CN111070231A - Variable-configuration base for multi-finger clamp holder - Google Patents
Variable-configuration base for multi-finger clamp holder Download PDFInfo
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- CN111070231A CN111070231A CN202010023554.9A CN202010023554A CN111070231A CN 111070231 A CN111070231 A CN 111070231A CN 202010023554 A CN202010023554 A CN 202010023554A CN 111070231 A CN111070231 A CN 111070231A
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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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
The invention belongs to the technical field of clamps, and particularly relates to a configuration-changing base capable of being used for a multi-finger clamp, which comprises a driving device, wherein the driving device comprises a first motor, a second motor, a first base, a second base, a first platform, a second platform, a first bearing and a second bearing, the first base and the second base are respectively matched with an inner ring and an outer ring of the first bearing, the first platform and the second platform are respectively matched with an inner ring and an outer ring of the second bearing, a stator of the first motor is fixedly connected to the first base, an output shaft of the first motor is fixedly connected to the second base, a stator of the second motor is fixedly connected to the second base, and an output shaft of the second motor is fixedly connected to the first platform. The invention ensures that the clamp holder can give consideration to both flexibility and miniaturization, improves the adaptability of the robot to different working contents, is compatible with various configuration changes, and ensures that the clamp holder can complete various flexible and changeable tasks.
Description
Technical Field
The invention belongs to the technical field of clamps, and particularly relates to a configuration-changing base for a multi-finger clamp.
Background
The robot generally takes the gripper as a terminal manipulator to contact with a target, the gripper is an important component in a robot system, the gripper in the traditional industrial robot can only complete some single tasks through a simple grabbing mechanism, the flexibility is low, and the robot needs to face complex and variable tasks in modern engineering, so that the simple grabbing mechanism is difficult to meet the requirements, and more joints and degrees of freedom are designed frequently, so that the adaptability of the gripper to the working environment is enhanced. However, such holders tend to be difficult to miniaturize due to the complex construction, and thus it tends to be difficult to efficiently accomplish the objective task for complex work tasks where space is limited.
The inventors have found that the following disadvantages exist with the known gripper: flexibility and miniaturization are difficult to be considered, and the robot is difficult to have good compatibility to more flexible working contents in different environments, particularly narrow and small environments, so that the adaptability of the robot to different working contents is greatly limited.
Disclosure of Invention
The invention aims to: aiming at the defects of the prior art, the variable-configuration base for the multi-finger clamp holder is provided, so that the clamp holder can give consideration to both flexibility and miniaturization, the adaptability of the robot to different working contents is improved, various configuration changes are compatible, and the clamp holder can finish various flexible and variable tasks.
In order to achieve the purpose, the invention adopts the following technical scheme:
a configuration-changing base capable of being used for a multi-finger holder comprises a driving device, wherein the driving device comprises a first motor, a second motor, a first base, a second base, a first platform capable of translating, a second platform, a first bearing and a second bearing, the first base and the second base are respectively matched with an inner ring and an outer ring of the first bearing, the first platform and the second platform are respectively matched with an inner ring and an outer ring of the second bearing, a stator of the first motor is fixedly connected onto the first base, an output shaft of the first motor is fixedly connected onto the second base, a stator of the second motor is fixedly connected onto the second base, and an output shaft of the second motor is fixedly connected onto the first platform.
As an improvement of the configuration-changing base for the multi-finger gripper, the configuration-changing base further comprises a configuration-changing auxiliary device, the configuration-changing auxiliary device comprises a plurality of corresponding guide rods, pressure springs and linear bearings, the guide rods are respectively and symmetrically and fixedly connected to the periphery of the first base and the periphery of the second base, the linear bearings are respectively installed on the guide rods, and the pressure springs are respectively installed between the linear bearings and the first base; or a plurality of pressure springs are respectively arranged between the linear bearing and the second base.
As an improvement of the variable configuration base for the multi-finger gripper, the variable configuration base further comprises a folding device, the folding device comprises a plurality of corresponding scissor mechanisms, sliding nodes and finger bearings, each scissor mechanism is respectively connected with the sliding node and the finger bearing, the scissor mechanisms are respectively symmetrically installed among the first platform, the second platform and the sliding nodes, and the sliding nodes are respectively and fixedly connected to the linear bearings.
