CN109397278A - Imitative hedgehog magnetic drives bar ball adaptive robot arm device - Google Patents
Imitative hedgehog magnetic drives bar ball adaptive robot arm device Download PDFInfo
- Publication number
- CN109397278A CN109397278A CN201811491586.0A CN201811491586A CN109397278A CN 109397278 A CN109397278 A CN 109397278A CN 201811491586 A CN201811491586 A CN 201811491586A CN 109397278 A CN109397278 A CN 109397278A
- Authority
- CN
- China
- Prior art keywords
- oscillating rod
- pedestal
- robot arm
- arm device
- fixed
- 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.)
- Granted
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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
Abstract
The present invention relates to a kind of imitative hedgehog magnetic to drive bar ball adaptive robot arm device, including pedestal, motor, retarder, reel, half ball element, K electromagnetism slide bar component and at least one tendon rope, motor is fixed on pedestal, half ball element is located on pedestal, scattering device has K through-hole in half ball element, electromagnetism slide bar component includes elastic hinge, oscillating rod, reset spring, slip pipe and at least one electromagnet, one end of oscillating rod is connect by elastic hinge with half ball element, slip pipe is nested in the other end of oscillating rod, electromagnet is fixed in the middle part of oscillating rod, reel is fixed on the output shaft of retarder, one end of tendon rope is affixed on a bobbin, the other end of tendon rope is bypassed by the periphery of oscillating rod and is fixed on pedestal.Robot hand device of the invention can provide grasping force to object in multiple directions, have the multidirectional grasping effect of adaptivity to article size and shape, and the various shape object placed to different directions can be grasped effectively.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to imitative hedgehog magnetic drives bar ball adaptive robot arm device.
Background technique
Robot has been widely used in robot field, for by robot and the interim connection of object and admittedly
Get up calmly, and can be discharged in due course, the former realizes crawl object, and the latter realizes relieving object.Generally
Robot in order to reduce cost be made into tool there are two relative motion part, in order to simplest realizations crawl with
Release function.Also there are many structure for imitating manpower, being designed as having has several joints on more fingers and finger, still
The structure of the complexities such as mechanical system, sensor-based system, control system can be brought like that.
PeterB.Scott describes a kind of universal gripper of mechanical passive type adaptation body form in the literature
Omnigripper.There are the clamper two groups of bar gatherings to close, and every group of bar gathering conjunction has multiple stocks being parallel to each other, these by
The stock that object to be grabbed is pushed and freely slided up and down has achieved the purpose that adapt to body form, in conjunction with two groups of driver driving
Bar cluster is drawn close or is left, and realizes the grasping to object.The device is disadvantageous in that: 1 can not accomplish multidirectional grasping.The device
When applying grasp force to target object, the direction which can only close up along two groups of bar gatherings, generation is only one
Clamping mode is tieed up, clamping effect is poor.2 grasp failure for the strip object that specific direction is placed.When target object and the party
It is longer than the device in this direction to parallel and target object, then target object will not be grasped due to two groups of telescopic rods close up
Power.3 structure is complicated, energy consumption is high.The device has 2 groups of bar gatherings to close, and needs (or the movement of 2 movable supporting members mutually moved
Pedestal), a set of linear guide, 2 sliding blocks, driver, transmission mechanisms etc., structure is complex, and stupid with many stocks
Energy consumption is compared in weight bar gathering resultant motion.
A kind of fluid driving flexible link cluster adaptive robot arm device is also disclosed in the prior art
), including pedestal, multiple slide push rods, hymeniderm, fluid, multiple pistons and multiple spring parts CN105583831B.The device is used for machine
Device people grabs object, realizes discrete space self-adapting grasping function: being obtained using multiple slide push rods to article size and shape
The adaptive effect of shape；The bending that multiple push rods are gathered to center is realized using the elasticity of flexure of fluid discharge, hymeniderm and push rod
Deformation, reaches the multidirectional grasping effect to object.The device is disadvantageous in that: the device fluid drives to sealing requirements
It is higher, it is at high cost；Push rod, which is often bent generation fatigue, causes push rod to be difficult to restore straight configuration, and long term reliability is not
Height is limited by hymeniderm, and the sliding of slide push rod is a greater impact.
Summary of the invention
The purpose of the present invention is deficiencies to solve above-mentioned technical problem, provide imitative hedgehog magnetic and drive bar ball adaptive robot
Arm device can provide grasping force to object in multiple directions, have the multidirectional grasping of adaptivity to article size and shape
Effect, the various shape object placed to different directions can be grasped effectively, and grasping is quick.
