CN111002340B - Under-actuated finger mechanism for changing envelope space by axially adjusting swing fulcrum - Google Patents
Under-actuated finger mechanism for changing envelope space by axially adjusting swing fulcrum Download PDFInfo
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- CN111002340B CN111002340B CN202010029827.0A CN202010029827A CN111002340B CN 111002340 B CN111002340 B CN 111002340B CN 202010029827 A CN202010029827 A CN 202010029827A CN 111002340 B CN111002340 B CN 111002340B
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- knuckle
- driving
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- push rod
- actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- 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
Abstract
The invention relates to an under-actuated finger mechanism for changing an envelope space by axially adjusting a swing fulcrum, wherein a finger gripping assembly is of an under-actuated structure formed by connecting three movable finger joints with an active push rod, three finger joints can be sequentially attached to the upper part, the middle part and the lower part of an object under the driving of a motor to the active push rod during gripping, so that the object can be clamped and wrapped, the finger gripping assembly of the under-actuated structure can adaptively grip objects with different shapes and sizes, and the under-actuated finger mechanism is high in flexibility, simple and compact in structure, light in weight and low in cost; the lead screw of the envelope space adjusting assembly can drive the lifting adjusting disc to move up and down, so that the long hinge lug at the outer end of the lifting push rod can be used as a hinge point to change the position of a pivot point in the radial direction of the first knuckle, the size of the envelope space between the three finger gripping assemblies is changed, and the under-actuated finger mechanism is higher in self-adaptability and flexibility when gripping an object.
Description
Technical Field
The invention relates to the technical field of intelligent manipulators, in particular to an under-actuated finger mechanism for changing an envelope space by axially adjusting a swing fulcrum.
Background
The manipulator is used as an important interface for interaction between the robot and the surrounding environment, and the flexible manipulator is an important component of the robot and has self-evident importance; in mobile robots, particularly those powered by a power source, reducing energy consumption is an index to be considered. Therefore, an underactuated manipulator with less drive units and less energy consumption is the first choice for a mobile robot. However, unlike the fully-driven manipulator in which the movement of each joint and the grasping force are completely determined by the driving unit, the movement of each joint of the under-driven manipulator is also affected by the contact between the mechanical structure and the outside, resulting in uncertainty of the fingertip trajectory. Compared with the grabbing accuracy of the full-drive manipulator, the method provides a severe test for the under-actuated manipulator to accurately grab the object. Therefore, the problem to be solved urgently is solved on the premise of keeping the advantages of the under-actuated hand, and the flexibility and the firmness of the grabbing can be improved; in addition, the maximum space and the minimum space for forming envelopes among fingers of the existing under-actuated manipulator are fixed and cannot be adjusted, the capacity of adapting to different sizes of objects when the under-actuated manipulator grabs the objects is limited, and the adaptability of the manipulator when the manipulator grabs the objects is reduced.
Disclosure of Invention
In order to solve the problems, the invention provides an under-actuated finger mechanism which axially adjusts a swing fulcrum to change an envelope space.
The technical scheme of the invention is as follows: the utility model provides an axial adjustment swing fulcrum changes under-actuated finger mechanism in envelope space which characterized in that: the under-actuated finger mechanism comprises a cylindrical rack shell, three finger gripping assemblies and a gripping space adjusting assembly, wherein the three finger gripping assemblies are uniformly distributed on the upper part of the outer side surface of the rack shell;
the lower port of the frame shell is fixed with a lower end cover, the middle of the top surface of the lower end cover is fixed with a motor support, the gripping space adjusting assembly comprises a lead screw, a lead screw motor and an annular lifting disc which are coaxially arranged in the frame shell, the lead screw motor is arranged in the motor support of the lower end cover, the lower end of the lead screw is provided with a connecting section fixedly connected with an output shaft of the lead screw motor, the upper end of the lead screw is provided with a thread section extending out of the upper end surface of the frame shell, the lifting disc is sleeved on the thread section, three guide rods and three lifting push rods are uniformly distributed on the outer side surface of the lifting disc, the distances between the adjacent lifting push rods and the guide rods are the same, the outer ends of the lifting push rods are close to the extension lines of the; three limiting bosses are vertically and uniformly distributed on the edge of the upper end surface of the frame shell, a limiting chute is formed in the middle of the end surface of each limiting boss inwards along the axial direction, and the outer ends of the guide rods of the lifting disc are sleeved in the limiting chutes in a matched mode to form sliding pairs;
a support seat is arranged at the position, corresponding to the guide block, of the middle of the outer side face of the rack shell, a pair of rotating supports are symmetrically and fixedly connected to the upper end face of the support seat, the finger gripping assembly comprises a driving push rod, a first knuckle, a second knuckle and a third knuckle, a cross shaft is arranged at the lower end of the driving push rod and is rotatably connected between the two rotating supports, and a driving assembly is fixed to one side of the support seat and is connected with the cross shaft; the second knuckle is integrally triangular, a square sliding cavity is formed in the inner side included angle of the second knuckle inwards, a hinge point A is formed in the outer side included angle, a hinge point B is formed in the lower included angle, a straight line section between the hinge point A and the hinge point B is a second clamping part, rectangular notches are formed in the two sides of the sliding cavity outwards, a hanging boss is arranged in the center of the bottom surface of the sliding cavity, an accommodating groove is formed in the port of the sliding cavity, a driving sliding block is installed in the sliding cavity in a matched mode, sliding shafts penetrate through the rectangular notches in the two sides to form sliding pairs, a spring A is connected between the inner end surface of the driving sliding block and the bottom surface of the sliding cavity, and the upper end of the driving push rod is hinged; the first knuckle is in a long rod shape, the lower end of the first knuckle is hinged with the upper end of the long hinge lug at the end part of the lifting push rod, the upper end of the first knuckle is hinged with a hinge point B on the second knuckle, and the inner side surface of the first knuckle is a first clamping part; the third knuckle is triangular, the included angle at the inner side of the third knuckle is hinged with a hinge joint A on the second knuckle, two sides of the included angle at the upper part are hinged with a pair of push-pull connecting rods through fixed shaft pins, the other ends of the two push-pull connecting rods are respectively rotatably connected with the two sliding shafts extending out of the rectangular notches, and a straight line section between the included angle at the inner side and the included angle at the outer side of the third knuckle is a third clamping part.
Preferably, a bearing support is arranged on the upper portion of the inner side face of the rack shell, a bearing is installed in a bearing installation hole of the bearing support, an annular limiting boss is arranged at the lower port of the bearing installation hole, a connection section of the lower end of the screw rod is sleeved in the bearing and is fixedly connected with an output shaft of the motor, and a bearing cover plate fixedly connected with the top face of the bearing support is arranged in the upper port of the rack shell.
Preferably, the lower end of the driving push rod is provided with a transversely through spline groove, the transverse shaft is provided with a spline, and the driving push rod and the transverse shaft are fixedly connected through the spline and the spline groove.
Preferably, the driving assembly comprises a joint driving motor, a driving bevel gear and a driven bevel gear, the joint driving motor is fixedly connected to one side of the supporting seat through a support, the driven bevel gear is fixedly connected to a transverse shaft on the side corresponding to the joint driving motor, and the driving bevel gear is fixedly connected with an output shaft of the joint driving motor and meshed with the driven bevel gear.
Preferably, the driving push rod comprises a rotating support piece and a telescopic rod installed in the rotating support piece, a cavity is formed in the upper end face of the rotating support piece towards the inner opening, the upper end of the telescopic rod is hinged to the outer end of the driving sliding block, a stop block is arranged at the lower end of the telescopic rod and sleeved in the cavity, a tension spring B is connected between the bottom face of the stop block and the bottom face of the cavity, a cover plate is fixed to a port of the cavity, a round hole matched with the telescopic rod is formed in the middle of the cover plate, and a spring.
Preferably, the size of the round hole is matched with that of the telescopic rod.
The beneficial technical effects of the invention are as follows:
the finger gripping assembly is of an underactuated structure formed by connecting three movable finger joints with the active push rod, when the finger gripping assembly is used for gripping, under the driving of the motor to the active push rod, the three finger joints can be sequentially attached to the upper part, the middle part and the lower part of an object, so that the object can be gripped and wrapped, the finger gripping assembly of the underactuated structure can grip objects with different shapes and sizes in a self-adaptive manner, and the finger gripping assembly is high in flexibility, simple and compact in structure, light in weight and low in cost.
The lead screw of the envelope space adjusting assembly can drive the lifting adjusting disc to move up and down, so that the long hinge lug at the outer end of the lifting push rod can be used as a hinge point to change the position of a pivot point in the radial direction of the first knuckle, the size of the envelope space between the three finger gripping assemblies is changed, and the under-actuated finger mechanism is higher in self-adaptability and flexibility when gripping an object.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic cross-sectional view of FIG. 1;
FIG. 3 is a schematic perspective view of the present invention;
FIG. 4 is a schematic perspective view of the finger grip assembly of the present invention;
FIG. 5 is a schematic cross-sectional view of the finger grip assembly of the present invention;
FIG. 6 is a schematic perspective view of a second knuckle and drive slide of the present invention;
FIG. 7 is a cross-sectional view taken along a second finger cut in FIG. 6;
fig. 8 is a schematic perspective view of the lifting plate of the present invention.
01. The automatic lifting device comprises a frame shell, 11, a lower end cover, 111, a motor support, 12, a limit boss, 121, a limit chute, 14, a support seat, 15, a rotating support seat, 16, a rotating support seat, 17, an annular limit block, 18, a bearing cover plate, 21, a lead screw, 22, a lead screw motor, 23, a lifting disc, 231, a guide rod, 232, a lifting push rod, 233, a long hinge lug, 03, a finger gripping assembly, 31, a driving push rod, 311, a transverse shaft, 312, a rotating support, 3121, a cavity, 313, a telescopic shaft, 3131, a stop, 314, a spring B, 315, a spring C, 32, a first finger joint, 321, a first clamping part, 33, a second finger joint, 331, a sliding cavity, 332, a hinge point A, 333, a hinge point B, a second clamping part, 335, a square notch, 336, 34, a driving slide block, 341, a sliding shaft, 342, a push-pull connecting rod, 35, a third finger joint, 351, a third clamping part, 36. The driving assembly 361, the driving bevel gear 362, the driven bevel gear 37 and the spring A.
Detailed Description
Referring to the attached drawings (1-8) in the specification, an under-actuated finger mechanism for changing an envelope space by axially adjusting a swing fulcrum is characterized in that: the under-actuated finger mechanism comprises a cylindrical rack shell, three finger gripping assemblies uniformly distributed on the upper part of the outer side surface of the rack shell, and an envelope space adjusting assembly arranged at the upper end of the rack shell; a lower end cover is fixed at the lower port of the housing of the machine frame, a motor support is fixed in the middle of the top surface of the lower end cover, the envelope space adjusting component comprises a screw rod and a screw rod motor which are coaxially arranged in the housing of the machine frame, the lifting mechanism comprises an annular lifting disc, a screw motor is arranged in the motor support, the lower end of a screw is provided with a connecting section fixedly connected with an output shaft of the screw motor, the upper end of the screw is provided with a screw thread section extending out of the upper end surface of a rack shell, the lifting disc is sleeved on the screw thread section, the screw motor drives the screw to rotate so as to enable the lifting disc to move up and down, three guide rods and three lifting push rods are uniformly distributed on the outer side surface of the lifting disc, the distances between the adjacent lifting push rods and the guide rods are the same, the outer ends of the lifting push rods are close to extension lines of corresponding rack shell buses, the outer ends of the lifting push rods are provided with vertically upward long hinge lugs;
three limiting bosses are vertically and uniformly distributed on the upper end surface of the frame shell, a limiting sliding groove is formed in the middle of the end surface of each limiting boss inwards in the axial direction, the outer end of a guide rod of the lifting disc is sleeved in the limiting sliding groove in a matching mode to form a sliding pair, and when the lifting disc moves up and down, the guide rod slides up and down in the limiting sliding groove to position the circumferential direction of the lifting disc, so that the lifting disc is prevented from rotating along with a lead screw;
a support seat is arranged at the position, corresponding to the guide block, of the middle of the outer side face of the rack shell, a pair of rotating supports are symmetrically and fixedly connected to the upper end face of the support seat, the finger gripping assembly comprises a driving push rod, a first knuckle, a second knuckle and a third knuckle, a cross shaft is arranged at the lower end of the driving push rod and is rotatably connected between the two rotating supports, a driving assembly is fixed to one side of the support seat and is connected with the cross shaft, and the driving push rod is driven to rotate between the two rotating supports through the driving assembly; the whole second knuckle is triangular, a square sliding cavity is formed in the inner corner of the second knuckle inwards, a hinge point A is formed in the outer corner of the second knuckle, a hinge point B is formed in the lower corner of the second knuckle, a straight line section between the hinge point A and the hinge point B is a second clamping portion, rectangular notches are formed in two sides of the sliding cavity outwards, accommodating grooves are formed in the port of the sliding cavity, a driving slider is installed in the sliding cavity in a matched mode, a sliding shaft penetrates through the rectangular notches in the two sides to form a sliding pair, a spring A is connected between the inner end face of the driving slider and the bottom face of the sliding cavity, and in the process of attaching the first knuckle, the second knuckle and the third knuckle to an object, the second knuckle and the third knuckle are in a free state, so that the spring A can not deform as a; after the second knuckle is attached and fixed with the object, the driving slide block in the sliding cavity is driven to slide inwards and compress the spring A, and the third knuckle is driven to rotate inwards by the push-pull connecting rod by taking the second knuckle as a fulcrum to be attached with the object.
The upper end of the driving push rod is hinged with the outer end of the driving slide block; the first knuckle is in a long rod shape, the lower end of the first knuckle is hinged with the upper end of a long hinge lug at the end part of the lifting push rod, the upper end of the long hinge lug is used as a fulcrum when the first knuckle works, the lifting adjusting disc moves up and down to change the axial position of the fulcrum, so that the size of an enveloping space between the three finger gripping assemblies is changed, the upper end of the first knuckle is hinged with a hinge point B on the second knuckle, and the inner side surface of the first knuckle is a first clamping part; the third knuckle is triangular, the included angle of the inner side of the third knuckle is hinged with a hinge point A on the second knuckle, a pair of push-pull connecting rods is hinged to two sides of the included angle of the upper portion of the third knuckle through a fixed shaft pin, the other ends of the two push-pull connecting rods are respectively rotatably connected with the two sliding shafts extending out of the rectangular notches, after the first knuckle and the second knuckle rotate inwards and are contacted with an object and are static, the driving push rod drives the sliding block to move in the accommodating groove and compress the spring A, the driving slide pushes the push-pull connecting rods to drive the third knuckle to rotate and grab the object, and a straight line segment between the included angle of the inner side and the included angle of the outer side.
The upper portion of the inner side surface of the rack shell is provided with a bearing support, a bearing is installed in a bearing installation hole of the bearing support, an annular limiting boss is arranged at the lower port of the bearing installation hole, a connection section of the lower end of the lead screw is sleeved in the bearing and is fixedly connected with an output shaft of the motor, and a bearing cover plate fixedly connected with the top surface of the bearing support is arranged in the upper port of the rack shell.
The lower extreme of initiative push rod is opened has the spline groove that transversely link up, is equipped with the spline on the cross axle, through spline and spline groove fixed connection between initiative push rod and the cross axle, is convenient for the finger through splined connection and grasps the installation and the dismantlement of subassembly, realizes the modularized design thinking, does benefit to the maintenance or the repacking in later stage.
The driving assembly comprises a gear motor, a driving bevel gear and a driven bevel gear, the gear motor is fixedly connected to one side of the supporting seat through a support, the driven bevel gear is fixedly connected to a cross shaft on the side corresponding to the gear motor, the driving bevel gear is fixedly connected with an output shaft of the gear motor and meshed with the driven bevel gear, and the bevel gear is longer in transmission life, higher in load bearing capacity and low in noise.
The driving push rod comprises a rotating support piece at the lower end and a telescopic shaft at the upper end, a cavity is formed in the upper end face of the rotating support piece, the upper end of the telescopic shaft is hinged with the outer end of the driving slide block, a stop block is arranged at the lower end of the telescopic shaft and sleeved in the cavity, a spring B is connected between the bottom surface of the stop block and the bottom surface of the cavity, a cover plate is fixed at the port of the cavity, a round hole matched with the telescopic shaft is formed in the middle of the cover plate, and a spring C is sleeved on; the size of the round hole is matched with that of the telescopic shaft.