As an improvement of the variable-configuration base for the multi-finger clamp holder, the lower end of the guide rod is provided with a thread for fixedly connecting with the first base.
As an improvement of the variable-configuration base for the multi-finger clamp holder, the number of the guide rods, the number of the pressure springs and the number of the linear bearings are all 3-6, and the number of the scissor fork mechanisms, the number of the sliding nodes and the number of the finger bearings are all 3-6.
As an improvement of the configuration-changing base for the multi-finger clamp, a space for accommodating the first motor is formed among the first base, the second base and the first bearing, and the first motor is fixed on a structure shaft end matched with the first base and the first bearing.
As an improvement of the base with a variable configuration for a multi-finger gripper according to the present invention, the second base and the second platform are respectively connected to the first base and the first platform in a rotation manner for rotating movement relative to the first base and the first platform.
As an improvement of the variable-configuration base for the multi-finger clamp holder, the first motor is an ultra-thin stepping motor, and the second motor is a linear motor.
As an improvement of the variable-configuration base for the multi-finger clamp, the first bearing and the second bearing are both conical roller bearings.
As an improvement of the base with a variable configuration for the multi-finger gripper according to the present invention, the first base, the second base, the first platform and the second platform are all circular.
The invention has the beneficial effects that the invention comprises a driving device, wherein the driving device comprises a first motor, a second motor, a first base, a second base, a first platform capable of translating, a second platform, a first bearing and a second bearing, the first base and the second base are respectively matched with an inner ring and an outer ring of the first bearing, the first platform and the second platform are respectively matched with an inner ring and an outer ring of the second bearing, a stator of the first motor is fixedly connected on the first base, an output shaft of the first motor is fixedly connected on the second base, a stator of the second motor is fixedly connected on the second base, and an output shaft of the second motor is fixedly connected on the first platform. Because the existing clamp holder is difficult to give consideration to flexibility and miniaturization, flexible working contents under different environments, particularly narrow and small environments, and is difficult to have good compatibility, and the adaptability of the robot to different working contents is greatly limited, a stator of a first motor is fixedly connected to a first base through bolt connection, an output shaft is a D-shaped shaft and is matched with a D-shaped hole of a second base, torque can be transmitted, and the driving function of the variable-configuration movement is completed, a stator of a second motor is fixedly connected to the second base through bolt connection, an output shaft flange is fixedly connected to a first platform capable of translating through bolts, so that the displacement drive of the second motor can be transmitted to the first platform and a second platform capable of rotating and translating, and the driving function of a driving device of the clamp holder base is realized. The invention ensures that the clamp holder can give consideration to both flexibility and miniaturization, improves the adaptability of the robot to different working contents, is compatible with various configuration changes, and ensures that the clamp holder can complete various flexible and changeable tasks.
Drawings
Fig. 1 is a schematic structural view of an adduction configuration of example 1 in the present invention.
Fig. 2 is a schematic structural view of an expanded configuration of example 1 of the present invention.
Fig. 3 is a schematic structural view of an adduction configuration of example 2 in the present invention.
Fig. 4 is a schematic structural view of the abducted configuration of example 2 of the present invention.
FIG. 5 is a schematic diagram of the angle change configuration of example 3 of the present invention.
Wherein: 11-a first electric machine; 12-a second electric machine; 13-a first base; 14-a second base; 15-a first platform; 16-a second platform; 17-a first bearing; 18-a second bearing; 21-a guide rod; 22-a pressure spring; 23-a linear bearing; 31-a scissor mechanism; 32-sliding node; 33-finger rest.
Detailed Description
As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", horizontal ", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The present invention will be described in further detail below with reference to the accompanying drawings, but the present invention is not limited thereto.