The deficiency of the present invention to solve above-mentioned technical problem, used technical solution is: it is adaptive that imitative hedgehog magnetic drives bar ball
Answer robot hand device, including pedestal, motor, retarder, reel, half ball element, K electromagnetism slide bar component and at least one
Tendon rope, the motor are fixed on pedestal, and the output end of motor is connected with retarder, and half ball element is located on pedestal, half ball element
Spherical surface on scattering device have K through-hole, the electromagnetism slide bar component include elastic hinge, oscillating rod, reset spring, slip pipe and
One end of at least one electromagnet, oscillating rod is protruded into half ball element by through-hole and is connect by elastic hinge with half ball element, slip pipe
It is nested in the other end of oscillating rod, reset spring is arranged between slip pipe and oscillating rod, and the electromagnet is fixed in oscillating rod
Middle part, and the adsorption plane of electromagnet is oppositely arranged on multiple oscillating rods, the reel is fixed on the output shaft of retarder, tendon
One end of rope is affixed on a bobbin, and the other end of tendon rope is bypassed by the periphery of oscillating rod and is fixed on pedestal.
Drive advanced optimizing for bar ball adaptive robot arm device as the imitative hedgehog magnetic of the present invention: the K is greater than 5
Natural number.
Drive advanced optimizing for bar ball adaptive robot arm device as the imitative hedgehog magnetic of the present invention: the K is 12.
Advanced optimizing for bar ball adaptive robot arm device: the inner cavity of the slip pipe is driven as the imitative hedgehog magnetic of the present invention
In be provided with reset spring, one end of reset spring is fixedly connected with the end of oscillating rod, the other end and slip pipe of reset spring
Head end inner wall is fixedly connected.
Advanced optimizing for bar ball adaptive robot arm device is driven as the imitative hedgehog magnetic of the present invention: the base interior tool
There is the cavity that can accommodate motor, motor is fixed in the cavity of pedestal.
Drive advanced optimizing for bar ball adaptive robot arm device as the imitative hedgehog magnetic of the present invention: the hemisphere is arc
Shape shell, hemisphere are provide on the base by hinged bolt.
Advanced optimizing for bar ball adaptive robot arm device: the material of the slip pipe is driven as the imitative hedgehog magnetic of the present invention
For carbon fiber or plastics.
Advanced optimizing for bar ball adaptive robot arm device: the material of the oscillating rod is driven as the imitative hedgehog magnetic of the present invention
Matter is polytetrafluoroethylene (PTFE).
Beneficial effect
One, robot hand device of the invention can be realized by multiple electromagnetism slide bar components to the adaptive of article size and shape
Function, the transverse-electromagnetic suction generated that is powered using electromagnet are helped electromagnetism slide bar component to collapse, make multiple electromagnetism slide bar components
To pivot, oscillating rod is tightened using tendon rope and increases grasp force, there is the multidirectional grasping effect to object；
Two, robot hand device of the invention can be implemented effective grasping to the various shape object that different directions are placed, crawl
Quickly, time-consuming short, because used electromagnetism slide bar component crushing resistance is good, toughness is high, it is suitble to grab sharp object；It is suitble to
It is used in the harsh environments such as more dust and willow catkins flying in the air, long term reliability is good, long service life；
Three, robot hand device of the invention drives by magnetic and grabs, and structure is simple, and grasping stability is high, is being directed to big quality object
When the crawl of body, magnetic is assisted to drive crawl by motor, tendon rope and transmission mechanism, grasp force is big, and crawl success rate is high.
Detailed description of the invention
Fig. 1 is the schematic perspective view of robot hand device of the present invention；
Fig. 2 is the overlooking structure diagram of robot hand device of the present invention；
Fig. 3 just cuts open structural schematic diagram for robot hand device of the present invention；
Fig. 4 is the schematic perspective view of electromagnetism slide bar component in robot hand device of the present invention；
Fig. 5 is the structural schematic diagram for preparing crawl when robot hand device of the present invention grabs spherical shape object；
Fig. 6 is that robot hand device of the present invention grabs the structural schematic diagram successfully grabbed when spherical shape object；
Fig. 7 is the structural schematic diagram for preparing crawl when robot hand device of the present invention grabs square block object；
Fig. 8 is that robot hand device of the present invention grabs the structural schematic diagram successfully grabbed when square block object；
Marked in the figure: 1, pedestal, 2, half ball element, 3, reel, 4, elastic hinge, 5, oscillating rod, 6, electromagnet, 7, slip pipe, 8,
Motor, 9, tendon rope.
