is an external structural schematic diagram of a mechanical arm grabbing device provided by an embodiment of the present invention;
Fig. 2 is a schematic diagram of an internal structure of a mechanical arm grabbing device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a connecting rod seat of a mechanical arm grabbing device according to an embodiment of the present invention.
In the figure:
101. connection housing 102 support housing 103 operating finger
201. Third link 202, link a 203, link b 204, link f 205, link h
206. Connecting rod c 207, connecting rod g 208, connecting rod d 209, connecting rod e 210, end cap
211. Screw 212 drive rod 213, first bearing 214, second bearing
215. Reduction gear pair 216, drive nut base 217, third bearing 218, finger drive shaft
219. Bevel gear drive pair 220, connecting rod seat 221, pin 2001, independent motor
2002. Main motor 2201, support plate 2202, annular bottom post
Detailed Description
In order to make the present application better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. The application is described in detail below with reference to the drawings and examples.
Fig. 1 is a schematic view showing an external structure of a robot arm gripping device according to an exemplary embodiment. As shown in fig. 1, the mechanical arm grabbing device of the present embodiment includes at least two operating fingers, where the operating fingers include a first connecting rod, a second connecting rod and a third connecting rod 201; one end of the first connecting rod and one end of the second connecting rod are both rotationally connected with one end of the third connecting rod 201, and the other end of the third connecting rod is a free end; the second connecting rod is closer to the central line than the first connecting rod; the centre line, i.e. the centre axis of the whole gripping device.
Fig. 2 is a schematic view showing an internal structure of a robot arm gripping device according to an exemplary embodiment. As shown in fig. 2, the operating finger is disposed outside the cavity enclosed by the connection housing 101 and the support housing 102; the other end of the first connecting rod of each operating finger is connected with a transmission nut base 216, the transmission nut base 216 is arranged on a transmission rod 212 and forms a ball screw nut pair with the transmission rod 212, the transmission rod 212 is driven by a main motor 2002 arranged in a cavity through a reduction gear pair 215, and the number of the main motors 2002 is one; the other end of the second connecting rod and the middle part of the first connecting rod of each operating finger are simultaneously fixed on the outer side of the supporting shell 102 through one end of a connecting rod seat 220, the other end of the connecting rod seat 220 is connected with a bevel gear transmission pair 219, the bevel gear transmission pair 219 is driven by independent motors 2001 arranged in the cavity, and the number of the independent motors 2001 is consistent with that of the operating fingers.
Specifically, as shown in fig. 1, the first link is formed by a link a202, a link b203, a link c206, a link d208 and a link e209 which are rotatably connected in sequence from end to end, and the link a202 is rotatably connected with the other end of the third link 201; the second connecting rod is formed by rotatably connecting one end of a connecting rod f204 with one end of a connecting rod g207, and the other end of the connecting rod f204 is connected with the other end of a third connecting rod 201; one end of a connecting rod h205 is rotatably connected with one end of a connecting rod f204 connected with a connecting rod g207, and the other end of the connecting rod h205 is rotatably connected with one end of a connecting rod b203 connected with a connecting rod c 206; the connecting rods can be rotatably connected through a pin shaft 221; the other end of the connecting rod e209 in the first connecting rod of each operating finger is connected with the transmission nut base 216, for example, the connecting rod e209 is connected with the transmission nut base 216 through a through hole arranged on the supporting shell 102; the other end of the link g207 in the second link and the middle part of the link d208 in the first link of each of the operating fingers are simultaneously fixed to the outside of the support housing 102 through one end of the link seat 220.
In one embodiment, as shown in fig. 2, the main motor 2002 may be disposed on the inner side surface of the connection housing 101, and the main motor 2002 shaft fixes the main motor 2002 on the connection housing 101 through a first bearing 213 disposed in an inner hole on the inner side surface of the connection housing 101, where the main motor shaft is provided with a first straight gear;
Further, one end of the transmission rod 212 is fixedly arranged on the inner side surface of the connection shell 101 through a second bearing 214 arranged in the inner hole of the connection shell 101, and the other end of the transmission rod 212 is provided with a transmission nut base 216; the transmission rod 212 is provided with a second spur gear, and the first spur gear and the second spur gear form a reduction gear pair 215.
Of course, the main motor may be disposed at other positions, for example, on the inner side of the supporting housing, so long as the direct driving of the reduction gear pair is completed, and the motion is transferred to the transmission rod in the middle.
In another embodiment, as shown in fig. 2, each of the independent motors 2001 may be disposed on an inner side of the support housing 102, and a finger transmission shaft 218 of the independent motor 2001 penetrates the support housing 102 and fixes the independent motor 2001 on the support housing 102 through a third bearing 217 disposed in an inner hole of the support housing 102, and the finger transmission shaft 218 drives a bevel gear pair 219 disposed outside the support housing 102 to rotate.
Of course, the independent motors may be disposed at other positions, for example, on the inner side of the connection housing, so long as the finger transmission shaft of each independent motor can drive the bevel gear transmission pair through the through hole of the support housing, so as to realize motion control of each operation finger.
Optionally, as shown in fig. 3, the connecting rod seat 220 is composed of an annular bottom column 2202 and two support plates 2201, the two support plates 2201 are vertically arranged on the annular bottom column 2202 and are in axisymmetric structures, one end of each support plate 2201, which is not connected with the annular bottom column 2202, is provided with a through hole, and the other end of the connecting rod g207 and the middle part of the connecting rod d208 are connected with the connecting rod seat 220 through the through holes; the linkage mount 220 is fixedly coupled to the support housing 102 by an annular bottom post 2202.
Specifically, the finger transmission shaft 218 passes through the annular bottom post 2202 of the connecting rod seat 220 and is connected with the driving shaft of the bevel gear transmission pair 219 through a coupler, the driving bevel gear of the bevel gear transmission pair 219 can be arranged on the driving shaft, the driven bevel gear is arranged on the driven shaft between the through holes of the two support plates 2201, the other end of the connecting rod g207 and the middle part of the connecting rod d208 are respectively connected on the driven shafts of the two through holes, and the driving bevel gear and the driven bevel gear are meshed to form the bevel gear transmission pair 219.
As shown in fig. 2, for sealing and dust-proof of the first bearing 213 and the second bearing 214, an end cap 210 covering the first bearing 213 and the second bearing 214 may be optionally provided on the outer surface of the connection housing 101, and the end cap 210 may be fixed to the connection housing 101 by screws.
Optionally, at least two operating fingers are uniformly arranged around the central line in 360 degrees, for example, three operating fingers are provided, and the included angle between each two operating fingers is 120 degrees; the transmission rod 212 may be disposed on the center line, and all the operating fingers are drawn toward the center line direction when performing the grabbing motion, so that the grabbing force is uniform.
The mechanical arm grabbing device is used for grabbing, moving and placing the tail end execution module of the part by the reconstruction mechanical arm. The device can realize positioning and grabbing, and two actions of adjusting and placing. The positioning and grabbing mainly comprises three steps. The first step, a motor shaft drives a reduction gear pair to move, the movement is transmitted to a transmission rod in the middle, a transmission nut base and the transmission rod form a ball screw nut pair, the transmission nut base moves linearly along the transmission rod, a connecting rod e connected to the base drives other connecting rods of an operating finger to spread outwards, the spreading angle of the root part of the finger is controlled by controlling the revolution of a main motor, and the spreading movement of the finger is completed; secondly, according to the difference of the position and the shape of the part, the pose of the mechanical arm is adjusted, and a proper direction is selected to enable the grabbing device to be close to the part until all operating fingers completely wrap the part or a first connecting rod at the tail end of the operating finger contacts the surface of the part; and thirdly, rotating the independent motors below all operating fingers to drive the bevel gear transmission pair for changing the direction of the rotating shaft, so that the connecting rod d at the root starts gathering from an unfolded state around the driven shaft, and simultaneously, reversely rotating the independent motors on the bevel gear transmission pair to enable the transmission nut base to be gathered slowly along the transmission rod, pushing the connecting rod c and the connecting rod g which are connected at the tail end of the connecting rod e to enable the connecting rod f to rotate around the tail end of the connecting rod h, and pushing the connecting rod a and the connecting rod b which are connected with the connecting rod c to gather slowly towards the middle along with the rotation of the connecting rod f. In the process of adjusting and placing, firstly, a gripped part is moved to the upper part of a target position under the drive of a mechanical arm, after the part is placed at the target position, an independent motor at the root of an operating finger is controlled to reversely rotate, the connecting rod of each finger is slowly unfolded, after the fact that the joints at the tail end are unfolded to the maximum angle is determined, the main motor on the reduction gear pair starts to rotate, the moving chassis ascends along the ball screw, and the pushing effect is achieved while the joints at the root are unfolded, so that the part is ensured to be completely separated from the constraint of the operating finger.
According to the mechanical arm grabbing device, the operating fingers can be driven by the main motor arranged on the connecting shell to cooperatively operate, and can also be independently driven by the independent motor arranged on the inner side of the supporting shell, so that heavy objects in complex forms can be grabbed more flexibly and stably.
The application also provides a mechanical arm, and the mechanical arm grabbing device is arranged at the tail end of the mechanical arm. The mechanical arm is provided with a universal connecting component which is used for being connected with a connecting shell of the grabbing device, so that the grabbing device is used as an end execution module of the mechanical arm, and space tasks of grabbing and moving heavy objects are assisted by controlling joints and end operators of the mechanical arm.
The above description is only of the preferred embodiment of the present application, and is not intended to limit the present application in any way. While the application has been described with reference to preferred embodiments, it is not intended to be limiting. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present application or modifications to equivalent embodiments using the methods and technical contents disclosed above, without departing from the scope of the technical solution of the present application. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present application still fall within the scope of the technical solution of the present application.
Claims (7)
1. The utility model provides a grabbing device of arm which characterized in that: comprises at least two operating fingers, wherein the operating fingers comprise a first connecting rod, a second connecting rod and a third connecting rod (201); one end of the first connecting rod and one end of the second connecting rod are both rotationally connected with one end of the third connecting rod (201), and the other end of the third connecting rod is a free end; the second connecting rod is closer to the central line than the first connecting rod;
The operating finger is arranged outside a cavity surrounded by the connecting shell (101) and the supporting shell (102); the other end of the first connecting rod of each operating finger is connected with a transmission nut base (216), the transmission nut base (216) is arranged on a transmission rod (212) and forms a ball screw nut pair with the transmission rod (212), the transmission rod (212) is driven by a main motor (2002) arranged in a cavity through a reduction gear pair (215), and the number of the main motors (2002) is one;
The other end of the second connecting rod and the middle part of the first connecting rod of each operating finger are simultaneously fixed on the outer side of the supporting shell (102) through one end of a connecting rod seat (220), the other end of the connecting rod seat (220) is connected with a bevel gear transmission pair (219), the bevel gear transmission pair (219) is driven by independent motors (2001) arranged in the cavity, and the number of the independent motors (2001) is consistent with that of the operating fingers;
The first connecting rod is formed by connecting a connecting rod a (202), a connecting rod b (203), a connecting rod c (206), a connecting rod d (208) and a connecting rod e (209) in a rotatable mode in sequence from beginning to end, and the connecting rod a (202) is rotatably connected with the other end of the third connecting rod (201); the second connecting rod is formed by rotatably connecting one end of a connecting rod f (204) with one end of a connecting rod g (207), and the other end of the connecting rod f (204) is connected with the other end of a third connecting rod (201); one end of a connecting rod h (205) is rotatably connected with one end of a connecting rod f (204) connected with a connecting rod g (207), and the other end of the connecting rod h (205) is rotatably connected with one end of a connecting rod b (203) connected with a connecting rod c (206); the other end of the connecting rod e (209) of each operating finger is connected with a transmission nut base (216), and the other end of the connecting rod g (207) of each operating finger and the middle part of the connecting rod d (208) are simultaneously fixed at the outer side of the supporting shell (102) through one end of a connecting rod seat (220);
the main motor (2002) is arranged on the inner side surface of the connecting shell (101), a main motor (2002) shaft is fixedly arranged on the connecting shell (101) through a first bearing (213) arranged in an inner hole on the inner side surface of the connecting shell (101), and a first straight gear is arranged on the main motor shaft;
Each independent motor (2001) is arranged on the inner side surface of the supporting shell (102), a finger transmission shaft (218) of each independent motor (2001) penetrates through the supporting shell (102) and fixedly arranged on the supporting shell (102) through a third bearing (217) arranged in an inner hole of the supporting shell (102), and the finger transmission shaft (218) drives a bevel gear transmission pair (219) arranged on the outer side of the supporting shell (102) to rotate.
2. The grasping device according to claim 1, wherein: one end of the transmission rod (212) is fixedly arranged on the inner side surface of the connecting shell (101) through a second bearing (214) arranged in the inner hole of the connecting shell (101), and the other end of the transmission rod (212) is provided with a transmission nut base (216); the transmission rod (212) is provided with a second spur gear, and the first spur gear and the second spur gear form a reduction gear pair (215).
3. The grasping device according to claim 2, wherein: each connecting rod e (209) is connected with the transmission nut base (216) through a through hole arranged on the supporting shell (102).
4. The grasping device according to claim 1, wherein: an end cover (210) covering the first bearing (213) and the second bearing (214) is arranged on the outer surface of the connecting shell (101), and the end cover (210) is fixed on the connecting shell (101) through screws.
5. The grasping device according to claim 1, wherein: the connecting rod seat (220) is composed of an annular bottom column (2202) and two support plates (2201), the two support plates (2201) are vertically arranged on the annular bottom column (2202) and are of axisymmetric structures, a through hole is formed in one end, which is not connected with the annular bottom column (2202), of each support plate (2201), and the other end of the connecting rod g (207) and the middle part of the connecting rod d (208) are connected with the connecting rod seat (220) through the through holes; the connecting rod seat (220) is fixedly connected with the supporting shell (102) through an annular bottom column (2202).
6. The grasping device according to claim 5, wherein: the finger transmission shaft (218) passes through the annular bottom post (2202) of the connecting rod seat (220) and is connected with the driving shaft of the bevel gear transmission pair (219) through a coupler, the driving bevel gear of the bevel gear transmission pair (219) is arranged on the driving shaft, the driven bevel gear is arranged on the driven shaft between the through holes of the two support plates (2201), the other end of the connecting rod g (207) and the middle part of the connecting rod d (208) are respectively connected on the driven shafts of the two through holes, and the driving bevel gear and the driven bevel gear are meshed to form the bevel gear transmission pair (219).
7. A mechanical arm, characterized in that: a gripping device of the mechanical arm according to any one of claims 1-6 is arranged at the tail end of the mechanical arm; the mechanical arm is provided with a universal connecting part for being connected with a connecting shell (101) of the grabbing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810473202.6A CN108406826B (en) | 2018-05-17 | 2018-05-17 | Mechanical arm and grabbing device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810473202.6A CN108406826B (en) | 2018-05-17 | 2018-05-17 | Mechanical arm and grabbing device thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108406826A CN108406826A (en) | 2018-08-17 |
| CN108406826B true CN108406826B (en) | 2024-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810473202.6A Active CN108406826B (en) | 2018-05-17 | 2018-05-17 | Mechanical arm and grabbing device thereof |
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| CN (1) | CN108406826B (en) |
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| EP0619166A1 (en) * | 1993-04-05 | 1994-10-12 | UNIVER S.p.A. | Pneumatically actuated gripping device |
| JP2007069286A (en) * | 2005-09-06 | 2007-03-22 | Nissan Motor Co Ltd | Robot hand and grip control method thereof |
| CN100999077A (en) * | 2006-12-28 | 2007-07-18 | 中国科学院合肥物质科学研究院 | Multipurpose shape self-adaptive robot paw and working method |
| CN201357413Y (en) * | 2009-03-02 | 2009-12-09 | 杭州电子科技大学 | Clamping manipulator |
| CN102922532A (en) * | 2012-10-30 | 2013-02-13 | 清华大学 | Connecting rod type synergy drive robot finger |
| CN106041972A (en) * | 2016-06-25 | 2016-10-26 | 北京工业大学 | Mechanical arm used for grabbing steel tubes |
| CN208305091U (en) * | 2018-05-17 | 2019-01-01 | 沈阳建筑大学 | A kind of mechanical arm and its grabbing device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101674894B1 (en) * | 2009-12-21 | 2016-11-10 | 삼성전자 주식회사 | Industrial multi-freedom gripper |
| WO2011118646A1 (en) * | 2010-03-24 | 2011-09-29 | 株式会社安川電機 | Robot hand and robot device |
| US20140197652A1 (en) * | 2013-01-15 | 2014-07-17 | Precision Machinery Research & Development Center | End effector module |
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2018
- 2018-05-17 CN CN201810473202.6A patent/CN108406826B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0619166A1 (en) * | 1993-04-05 | 1994-10-12 | UNIVER S.p.A. | Pneumatically actuated gripping device |
| JP2007069286A (en) * | 2005-09-06 | 2007-03-22 | Nissan Motor Co Ltd | Robot hand and grip control method thereof |
| CN100999077A (en) * | 2006-12-28 | 2007-07-18 | 中国科学院合肥物质科学研究院 | Multipurpose shape self-adaptive robot paw and working method |
| CN201357413Y (en) * | 2009-03-02 | 2009-12-09 | 杭州电子科技大学 | Clamping manipulator |
| CN102922532A (en) * | 2012-10-30 | 2013-02-13 | 清华大学 | Connecting rod type synergy drive robot finger |
| CN106041972A (en) * | 2016-06-25 | 2016-10-26 | 北京工业大学 | Mechanical arm used for grabbing steel tubes |
| CN208305091U (en) * | 2018-05-17 | 2019-01-01 | 沈阳建筑大学 | A kind of mechanical arm and its grabbing device |
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| Publication number | Publication date |
|---|---|
| CN108406826A (en) | 2018-08-17 |
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