Example 1
As shown in fig. 1-2, a configuration-changing base for a multi-finger gripper includes a driving device, the driving device includes a first motor 11, a second motor 12, a first base 13, a second base 14, a first platform 15, a second platform 16, a first bearing 17 and a second bearing 18, the first base 13 and the second base 14 are respectively matched with an inner ring and an outer ring of the first bearing 17, the first platform 15 and the second platform 16 are respectively matched with an inner ring and an outer ring of the second bearing 18, a stator of the first motor 11 is fixedly connected to the first base 13, an output shaft of the first motor 11 is fixedly connected to the second base 14, a stator of the second motor 12 is fixedly connected to the second base 14, and an output shaft of the second motor 12 is fixedly connected to the first platform 15. Because the existing gripper is difficult to give consideration to flexibility and miniaturization, and is difficult to have good compatibility for more flexible working contents in different environments, particularly narrow and small environments, the adaptability of the robot to different working contents is greatly limited, therefore, a stator of the first motor 11 is fixedly connected to the first base 13 through bolt connection, an output shaft is a D-shaped shaft and is matched with a D-shaped hole of the second base 14, torque can be transmitted, and the driving function of the variable-configuration movement is completed, a stator of the second motor 12 is fixedly connected to the second base 14 through bolt connection, an output shaft flange is fixedly connected to the first platform 15 capable of translating through bolts, so that the displacement drive of the second motor 12 can be transmitted to the first platform 15 and the second platform 16 capable of rotating and translating, and the driving function of the driving device of the gripper base is realized.
Preferably, the configuration-changing base further comprises a configuration-changing auxiliary device, the configuration-changing auxiliary device comprises a plurality of corresponding guide rods 21, pressure springs 22 and linear bearings 23, the plurality of guide rods 21 are respectively and symmetrically and fixedly connected around the first base 13 and around the second base 14, the plurality of linear bearings 23 are respectively installed on the plurality of guide rods 21, and the plurality of pressure springs 22 are respectively installed between the linear bearings 23 and the first base 13; or a plurality of pressure springs 22 are respectively installed between the linear bearings 23 and the second base 14. The pressure spring 22 can enable the displacement provided by the second motor 12 to drive input, the output generated is converted between the opening and closing movement of the scissors mechanism 31 of the opening and closing device and the integral translation displacement of the single opening and closing device, that is, when the space is not limited, the sliding node 32 in the opening and closing device can be fixed along the axial direction of the linear bearing 23, so that the displacement generated by the second motor 12 in the driving device can generate the opening and closing movement of the scissors mechanism 31 corresponding to the opening and closing device, and when the space is limited, under the action of equivalent force generated by space restriction, the pressure spring 22 contracts, so that the sliding node 32 in the opening and closing device generates displacement compensation with the same direction distance as the second motor 12 along the axial direction of the linear bearing 23, the opening and closing device generates integral translation displacement along the axial direction of the linear bearing 23, the scissor mechanism 31 of the opening and closing device can not generate opening and closing movement, so that the asynchronous inward-closing and outward-expanding configuration change mode of the holder base is realized.
Preferably, the configuration-variable base further comprises an opening and closing device, the opening and closing device comprises a plurality of corresponding scissors mechanisms 31, sliding nodes 32 and finger bearings 33, each scissors mechanism 31 is connected with the sliding node 32 and the finger bearing 33, the scissors mechanisms 31 are symmetrically installed between the first platform 15, the second platform 16 and the sliding node 32, and the sliding nodes 32 are fixedly connected to the linear bearings 23. Each group of scissors mechanism 31 is respectively connected with a sliding node 32 and a finger support 33, rotating pairs among connecting rods of the scissors mechanisms 31 are connected through pins, four groups of opening and closing devices are divided into two groups which are respectively and symmetrically arranged among a first platform 15 capable of translating, a second platform 16 capable of rotating and translating and the sliding nodes 32, and the four groups of opening and closing devices are fixed through the pins, so that the displacement change among the first platform 15 capable of translating and the second platform 16 capable of rotating and translating and the sliding nodes 32 can be realized, the opening and closing movement of the scissors mechanisms 31 can be realized, the pose of the finger supports 33 is changed, and the change modes of synchronous adduction and abduction and asynchronous adduction and abduction configuration of the holder base are realized.
Preferably, the lower end of the guide rod 21 is provided with a thread for fixedly connecting with the first base 13.
Preferably, the number of the guide rod 21, the pressure spring 22 and the linear bearing 23 is 3 to 6, and the number of the scissor fork mechanism 31, the number of the sliding node 32 and the number of the finger support 33 are 3 to 6. The number of opening and closing devices can be increased by increasing the number of interfaces on the first base 13, the second base 14, the first platform 15 capable of translating and the second platform 16 capable of rotating and translating in groups, and the clamping devices with different numbers of fingers can be adapted.