Specific embodiment
Further technical solution of the present invention is illustrated below in conjunction with specific embodiment.
It is as shown in Figs. 1-5: a kind of imitative hedgehog magnetic drive bar ball adaptive robot arm device, including pedestal 1, motor 8, deceleration
Device, reel 3, half ball element, 2,12 electromagnetism slide bar components and at least one tendon rope 9, motor 8 can be accommodated by having inside pedestal 1
Cavity, motor 8 is fixed in the cavity of pedestal 1.The output end of motor 8 is connected with retarder, and hemisphere is arc shell
Body, hemisphere are located on pedestal 1 by hinged bolt, and scattering device has 12 through-holes, the electricity on the spherical surface of half ball element 2
Magnetic slide bar component includes elastic hinge 4, oscillating rod 5, reset spring, slip pipe 7 and at least one electromagnet 6, one end of oscillating rod 5
It is protruded into half ball element 2 by through-hole and is connect by elastic hinge 4 with half ball element 2, slip pipe 7 is nested in the other end of oscillating rod 5, pendulum
The material of lever 5 is polytetrafluoroethylene (PTFE), and the material of slip pipe 7 is carbon fiber or plastics, is provided with reset bullet in the inner cavity of slip pipe 7
One end of spring, reset spring is fixedly connected with the end of oscillating rod 5, and the other end and the 7 head end inner wall of slip pipe of reset spring are fixed
Connection.The electromagnet 6 is fixed in the middle part of oscillating rod 5, and the adsorption plane of electromagnet 6 is oppositely arranged on multiple oscillating rods 5, institute
It states reel 3 to be fixed on the output shaft of retarder, one end of tendon rope 9 is fixed on reel 3, and the other end of tendon rope 9 is by putting
The periphery of lever 5 bypasses and is fixed on pedestal 1.
As shown in figs 6-8: under the original state of robot hand device of the present invention, all electromagnetism slide bar components are in half ball element 2
It is in expansion state under limitation with elastic hinge 4, because of the effect of spring, the slip pipe 7 being nested on oscillating rod 5 stretches out naturally
In outermost, electromagnet 6 is in off-position, and motor 8 is inactive, and tendon rope 9 is in relaxed state.When needing to grab object,
Extruding is generated close to the object put on the table, and to object, if slip pipe 7 touches object, slip pipe 7 is under the extruding of object
Opposite sliding, if slip pipe 7 does not touch object, slip pipe 7 will not be slided relative to half ball element 2；Due to the reaction force of object,
Slip pipe 7 produces different mobilities, and then adaptively wraps object, for the object of different shape and size, the dress
It sets with good adaptivity.After wrapping object, the electromagnet 6 on oscillating rod 5 is powered, and oscillating rod 5 is in transverse-electromagnetic
It is collapsed under the action of suction to center；Since the suction of electromagnet 6 gathers the contraction of slip pipe 7, so that the fitting object completely of slip pipe 7
Body, electromagnet 6 are kept as electricity condition, and mobile robot hand realizes that the crawl to object is mobile.
During grabbing object, if object is heavier, in order to increase grasping force, motor 8 starts, and makes tendon by reel 3
9 tightening of rope, under the public effect of the tightening force of tendon rope 9 and 6 suction of electromagnet of oscillating rod 5, the power for grabbing object becomes slip pipe 7
Greatly, implement more stable reliable crawl.When the device discharges object, 6 power loss of electromagnet, while tendon is loosened in the reversion of motor 8
The tightening force of rope, the 6 suction hour of electromagnet of oscillating rod 5, tendon rope 9 disappears, and slip pipe 7 is in free state, and object relies on gravity
Embodiment is left in effect, realizes the release to object.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above are modified or are modified
It is right according to the technical essence of the invention for the equivalent embodiment of equivalent variations, but without departing from the technical solutions of the present invention
Any simple modification, equivalent change and modification made by above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (8)
1. imitative hedgehog magnetic drives bar ball adaptive robot arm device, it is characterised in that: including pedestal (1), motor (8), retarder,
Reel (3), half ball element (2), K electromagnetism slide bar component and at least one tendon rope (9), the motor (8) are fixed in pedestal
(1) on, the output end of motor (8) is connected with retarder, and half ball element (2) is located on pedestal (1), on the spherical surface of half ball element (2)
Scattering device has K through-hole, and the electromagnetism slide bar component includes elastic hinge (4), oscillating rod (5), reset spring, slip pipe (7)
It is protruded by through-hole in half ball element (2) and by elastic hinge (4) and half with one end of at least one electromagnet (6), oscillating rod (5)
Ball element (2) connection, slip pipe (7) are nested in the other end of oscillating rod (5), reset spring setting slip pipe (7) and oscillating rod (5) it
Between, the electromagnet (6) is fixed in the middle part of oscillating rod (5), and on multiple oscillating rods (5) electromagnet (6) adsorption plane it is opposite
Setting, the reel (3) are fixed on the output shaft of retarder, and one end of tendon rope (9) is fixed on reel (3), tendon rope
(9) the other end is bypassed by the periphery of oscillating rod (5) and is fixed on pedestal (1).