The working process and principle of the invention are as follows:
a. when an object is grabbed, an envelope space formed among the three finger grabbing components corresponds to the object, the three driving push rods are synchronously driven to rotate through the motor and the bevel gear, the first knuckle rotates inwards by taking the upper end of the long hinge lug as a fulcrum to be attached to the upper part of the object and stops moving under the driving of the driving push rods, in the process, the first knuckle, the second knuckle and the third knuckle are in an initial state, and the spring A, the spring B and the spring C can not be compressed or stretched any more;
b. the driving push rod is driven continuously, the second knuckle rotates inwards with the fixed first knuckle as a fulcrum to be attached to the middle of an object and stops moving, in the process, the second knuckle and the third knuckle are in a free state as a whole, the spring A keeps an original state unchanged, and the first knuckle is fixed as a support, so that the spring C in the driving push rod is stretched and the spring B is compressed in the process;
c. after the first knuckle and the second knuckle are attached to and fixed with an object, under the continuous driving of the driving push rod, the driving slide block in the sliding cavity can slide inwards to compress the spring A, and drives the third knuckle to rotate inwards by taking the second knuckle as a fulcrum through the push-pull connecting rod until the third knuckle is attached to the lower part of the object;
d. the lead screw of the envelope space adjusting assembly can drive the lifting disc to move up and down, so that the long hinge lug at the outer end of the lifting push rod can change the radial fulcrum position of the first knuckle as a hinge point, the size of the envelope space between the three finger gripping assemblies is changed, and the adaptivity and flexibility of the under-actuated finger mechanism are stronger when the under-actuated finger mechanism grips an object.
Claims (6)
1. The utility model provides an axial adjustment swing fulcrum changes under-actuated finger mechanism in envelope space which characterized in that: the under-actuated finger mechanism comprises a cylindrical rack shell, three finger gripping assemblies and a gripping space adjusting assembly, wherein the three finger gripping assemblies are uniformly distributed on the upper part of the outer side surface of the rack shell;
the lower port of the frame shell is fixed with a lower end cover, the middle of the top surface of the lower end cover is fixed with a motor support, the gripping space adjusting assembly comprises a lead screw, a lead screw motor and an annular lifting disc which are coaxially arranged in the frame shell, the lead screw motor is arranged in the motor support of the lower end cover, the lower end of the lead screw is provided with a connecting section fixedly connected with an output shaft of the lead screw motor, the upper end of the lead screw is provided with a thread section extending out of the upper end surface of the frame shell, the lifting disc is sleeved on the thread section, three guide rods and three lifting push rods are uniformly distributed on the outer side surface of the lifting disc, the distances between the adjacent lifting push rods and the guide rods are the same, the outer ends of the lifting push rods are close to the extension lines of the; three limiting bosses are vertically and uniformly distributed on the edge of the upper end surface of the frame shell, a limiting chute is formed in the middle of the end surface of each limiting boss inwards along the axial direction, and the outer ends of the guide rods of the lifting disc are sleeved in the limiting chutes in a matched mode to form sliding pairs;
a support seat is arranged at the position, corresponding to the guide block, of the middle of the outer side face of the rack shell, a pair of rotating supports are symmetrically and fixedly connected to the upper end face of the support seat, the finger gripping assembly comprises a driving push rod, a first knuckle, a second knuckle and a third knuckle, a cross shaft is arranged at the lower end of the driving push rod and is rotatably connected between the two rotating supports, and a driving assembly is fixed to one side of the support seat and is connected with the cross shaft; the second knuckle is integrally triangular, a square sliding cavity is formed in the inner side included angle of the second knuckle inwards, a hinge point A is formed in the outer side included angle, a hinge point B is formed in the lower included angle, a straight line section between the hinge point A and the hinge point B is a second clamping part, rectangular notches are formed in the two sides of the sliding cavity outwards, a hanging boss is arranged in the center of the bottom surface of the sliding cavity, an accommodating groove is formed in the port of the sliding cavity, a driving sliding block is installed in the sliding cavity in a matched mode, sliding shafts penetrate through the rectangular notches in the two sides to form sliding pairs, a spring A is connected between the inner end surface of the driving sliding block and the bottom surface of the sliding cavity, and the upper end of the driving push rod is hinged; the first knuckle is in a long rod shape, the lower end of the first knuckle is hinged with the upper end of the long hinge lug at the end part of the lifting push rod, the upper end of the first knuckle is hinged with a hinge point B on the second knuckle, and the inner side surface of the first knuckle is a first clamping part; the third knuckle is triangular, the included angle at the inner side of the third knuckle is hinged with a hinge joint A on the second knuckle, two sides of the included angle at the upper part are hinged with a pair of push-pull connecting rods through fixed shaft pins, the other ends of the two push-pull connecting rods are respectively rotatably connected with the two sliding shafts extending out of the rectangular notches, and a straight line section between the included angle at the inner side and the included angle at the outer side of the third knuckle is a third clamping part.
2. The under-actuated finger mechanism for changing the envelope space by axially adjusting the swing fulcrum of claim 1, wherein: the upper portion of the inner side surface of the rack shell is provided with a bearing support, a bearing is installed in a bearing installation hole of the bearing support, an annular limiting boss is arranged at the lower port of the bearing installation hole, a connection section of the lower end of the lead screw is sleeved in the bearing and is fixedly connected with an output shaft of the motor, and a bearing cover plate fixedly connected with the top surface of the bearing support is arranged in the upper port of the rack shell.
3. The under-actuated finger mechanism for changing the envelope space by axially adjusting the swing fulcrum according to claim 2, wherein: the lower end of the driving push rod is provided with a transversely through spline groove, the transverse shaft is provided with a spline, and the driving push rod and the transverse shaft are fixedly connected through the spline and the spline groove.
4. The under-actuated finger mechanism for changing the envelope space by axially adjusting the swing fulcrum of claim 1, wherein: the driving assembly comprises a joint driving motor, a driving bevel gear and a driven bevel gear, the joint driving motor is fixedly connected to one side of the supporting seat through a support, the driven bevel gear is fixedly connected to a cross shaft on the side corresponding to the joint driving motor, and the driving bevel gear is fixedly connected with an output shaft of the joint driving motor and meshed with the driven bevel gear.
5. The under-actuated finger mechanism for changing the envelope space by axially adjusting the swing fulcrum of claim 1, wherein: the driving push rod comprises a rotating support piece and a telescopic rod installed in the rotating support piece, a cavity is formed in the upper end face of the rotating support piece in the inward opening mode, the upper end of the telescopic rod is hinged to the outer end of the driving sliding block, a stop block is arranged at the lower end of the telescopic rod and sleeved in the cavity, a tension spring B is connected between the bottom face of the stop block and the bottom face of the cavity, a cover plate is fixed to a port of the cavity, a round hole matched with the telescopic rod is formed in the middle of the cover plate, and.
6. The under-actuated finger mechanism for changing the envelope space by axially adjusting the swing fulcrum of claim 5, wherein: the size of the round hole is matched with that of the telescopic rod.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010029827.0A CN111002340B (en) | 2020-01-13 | 2020-01-13 | Under-actuated finger mechanism for changing envelope space by axially adjusting swing fulcrum |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010029827.0A CN111002340B (en) | 2020-01-13 | 2020-01-13 | Under-actuated finger mechanism for changing envelope space by axially adjusting swing fulcrum |
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| CN111002340A CN111002340A (en) | 2020-04-14 |
| CN111002340B true CN111002340B (en) | 2021-01-22 |
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| CN111483605B (en) * | 2020-04-26 | 2023-09-08 | 重庆大学 | Grabbing device suitable for flight is at and is attached robot |
| CN112643695B (en) * | 2020-12-09 | 2021-11-26 | 安徽机电职业技术学院 | Mechanical gripper capable of adjusting number of clamping jaws |
| CN113103278B (en) * | 2021-03-10 | 2022-10-21 | 深圳市优必选科技股份有限公司 | Connecting rod structure, robot finger and robot |
| CN113427501B (en) * | 2021-06-23 | 2022-08-09 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN113715053A (en) * | 2021-09-28 | 2021-11-30 | 哈尔滨工业大学（深圳） | Self-adaptive clamping structure and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6505870B1 (en) * | 2000-05-30 | 2003-01-14 | UNIVERSITé LAVAL | Actuation system for highly underactuated gripping mechanism |
| CN100526026C (en) * | 2007-09-18 | 2009-08-12 | 浙江理工大学 | Activation lacking mechanical finger device capable of preventing form and position degradation |
| CN104838809B (en) * | 2015-04-10 | 2016-12-07 | 江苏大学 | A kind of drive lacking three refers to hands formula fruit and vegerable flexibility picker |
| CN105835051B (en) * | 2016-04-26 | 2018-06-12 | 江南大学 | The underactuated manipulator of Dual-motors Driving Collaborative Control |
| CN206105884U (en) * | 2016-10-06 | 2017-04-19 | 泉州惠安泉创文化用品有限公司 | Automatic easy gripper of abbreviation |
| CN207616596U (en) * | 2017-11-24 | 2018-07-17 | 西安科技大学 | A kind of drive lacking three-jaw clamping device |
| CN109093610A (en) * | 2018-09-09 | 2018-12-28 | 肇庆高新区异星科技有限公司 | A kind of mechanical arm of educational robot |
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