The scissor mechanism 31 of the opening and closing device can move in an opening and closing way, so that the radial size of the end finger bearing 33 can be changed relative to the axis of the base of the holder.
Preferably, a space for accommodating the first motor 11 is formed between the first base 13, the second base 14 and the first bearing 17, and the first motor 11 is fixed on a shaft end of a structure where the first base 13 and the first bearing 17 are matched.
Preferably, the second base 14 and the second platform 16 are rotatably coupled to the first base 13 and the first platform 15, respectively, for rotational movement relative to the first base 13 and the first platform 15.
Preferably, the first motor 11 is an ultra-thin type stepping motor, and the second motor 12 is a linear motor. The step motor is an open-loop control motor which converts an electric pulse signal into angular displacement or linear displacement, is a main executive component in a modern digital program control system, is widely applied, and under the condition of non-overload, the rotating speed and the stopping position of the motor only depend on the frequency and the pulse number of the pulse signal and are not influenced by load change; meanwhile, the rotating speed and acceleration of the motor can be controlled by controlling the pulse frequency, so that the purpose of speed regulation is achieved, the linear motor is also called as a linear motor, a linear motor and a push rod motor, the most common types of the linear motor are a flat plate type, a U-shaped groove type and a tubular type, coils are typically composed of three phases, and brushless phase change is realized by Hall elements.
Preferably, the first bearing 17 and the second bearing 18 are both tapered roller bearings. The tapered roller bearing belongs to a separated bearing, and the inner ring and the outer ring of the bearing are both provided with tapered roller paths. The bearing is divided into single-row, double-row and four-row tapered roller bearings according to the number of rows of rollers. The single-row tapered roller bearing can bear radial load and single-direction axial load. When the bearing is subjected to a radial load, an axial component will be generated, so that another bearing capable of bearing an opposite axial force is required for balancing.
Preferably, the first base 13, the second base 14, the first platform 15 and the second platform 16 are all circular. The user can select the first base 13, the second base 14, the first platform 15 and the second platform 16 with circular or other shapes according to the cost and the production requirement.
The working principle of the invention is as follows:
because the existing gripper is difficult to give consideration to flexibility and miniaturization, and is difficult to have good compatibility for more flexible working contents in different environments, particularly narrow and small environments, the adaptability of the robot to different working contents is greatly limited, therefore, a stator of the first motor 11 is fixedly connected to the first base 13 through bolt connection, an output shaft is a D-shaped shaft and is matched with a D-shaped hole of the second base 14, torque can be transmitted, and the driving function of the variable-configuration movement is completed, a stator of the second motor 12 is fixedly connected to the second base 14 through bolt connection, an output shaft flange is fixedly connected to the first platform 15 capable of translating through bolts, so that the displacement drive of the second motor 12 can be transmitted to the first platform 15 and the second platform 16 capable of rotating and translating, and the driving function of the driving device of the gripper base is realized.
The pressure spring 22 provides an upward acting force for the node of the lower end of the scissors mechanism 31 during normal clamping operation to maintain the opening and closing movement of the scissors mechanism 31, and meanwhile, the inherent elasticity of the pressure spring 22 can provide a certain adaptability for the clamp.
When the holder base is limited by the radial dimension in the space environment and the equivalent force generated by the limitation is greater than the elastic deformation resistance of the pressure spring 22, the displacement generated by the second motor 12 in the driving device can cause the pressure spring 22 to generate displacement compensation under the action of the asynchronous configuration change auxiliary device, so that the opening and closing movement of the scissors mechanism 31 in the normal state is changed into integral translation displacement.
For a given working target, the holder base needs to be subjected to synchronous inward-contraction and outward-expansion configuration change, at this time, the second motor 12 works between the first base 13 (the second base 14) and the first platform 15 (the second platform 16) capable of translating in a translational manner to generate axial displacement, and the displacement enables the four groups of scissors mechanisms 31 to perform opening and closing movement, so that the corresponding finger supports 33 perform outward-expansion or inward-contraction movement, and the holder base is enabled to realize a synchronous inward-contraction and outward-expansion configuration change mode.
Example 2
As shown in fig. 3 to 4, the differences from embodiment 1 are: in this embodiment, for a given work target, the configuration change of the angle change needs to be performed on the gripper base, at this time, the output shaft of the first motor 11 of the driving device drives the second base 14 and the first base 13 to rotate relatively at a certain angle, and the circumferential rotation is transmitted through the asynchronous configuration change assisting device and the opening and closing device, so that equidistant circumferential rotation is generated between the first platform 15 capable of translating and the second platform 16 capable of rotating and translating, and in this process, the asynchronous configuration change assisting device and the opening and closing device between the second base 14 and the second platform 16 capable of rotating and translating also generate the same rotation, that is, at this time, the angle between the finger supports 33 has been changed, so that the gripper base realizes the configuration change mode of the angle change.
The other structures are the same as those of embodiment 1, and are not described again here.
Example 3
As shown in fig. 5, unlike embodiment 1: in this embodiment, for a given work target, asynchronous inward-closing and outward-expanding configuration change needs to be performed on the holder base, at this time, the holder base is wholly in an inward-closing configuration, the second motor 12 works between the first base 13 (the second base 14) and the first translational platform 15 (the second rotatable and translational platform 16) to generate axial displacement for reducing the distance, the displacement is input to all the opening devices without difference, and for an asynchronous configuration change auxiliary device with unlimited space in the corresponding direction, the input causes the scissors mechanism 31 to perform opening and closing movement, so that the corresponding finger bearing 33 performs outward-expanding movement relative to the holder base; for an asynchronous configuration change auxiliary device with limited space in the corresponding direction, the input enables the pressure spring 22 to contract, the opening and closing device integrally generates axial translation displacement, and the finger support 33 still keeps the posture in the adduction configuration, so that the holder base realizes an asynchronous adduction and abduction configuration change mode.
The other structures are the same as those of embodiment 1, and are not described again here.
Variations and modifications to the above-described embodiments may also occur to those skilled in the art, which fall within the scope of the invention as disclosed and taught herein. Therefore, the present invention is not limited to the above-mentioned embodiments, and any obvious improvement, replacement or modification made by those skilled in the art based on the present invention is within the protection scope of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. A modified base for a multi-finger holder, comprising: comprises a driving device, wherein the driving device comprises a first motor (11), a second motor (12), a first base (13), a second base (14), a first platform (15) capable of translating, a second platform (16), a first bearing (17) and a second bearing (18), the first base (13) and the second base (14) are respectively matched with an inner ring and an outer ring of the first bearing (17), the first platform (15) and the second platform (16) are respectively matched with the inner ring and the outer ring of the second bearing (18), the stator of the first motor (11) is fixedly connected to the first base (13), the output shaft of the first motor (11) is fixedly connected to the second base (14), the stator of the second motor (12) is fixedly connected with the second base (14), and the output shaft of the second motor (12) is fixedly connected with the first platform (15).
2. A modified base for a multi-fingered gripper according to claim 1, wherein: the configuration-changing base further comprises a configuration-changing auxiliary device, the configuration-changing auxiliary device comprises a plurality of corresponding guide rods (21), pressure springs (22) and linear bearings (23), the guide rods (21) are respectively and symmetrically and fixedly connected to the periphery of the first base (13) and the periphery of the second base (14), the linear bearings (23) are respectively installed on the guide rods (21), and the pressure springs (22) are respectively installed between the linear bearings (23) and the first base (13); or a plurality of pressure springs (22) are respectively arranged between the linear bearing (23) and the second base (14).
3. A modified base for a multi-fingered gripper according to claim 2, wherein: the variable-configuration base further comprises a folding device, the folding device comprises a plurality of corresponding scissors mechanisms (31), sliding nodes (32) and finger bearings (33), each scissors mechanism (31) is connected with the sliding node (32) and the finger bearing (33) respectively, the scissors mechanisms (31) are symmetrically installed between the first platform (15), the second platform (16) and the sliding nodes (32) respectively, and the sliding nodes (32) are fixedly connected to the linear bearings (23) respectively.
4. A modified base for a multi-fingered gripper according to claim 3, wherein: the lower end of the guide rod (21) is provided with a thread fixedly connected with the first base (13).