2. imitative hedgehog magnetic drives bar ball adaptive robot arm device as described in claim 1, it is characterised in that: the K is greater than 5
Natural number.
3. imitative hedgehog magnetic drives bar ball adaptive robot arm device as claimed in claim 2, it is characterised in that: the K is 12.
4. imitative hedgehog magnetic drives bar ball adaptive robot arm device as described in claim 1, it is characterised in that: the slip pipe (7)
Inner cavity in be provided with reset spring, one end of reset spring is fixedly connected with the end of oscillating rod (5), reset spring it is another
End is fixedly connected with slip pipe (7) head end inner wall.
5. imitative hedgehog magnetic drives bar ball adaptive robot arm device as described in claim 1, it is characterised in that: the pedestal (1)
Inside has the cavity that can accommodate motor (8), and motor (8) is fixed in the cavity of pedestal (1).
6. imitative hedgehog magnetic drives bar ball adaptive robot arm device as described in claim 1, it is characterised in that: the hemisphere is
Arc shell, hemisphere are located on pedestal (1) by hinged bolt.
7. imitative hedgehog magnetic drives bar ball adaptive robot arm device as described in claim 1, it is characterised in that: the slip pipe (7)
Material be carbon fiber or plastics.
8. imitative hedgehog magnetic drives bar ball adaptive robot arm device as described in claim 1, it is characterised in that: the oscillating rod
(5) material is polytetrafluoroethylene (PTFE).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811491586.0A CN109397278B (en) | 2018-12-07 | 2018-12-07 | Hedgehog-like magnetic driving rod ball self-adaptive robot hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811491586.0A CN109397278B (en) | 2018-12-07 | 2018-12-07 | Hedgehog-like magnetic driving rod ball self-adaptive robot hand device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109397278A true CN109397278A (en) | 2019-03-01 |
| CN109397278B CN109397278B (en) | 2023-09-12 |
Family
ID=65457611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811491586.0A Active CN109397278B (en) | 2018-12-07 | 2018-12-07 | Hedgehog-like magnetic driving rod ball self-adaptive robot hand device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109397278B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110465965A (en) * | 2019-08-06 | 2019-11-19 | 李泽铭 | Fluid force balances elastic component array adaptive robot arm device |
| CN110653841A (en) * | 2019-09-30 | 2020-01-07 | 佛山科学技术学院 | Simple and convenient mechanical gripper |
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001162574A (en) * | 1999-12-13 | 2001-06-19 | Toyota Auto Body Co Ltd | Electromagnetic attracting device |
| CN104924315A (en) * | 2015-05-11 | 2015-09-23 | 清华大学 | Magnetorheological fluid auxiliary flexible palm side self-adaption underactuated robot hand device |
| CN105058372A (en) * | 2015-09-08 | 2015-11-18 | 清华大学 | Multi-dimensional rod group self-adaption robot grasping device |
| CN105583831A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot hand device with flexible rod clusters driven by fluid |
| CN105583850A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot hand device with elastic deflection rod clusters wound by flexible pieces |
| CN105619441A (en) * | 2016-03-17 | 2016-06-01 | 清华大学 | Multi-finger hooping and elastic shifting rod cluster adaptive robot hand device |
| CN106113068A (en) * | 2016-05-31 | 2016-11-16 | 清华大学 | Magnetic flow liquid bar bunch self adaptation arm device |
| CN108214522A (en) * | 2017-12-26 | 2018-06-29 | 清华大学 | Orthogonal swing slip pipe array adaptive robot arm device |
| CN207696529U (en) * | 2017-12-27 | 2018-08-07 | 何瑞华 | A kind of robot gripper of high security |
| CN209190774U (en) * | 2018-12-07 | 2019-08-02 | 苑航 | Imitative hedgehog magnetic drives bar ball adaptive robot arm device |
-
2018
- 2018-12-07 CN CN201811491586.0A patent/CN109397278B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001162574A (en) * | 1999-12-13 | 2001-06-19 | Toyota Auto Body Co Ltd | Electromagnetic attracting device |
