CN109605418B - Self-adaptive robot hand device with gathering type quick grabbing sliding rods - Google Patents
Self-adaptive robot hand device with gathering type quick grabbing sliding rods Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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Abstract
Gathering type quick grabbing sliding rod self-adaptive robot hand device belongs to the technical field of robot hands and comprises a base, a motor, a cam, a second spring piece, a plurality of pushing rod assemblies and the like. The device is used for grabbing objects, realizes a space discrete self-adaptive grabbing function, realizes the self-adaptive function on the size and the shape of the objects by utilizing the plurality of push rod assemblies, and realizes a quick grabbing function by utilizing the cam; the device achieves the multidirectional grasping effect on the object, can provide grasping force for the object in multiple directions, and can effectively grasp various shapes (including strip-shaped) of the object placed in different directions; the device is not limited by the power of a driving source and has extremely high grabbing speed; the device has simple structure and low energy consumption, is suitable for various robots needing universal grabbing, and is particularly suitable for occasions needing quick grabbing.
Description
Technical Field
The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a self-adaptive robot hand device with a gathered quick grabbing sliding rod.
Background
The robot hand has a wide range of uses in the field of robots for temporarily connecting and securing a robot to an object and enabling release at the appropriate time, the former enabling gripping of the object and the latter enabling releasing of the object. A typical robot hand is made with two relatively moving parts in order to reduce costs, in order to achieve the gripping and releasing functions most simply. There are also many structures that mimic a human hand, designed with more fingers and several joints on the fingers, but that would entail the complexity and high cost of mechanical systems, sensing systems, control systems and control algorithms. Some robot hands have adaptability, do not know before the snatching that what kind of shape and size of object will be snatched, do not carry out sensing detection to the object of snatching either in snatching, but can snatch by the self-adaptation yet, this kind to the automatic adaptability of object shape, size make robot hand realize not increasing sensing and control demand when realizing more extensively snatching different objects.
Peter b.scott describes in The literature (Peter b.scott, "The 'omnigrip': a form of robot univarial grip", Robotica, vol.3: pp 153-. The holder is provided with two groups of rod cluster sets, each group of rod cluster set is provided with a plurality of long rods which are parallel to each other, the long rods which are pushed by an object to be grabbed and slide up and down freely achieve the purpose of adapting to the shape of the object, and then the two groups of rod cluster sets are driven to get close or leave by combining with a driver, so that the object can be grabbed. For example, when the end of the robot is against an object placed on a support surface (e.g., a table top), the object pushes the long rods to slide into the base, and because the number of long rods is large and the long rods are thin (the diameter is small), different long rods contact different object surface points, the sliding distance of each long rod into the palm is different, and the distance is related to the local shape of the object; then, two groups of left and right rod clusters are gathered to clamp the object, and the object is clamped from the side surface by the long rods, so that the grabbing purpose is achieved.
The device has the following disadvantages:
(1) multi-directional grasping cannot be achieved. When the device applies a gripping force to a target object, the gripping force can only be along the direction of the gathering of the two groups of rod clusters, which is equivalent to a two-finger gripper, only a one-dimensional gripping mode is generated, and the gripping effect is poor.
(2) The grip fails for an elongated object placed in a particular direction. When the target object is parallel to the direction and the target object is longer than the device in the direction, the target object does not receive holding force due to the folding of the two groups of telescopic rods, such as a long strip-shaped object is held.
(3) The structure is complex and the energy consumption is large. The device has 2 groups of rod cluster assemblies, needs 2 movable supporting parts (or moving bases) which move mutually, a set of linear guide rails, 2 sliding blocks, a driver, a transmission mechanism and the like, has a more complex structure, and is more energy-consuming to move a heavy rod cluster assembly with a plurality of long rods.
(4) Grip stability is to be improved. The grabbing force of the device to the target object is generated only by the folding of the two groups of rod clusters, the object can be grabbed in a closed mode only by the force of the grabbing force, and a good enveloping type closed grabbing effect is lacked.
Pai Macro et al describe a rod cluster adaptive robot hand in the literature (Fu H, Yang H, Song W, et al. A novel cluster-tube self-adaptive robot hand: [ J ]. Robotics & biometics, 2017,4(1): 25.). The rod cluster self-adaptive robot hand is provided with a plurality of push rod assemblies, each push rod assembly comprises a rotating shaft, a guide rod, a spring and a sliding pipe, and each push rod assembly has the freedom of sliding in the vertical direction and swinging transversely. When the object is grabbed, firstly all the push rod assemblies are longitudinally adaptive to the shape of the object, and then all the push rod assemblies are gathered towards the center to realize grabbing. The transmission device for driving all the push rod assembly wheel trains and the elastic ropes to form is composed of the wheel trains and the flexible ropes, the flexible ropes are wound on the periphery of all the push rod assemblies, and when an object is grabbed, the wheel trains rotate to drive the flexible ropes to tighten. However, the device has some disadvantages, such as the fact that the grasping is not quick, the flexible rope is tightened by the rotation of the wheel train, the tightening process takes a long time and is limited by the power of the driving source, and if the tightening process is accelerated, the tightening force is reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a gathering type quick-grabbing sliding rod self-adaptive robot hand device. The device is used for grabbing objects and has self-adaptability to the size and the shape of the objects; the multidirectional grasping effect on the object is achieved: the device can provide a gripping force for the object in multiple directions, and can effectively grip various shapes (including long strips) of objects placed in different directions; the device has simple structure and low energy consumption; the device is not limited by the power of a driving source and has extremely high grabbing speed.
The technical scheme of the invention is as follows:
the invention relates to a gathering type quick grabbing sliding rod self-adaptive robot hand device which comprises a base, K sliding rod assemblies, a motor and a first transmission mechanism, wherein the K sliding rod assemblies are arranged on the base; each push rod assembly comprises a sliding pipe, a guide rod, a rotating shaft and a first spring piece; the K sliding tubes are uniformly distributed in the circumference, and each sliding tube is embedded in the base in a sliding manner; in the push rod assembly, the sliding pipes are sleeved on the corresponding guide rods in a sliding manner, two ends of the first spring piece are respectively connected with the corresponding guide rods and the corresponding sliding pipes, and the guide rods are sleeved on the corresponding rotating shafts; the K rotating shafts are respectively sleeved in the base and are uniformly distributed in a circumferential manner; the sliding direction of the sliding pipe is parallel to the central line of the guide rod; the central line of the sliding pipe is vertical to the central line of the rotating shaft; the motor is fixedly connected in the base, and an output shaft of the motor is connected with an input end of the first transmission mechanism; the method is characterized in that: the gathering type quick grabbing sliding rod self-adaptive robot hand device further comprises a cam and K second spring pieces; the outer edge surface of the cam is provided with K convex parts and K concave parts, the convex parts are uniformly distributed in the circumferential direction, the concave parts are uniformly distributed in the circumferential direction, and the convex parts and the concave parts are arranged on the outer edge surface of the cam at intervals; the cam is sleeved in the base, the cam is connected with the output end of the first transmission mechanism, and the outer edge surface of the cam is contacted with each push rod assembly; the base comprises a bundling cavity, two ends of the ith second spring piece are respectively connected with the base and the ith push rod assembly, and connecting points of all the second spring pieces and the corresponding push rod assemblies are positioned in the bundling cavity; wherein, K is a natural number larger than 3, i is 1,2,3 … K, and i is a natural number.
The invention relates to a gathering type quick grabbing sliding rod self-adaptive robot hand device, which is characterized in that: the convex part is provided with a first slope and a second slope, the slope of the first slope is larger than that of the second slope, all the first slopes are uniformly distributed along the outer edge surface of the cam in a circumferential mode, and all the second slopes are uniformly distributed along the outer edge surface of the cam in a circumferential mode.
The invention relates to a gathering type quick grabbing sliding rod self-adaptive robot hand device, which is characterized in that: the K second spring pieces are 1 elastic ring, and the elastic rings surround all the push rod assemblies and are in contact with the push rod assemblies.
The invention relates to a gathering type quick grabbing sliding rod self-adaptive robot hand device, which is characterized in that: the two ends of the ith second spring part are respectively connected with the base and the ith guide rod, i is 1,2 and 3 … K, i is a natural number, and K is the number of the push rod assemblies.
The invention relates to a gathering type quick grabbing sliding rod self-adaptive robot hand device, which is characterized in that: every push rod subassembly still includes flexible film and flexible contact, flexible film is made by arbitrary one or more in latex, silica gel or the rubber, flexible contact is made by arbitrary one or more in latex, silica gel or the rubber, and the outside at the ith slide tube is wrapped up to ith flexible film, and the ith flexible contact rigid coupling is at the end of ith slide tube, and i 1,2,3 … K, i are the natural number, and K is push rod subassembly's number.
The invention relates to a gathering type quick grabbing sliding rod self-adaptive robot hand device, which is characterized in that: the two ends of the ith second spring piece are respectively connected with the base and the ith sliding tube, i is 1,2 and 3 … K, i is a natural number, and K is the number of the push rod assemblies.
The invention relates to a gathering type quick grabbing sliding rod self-adaptive robot hand device, which is characterized in that: the first transmission mechanism comprises a worm and a worm wheel, the worm is fixedly connected to the output end of the motor, the worm wheel is meshed with the worm, and the worm wheel is connected with the cam.
Compared with the prior art, the invention has the following advantages and prominent effects:
the device comprehensively realizes the space discrete self-adaptive grabbing function by utilizing the plurality of push rod assemblies, the motor, the cam, the second spring piece and the like, realizes the self-adaptive function on the size and the shape of an object by utilizing the plurality of push rod assemblies, and realizes the quick grabbing function by utilizing the cam; the device achieves the multidirectional grasping effect on the object, can provide grasping force for the object in multiple directions, and can effectively grasp various shapes (including strip-shaped) of the object placed in different directions; the device is not limited by the power of a driving source, and can simultaneously have extremely high grabbing speed; simple structure and low energy consumption. The device is suitable for various robots needing universal grabbing, and is particularly suitable for occasions needing quick grabbing.
Drawings
Fig. 1 is a perspective external view of an embodiment of a self-adaptive robot hand device for a gathering type quick grabbing sliding rod designed by the invention.
FIG. 2 is an axial cross-sectional view of the embodiment of FIG. 1 (not shown in part).
Fig. 3 is a top view of the embodiment of fig. 1 (not shown in part).
Fig. 4 is a perspective view (not shown in part) of the embodiment of fig. 1 in a gathered state.
Fig. 5 is a perspective external view of the cam of the embodiment shown in fig. 1.
Fig. 6 is a top view of the cam of the embodiment shown in fig. 1.
Fig. 7 is a schematic view of the internal structure of the embodiment of fig. 1 in an open state (parts not shown).
Fig. 8 is a schematic view of the internal structure of the embodiment shown in fig. 1 in a gathered state (parts are not shown).
Fig. 9 is a schematic view of the embodiment of fig. 1 during object grabbing.
Fig. 10 is an isometric cross-sectional view of the embodiment of fig. 1 gripping an object.
In fig. 1 to 10:
11-upper base cover, 12-upper base 13-middle base 14-lower base cover 15-lower base
21-rotating shaft 22-hinge piece 23-first spring piece 24-guide rod 25-rod pipe connecting piece
26-slide tube 27-flexible film 28-flexible contact 3-motor 41-worm
42-worm wheel 51-cam 51A-boss 51B-recess 52-bearing
6-elastic ring 7-body
Detailed Description
The details of the structure and the operation principle of the present invention are further described in detail below with reference to the accompanying drawings and embodiments.
The invention relates to a gathering type quick grabbing sliding rod self-adaptive robot hand device which comprises a base, K sliding rod assemblies, a motor and a first transmission mechanism, wherein the K sliding rod assemblies are arranged on the base; each push rod assembly comprises a sliding pipe, a guide rod, a rotating shaft and a first spring piece; the K sliding tubes are uniformly distributed in the circumference, and each sliding tube is embedded in the base in a sliding manner; in the push rod assembly, the sliding pipes are sleeved on the corresponding guide rods in a sliding manner, two ends of the first spring piece are respectively connected with the corresponding guide rods and the corresponding sliding pipes, and the guide rods are sleeved on the corresponding rotating shafts; the K rotating shafts are respectively sleeved in the base and are uniformly distributed in a circumferential manner; the sliding direction of the sliding pipe is parallel to the central line of the guide rod; the central line of the sliding pipe is vertical to the central line of the rotating shaft; the motor is fixedly connected in the base, and an output shaft of the motor is connected with an input end of the first transmission mechanism; the method is characterized in that: the gathering type quick grabbing sliding rod self-adaptive robot hand device further comprises a cam and K second spring pieces; the outer edge surface of the cam is provided with K convex parts and K concave parts, the convex parts are uniformly distributed in the circumferential direction, the concave parts are uniformly distributed in the circumferential direction, and the convex parts and the concave parts are arranged on the outer edge surface of the cam at intervals; the cam is sleeved in the base, the cam is connected with the output end of the first transmission mechanism, and the outer edge surface of the cam is contacted with each push rod assembly; the base comprises a bundling cavity, two ends of the ith second spring piece are respectively connected with the base and the ith push rod assembly, and connecting points of all the second spring pieces and the corresponding push rod assemblies are positioned in the bundling cavity; wherein, K is a natural number larger than 3, i is 1,2,3 … K, and i is a natural number.
Taking K to 8, an embodiment of the convergent quick-grip sliding bar adaptive robot hand device according to the present invention is shown in fig. 1 to 10. The embodiment comprises a base, 8 push rod assemblies, a motor 3 and a first transmission mechanism; each push rod assembly comprises a slide pipe 26, a guide rod 24, a rotating shaft 21 and a first spring element 23; the 8 sliding tubes 26 are uniformly distributed on the circumference, and each sliding tube 26 is embedded in the base in a sliding manner; in the push rod assembly, the sliding pipes 26 are slidably sleeved on the corresponding guide rods 24, two ends of the first spring element 23 are respectively connected with the corresponding guide rods 24 and the corresponding sliding pipes 26, and the guide rods 24 are sleeved on the corresponding rotating shafts 21; the 8 rotating shafts 21 are respectively sleeved in the base, and the 8 rotating shafts 21 are uniformly distributed in a circumferential manner; the sliding direction of the sliding tube 26 is parallel to the central line of the guide rod 24; the central line of the slide pipe 26 is perpendicular to the central line of the rotating shaft 21; the motor 3 is fixedly connected in the base, and an output shaft of the motor 3 is connected with an input end of the first transmission mechanism; this embodiment further includes a cam 51 and 8 second spring members; the outer edge surface of the cam 51 is provided with 8 convex parts 51A and 8 concave parts 51B, the convex parts 51A are uniformly distributed in the circumference, the concave parts 51B are uniformly distributed in the circumference, and the convex parts 51A and the concave parts 51B are arranged on the outer edge surface of the cam 51 at intervals; the cam 51 is sleeved in the base, the cam 51 is connected with the output end of the first transmission mechanism, and the outer edge surface of the cam 51 is contacted with each push rod assembly; the base comprises a strapping cavity; the second spring piece is a tension spring; the ith second spring piece is respectively connected with the base and the ith push rod assembly, and the connection points of all the second spring pieces and the push rod assembly are positioned in the bundling cavity; wherein, i is 1,2,3 … 8, i is a natural number.
In this embodiment, the base includes an upper base cover plate 11, an upper base 12, a middle base 13, a lower base cover plate 14, and a lower base 15; the motor 3 is fixedly connected to the upper base 12, and 8 rotating shafts 21 are sleeved on the upper base 12; the middle base 13 is connected with the upper base 12, the lower base 15 and the lower base cover plate 14; the lower base cover plate 14 and the lower base 15 have 8 slide through holes, respectively.
In this embodiment, the push rod assembly further includes a hinge 22, and the guide rod 24 is sleeved on the corresponding rotating shaft 21 through the hinge 22.
In this embodiment, the protrusion 51A has a first slope and a second slope, the slope of the first slope is greater than the slope of the second slope, all the first slopes are uniformly distributed along the circumference of the outer edge surface of the cam 51, and all the second slopes are uniformly distributed along the circumference of the outer edge surface of the cam 51.
In this embodiment, the 8 second spring members are 1 elastic ring 6, the elastic ring 6 surrounds all the push rod assemblies, and the elastic ring 6 is in contact with the push rod assemblies.
In another embodiment of the present invention, two ends of the ith second spring are respectively connected to the base and the ith slide tube 26, i is 1,2,3 … 8, and i is a natural number.
In another embodiment of the present invention, two ends of the ith second spring are respectively connected to the base and the ith guide rod 24, i is 1,2,3 … 8, and i is a natural number.
The invention relates to a gathering type quick grabbing sliding rod self-adaptive robot hand device, which is characterized in that: every push rod subassembly still includes flexible film and flexible contact, flexible film is made by arbitrary one or more in latex, silica gel or the rubber, flexible contact is made by arbitrary one or more in latex, silica gel or the rubber, and the outside at the ith slide tube is wrapped up to ith flexible film, and the ith flexible contact rigid coupling is at the end of ith slide tube, and i 1,2,3 … K, i are the natural number, and K is push rod subassembly's number.
In this embodiment, each push rod assembly further includes a flexible film 27 and a flexible contact 28, the flexible film 27 is made of rubber, the flexible contact 28 is made of rubber, the ith flexible film 27 is wrapped on the outer side of the ith slide tube 26, the ith flexible contact 28 is fixedly connected to the end of the ith slide tube 26, i is 1,2,3 … 8, and i is a natural number.
In this embodiment, the first transmission mechanism includes a speed reducer, a worm 41 and a worm wheel 42, an output shaft of the first motor 3 is connected to an input shaft of the speed reducer, the worm 41 is fixedly sleeved on an output end of the speed reducer, the worm wheel 42 is engaged with the worm 41, and the worm wheel 42 is connected to the cam 51.
The operation of the embodiment of fig. 1 will now be described with reference to the accompanying drawings.
The device has two states, an open state in the first state and a closed state in the second state.
The gathering state of the device is shown in fig. 4 and 8, at this time, 8 recesses 51B of the cam 51 are respectively opposite to 8 push rod assemblies, and in this state, due to the pretightening force of the elastic ring 6, the hinge 22 of the 8 push rod assemblies is respectively contacted with the 8 recesses 51B of the cam 51, so that all the push rod assemblies gather, and the ends of the slide tubes 26 of all the push rod assemblies are gathered together.
The device is in an open state as shown in fig. 1,2 and 7, and at this time, the 8 protrusions 51A of the cam 51 are respectively aligned with the 8 push rod assemblies, and the hinges 22 of the 8 push rod assemblies are respectively in contact with the 8 protrusions 51A of the cam 51, so that all the push rod assemblies are in a vertical state, and the slide tubes 26 of all the push rod assemblies are vertical. In this state, the elastic ring 6 has a larger tension than in the gathered state.
The switching between the open state and the gathering state of the device is realized by the motor 3 driving the rotation of the cam 51 through the first transmission mechanism. The slopes of the two sides of the convex portion 51A of the cam 51 are different, and as shown in fig. 5 and 6, when the switching state is grasped in this embodiment, the rotation direction of the cam 51 is selected so that the device is fast from the opened state to the gathered state, and slow from the gathered state to the opened state, that is, the sequence of the parts of the hinge 22 contacting the cam 51 is: convex portion 51A, first ramp, concave portion 51B, second ramp, convex portion 51A ….
Since the elastic ring 6 has a small variation in the gathered state, the device is in the gathered state when not in operation to reduce the loss.
The device comprises the following three steps when grabbing the object 7:
the method comprises the following steps: ready for operation, the cam 51 is rotated by the motor 3 through an angle that causes the device to change from the closed to the open position.
Step two: the device is driven by a mechanical arm to approach an object 7 placed on a supporting surface and extrude the object 7, and if the slide tube 26 touches the object 7, the slide tube 26 slides upwards along the corresponding guide rod 24 under the reaction force of the object 7; if the slide 24 does not touch the object 7, the slide 26 will not move relative to the device; since different slide tubes 26 produce different sliding distances under the pressing reaction force of the object 7, the apparatus adapts to the shape of the object 7.
Step three: the cam 51 is driven by the motor 3 to rotate by a small angle, so that the device is quickly converted into a gathering state from an opening state, all the slide tubes 26 gather towards the center until the object 7 is touched or the corresponding hinge 22 touches the concave part 51B of the cam 51, and therefore the grabbing is completed.
When the device releases the object 7, the device is divided into two steps:
the method comprises the following steps: the cam 51 is driven by the first motor 3 to rotate, the device gradually changes from a gathering state to an opening state, in the process of changing, the sliding pipe around the object gradually gets away from the object, the grabbing force gradually disappears, the object is released, and in addition, the sliding pipe also returns to the initial position under the action of the first spring piece.
Step two: when the operation is resumed, the cam 51 is driven by the first motor 3 to rotate by a corresponding angle, the device is changed from the open state to the closed state, and then the device is closed.
The device adjusts the grabbing speed through the profile design of the cam 51 and the speed control of the motor 3, and has quick grabbing performance. Since the gripping force is provided by the elastic rings 6, the gripping speed is increased without impairing the gripping force.
The device comprehensively realizes the space discrete self-adaptive grabbing function by utilizing the plurality of push rod assemblies, the motor, the cam, the second spring piece and the like, realizes the self-adaptive function on the size and the shape of an object by utilizing the plurality of push rod assemblies, and realizes the quick grabbing function by utilizing the cam; the device achieves the multidirectional grasping effect on the object, can provide grasping force for the object in multiple directions, and can effectively grasp various shapes (including strip-shaped) of the object placed in different directions; the device is not limited by the power of a driving source, and can simultaneously have extremely high grabbing speed; simple structure and low energy consumption. The device is suitable for various robots needing universal grabbing, and is particularly suitable for occasions needing quick grabbing.
Claims (2)
1. A gathering type quick grabbing sliding rod self-adaptive robot hand device comprises a base, K sliding rod assemblies, a motor and a first transmission mechanism; each push rod assembly comprises a sliding pipe, a guide rod, a rotating shaft and a first spring piece; the K sliding tubes are uniformly distributed in the circumference, and each sliding tube is embedded in the base in a sliding manner; in the push rod assembly, the sliding pipes are sleeved on the corresponding guide rods in a sliding mode, two ends of the first spring piece are respectively connected with the corresponding guide rods and the corresponding sliding pipes, the push rod assembly further comprises hinge pieces, and the guide rods are sleeved on the corresponding rotating shafts through the hinge pieces; the K rotating shafts are respectively sleeved in the base and are uniformly distributed in a circumferential manner; the sliding direction of the sliding pipe is parallel to the central line of the guide rod; the central line of the sliding pipe is vertical to the central line of the rotating shaft; the motor is fixedly connected in the base, and an output shaft of the motor is connected with an input end of the first transmission mechanism; the method is characterized in that: the gathering type quick grabbing sliding rod self-adaptive robot hand device further comprises a cam and 1 elastic ring; the outer edge surface of the cam is provided with K convex parts and K concave parts, the convex parts are uniformly distributed in the circumferential direction, the concave parts are uniformly distributed in the circumferential direction, and the convex parts and the concave parts are arranged on the outer edge surface of the cam at intervals; the convex part is provided with a first slope and a second slope, the slope of the first slope is greater than that of the second slope, all the first slopes are uniformly distributed along the circumference of the outer edge surface of the cam, and all the second slopes are uniformly distributed along the circumference of the outer edge surface of the cam; the cam is sleeved in the base, the cam is connected with the output end of the first transmission mechanism, and the outer edge surface of the cam is contacted with each push rod assembly; the base comprises a bundling cavity, the elastic ring surrounds all the push rod assemblies and is in contact with the push rod assemblies, and connecting points of the elastic ring and the push rod assemblies are positioned in the bundling cavity; every push rod subassembly still includes flexible film and flexible contact, flexible film is made by arbitrary one or more in latex, silica gel or the rubber, flexible contact is made by arbitrary one or more in latex, silica gel or the rubber, and the outside at the ith slide tube is wrapped up to ith flexible film, and the ith flexible contact rigid coupling is at the end of ith slide tube, and i 1,2,3, …, K, i are the natural number, and K is push rod subassembly's number.
2. The focused rapid-capture sliding-bar adaptive robotic hand device according to claim 1, wherein: the first transmission mechanism comprises a worm and a worm wheel, the worm is fixedly connected to the output end of the motor, the worm wheel is meshed with the worm, and the worm wheel is connected with the cam.
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| CN110405797B (en) * | 2019-06-24 | 2020-10-16 | 深圳航天龙海特智能装备有限公司 | Flexible gripping device |
| CN110524568B (en) * | 2019-08-06 | 2024-04-16 | 李泽铭 | Self-adaptive robot hand device with laminated telescopic parallel clamping grabbing slide tube |
| CN111152257B (en) * | 2020-02-13 | 2024-08-27 | 清研(洛阳)先进制造产业研究院 | Dandelion-like general grabbing robot hand device |
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| CN107414796A (en) * | 2017-08-17 | 2017-12-01 | 柳州福能机器人开发有限公司 | Industrial machine arm |
| CN108214522A (en) * | 2017-12-26 | 2018-06-29 | 清华大学 | Orthogonal swing slip pipe array adaptive robot arm device |
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2018
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| CN105619441A (en) * | 2016-03-17 | 2016-06-01 | 清华大学 | Multi-finger hooping and elastic shifting rod cluster adaptive robot hand device |
| CN106393146A (en) * | 2016-11-01 | 2017-02-15 | 昆明理工大学 | Grabbing and lifting adaptation robot arm |
| CN107414796A (en) * | 2017-08-17 | 2017-12-01 | 柳州福能机器人开发有限公司 | Industrial machine arm |
| CN108214522A (en) * | 2017-12-26 | 2018-06-29 | 清华大学 | Orthogonal swing slip pipe array adaptive robot arm device |
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