5. A modified base for a multi-fingered gripper according to claim 3, wherein: the number of the guide rods (21), the number of the pressure springs (22) and the number of the linear bearings (23) are 3-6, and the number of the scissor fork mechanisms (31), the number of the sliding nodes (32) and the number of the finger bearings (33) are 3-6.
6. A modified base for a multi-fingered gripper according to claim 1, wherein: a space for accommodating the first motor (11) is formed among the first base (13), the second base (14) and the first bearing (17), and the first motor (11) is fixed on a structural shaft end matched with the first base (13) and the first bearing (17).
7. A modified base for a multi-fingered gripper according to claim 1, wherein: the second base (14) and the second platform (16) are respectively connected with the first base (13) and the first platform (15) in a rotating manner and are used for rotating relative to the first base (13) and the first platform (15).
8. A modified base for a multi-fingered gripper according to claim 1, wherein: the first motor (11) is an ultra-thin stepping motor, and the second motor (12) is a linear motor.
9. A modified base for a multi-fingered gripper according to claim 1, wherein: the first bearing (17) and the second bearing (18) are both tapered roller bearings.
10. A modified base for a multi-fingered gripper according to claim 1, wherein: the first base (13), the second base (14), the first platform (15) and the second platform (16) are all circular.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010023554.9A CN111070231A (en) | 2020-01-09 | 2020-01-09 | Variable-configuration base for multi-finger clamp holder |
| PCT/CN2021/070330 WO2021139652A1 (en) | 2020-01-09 | 2021-01-05 | Variable-configuration base for multi-finger clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010023554.9A CN111070231A (en) | 2020-01-09 | 2020-01-09 | Variable-configuration base for multi-finger clamp holder |
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| CN111070231A true CN111070231A (en) | 2020-04-28 |
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| CN202010023554.9A Pending CN111070231A (en) | 2020-01-09 | 2020-01-09 | Variable-configuration base for multi-finger clamp holder |
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| CN (1) | CN111070231A (en) |
| WO (1) | WO2021139652A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021139652A1 (en) * | 2020-01-09 | 2021-07-15 | 天津大学 | Variable-configuration base for multi-finger clamping device |
| CN113715053A (en) * | 2021-09-28 | 2021-11-30 | 哈尔滨工业大学（深圳） | Self-adaptive clamping structure and robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023213564A1 (en) * | 2022-05-05 | 2023-11-09 | Bimba Llc | Robotic gripper |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3901547A (en) * | 1973-05-14 | 1975-08-26 | Ii Frank R Skinner | Multiple prehension mechanism |
| KR101674894B1 (en) * | 2009-12-21 | 2016-11-10 | 삼성전자 주식회사 | Industrial multi-freedom gripper |
| JP6680757B2 (en) * | 2017-12-28 | 2020-04-15 | ファナック株式会社 | Gripping hand |
| CN110014445B (en) * | 2019-05-08 | 2021-04-06 | 河北省科学院应用数学研究所 | Flexible bionic manipulator with adjustable initial grabbing angle |
| CN111070231A (en) * | 2020-01-09 | 2020-04-28 | 天津大学 | Variable-configuration base for multi-finger clamp holder |
| CN111483605B (en) * | 2020-04-26 | 2023-09-08 | 重庆大学 | Grabbing device suitable for flight is at and is attached robot |
| CN111645049B (en) * | 2020-05-22 | 2023-05-09 | 湖北工程学院 | Mechanical claw, mechanical arm, carrying robot and carrying system |
-
2020
- 2020-01-09 CN CN202010023554.9A patent/CN111070231A/en active Pending
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2021
- 2021-01-05 WO PCT/CN2021/070330 patent/WO2021139652A1/en active Application Filing
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021139652A1 (en) * | 2020-01-09 | 2021-07-15 | 天津大学 | Variable-configuration base for multi-finger clamping device |
| CN113715053A (en) * | 2021-09-28 | 2021-11-30 | 哈尔滨工业大学（深圳） | Self-adaptive clamping structure and robot |
| CN113715053B (en) * | 2021-09-28 | 2024-04-30 | 哈尔滨工业大学（深圳） | Self-adaptive clamping structure and robot |
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| WO2021139652A1 (en) | 2021-07-15 |
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