| CN104924315A (en) * | 2015-05-11 | 2015-09-23 | 清华大学 | Magnetorheological fluid auxiliary flexible palm side self-adaption underactuated robot hand device |
| CN105058372A (en) * | 2015-09-08 | 2015-11-18 | 清华大学 | Multi-dimensional rod group self-adaption robot grasping device |
| CN105583831A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot hand device with flexible rod clusters driven by fluid |
| CN105583850A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot hand device with elastic deflection rod clusters wound by flexible pieces |
| CN105619441A (en) * | 2016-03-17 | 2016-06-01 | 清华大学 | Multi-finger hooping and elastic shifting rod cluster adaptive robot hand device |
| CN106113068A (en) * | 2016-05-31 | 2016-11-16 | 清华大学 | Magnetic flow liquid bar bunch self adaptation arm device |
| CN108214522A (en) * | 2017-12-26 | 2018-06-29 | 清华大学 | Orthogonal swing slip pipe array adaptive robot arm device |
| CN207696529U (en) * | 2017-12-27 | 2018-08-07 | 何瑞华 | A kind of robot gripper of high security |
| CN209190774U (en) * | 2018-12-07 | 2019-08-02 | 苑航 | Imitative hedgehog magnetic drives bar ball adaptive robot arm device |
Non-Patent Citations (1)
| Title |
|---|
| 张文增 等: "末端强力抓取的欠驱动拟人机器人手", 《清华大学学报(自然科学版)》, vol. 49, no. 2, pages 194 - 197 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110465965A (en) * | 2019-08-06 | 2019-11-19 | 李泽铭 | Fluid force balances elastic component array adaptive robot arm device |
| CN110653841A (en) * | 2019-09-30 | 2020-01-07 | 佛山科学技术学院 | Simple and convenient mechanical gripper |
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109397278B (en) | 2023-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104924315B (en) | Magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device | |
| CN108638098B (en) | Omnidirectional staggered swinging rod array self-adaptive robot hand device | |
| CN109397278A (en) | Imitative hedgehog magnetic drives bar ball adaptive robot arm device | |
| CN107081744B (en) | Flexible hose fluid underactuated multi-joint robot finger device | |
| CN102205542B (en) | Multipath flexible piece two-joint compound robot finger device | |
| CN106625734A (en) | Under-actuated flexible terminal actuator aiming at special-shaped melons and fruits and simulating bird jaws | |
| CN109910049B (en) | Self-locking rigid-flexible coupling mechanical gripper | |
| CN208034703U (en) | A kind of fixture handgrip for robot | |
| CN100551640C (en) | The tendon rope gear under-driven robot finger device | |
| KR20110003488U (en) | A robot gripper for education | |
| CN107838934A (en) | It is a kind of can self-adapting grasping connecting rod under-actuated bionic finger | |
| CN100581756C (en) | Double bevel wheel under-driven robot finger | |
| CN109571539B (en) | Controllable-force self-adaptive robot hand device for quick grabbing rod cluster | |
| CN105583850A (en) | Self-adaptive robot hand device with elastic deflection rod clusters wound by flexible pieces | |
| CN101518903A (en) | Crank block type under-actuated robot finger device | |
| CN101628416B (en) | Biarticulate sliding block type directly driving robot finger device with variable holding force | |
| CN100551642C (en) | The Chiasma tendon rope under-driven robot finger device | |
| CN209190774U (en) | Imitative hedgehog magnetic drives bar ball adaptive robot arm device | |
| CN109605404B (en) | Sliding chute parallel connection connecting rod linear parallel clamping self-adaptive robot finger device | |
| CN107433607B (en) | Robot finger device suitable for grabbing desktop objects | |
| CN110053036A (en) | The flat folder indirect self-adaptive robot finger apparatus of concyclic slide bar straight line | |
| CN112720558A (en) | Flexible finger-tip robot hand directly driven by motor | |
| CN103101055B (en) | A kind of tendon formula under-driven adaptive multi-finger hand device | |
| CN106363651B (en) | Supporting wheel systems dead axle sliding sleeve straight line coupling adaptive robot finger apparatus | |
| CN110497431B (en) | Pawl locking force grouping rotation parallel grabbing multi-rod self-adaptive robot hand device |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |