CN113752293A - Multi-mode mechanical gripper - Google Patents
Multi-mode mechanical gripper Download PDFInfo
- Publication number
- CN113752293A CN113752293A CN202111007812.5A CN202111007812A CN113752293A CN 113752293 A CN113752293 A CN 113752293A CN 202111007812 A CN202111007812 A CN 202111007812A CN 113752293 A CN113752293 A CN 113752293A
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- gear
- finger
- motor
- clutch
- driving
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-mode mechanical gripper, which belongs to the field of medical auxiliary instruments. Specifically, the lower steering gear is driven by a motor of the motor driving module, so that the angle of fingers can be changed, and the diversity of shapes of the grabbed objects is further improved; the motor of the motor driving module drives the rack and the driving gear, so that the change of the distance between fingers is realized, and the size range of the grabbed objects is enlarged; the motor of the motor driving module is adopted to drive the screw nut to realize the self-adaptive grabbing of the object by the fingers, and the stability of grabbing the object is ensured. The invention can adaptively grab articles with different complex shapes and has strong diversity of shapes of grabbed articles.
Description
Technical Field
The invention relates to the field of medical auxiliary instruments, in particular to a multi-mode mechanical gripper.
Background
In the daily clinical diagnosis and treatment and nursing process, medical personnel need to distribute other articles such as medicines, foods and the like to the infected person, higher time cost is paid, and the risk of cross infection is further improved by direct contact with the infected person. Although contactless dispensing devices are available in the market, which enable automatic dispensing of other items such as medicines and foods, the existing contactless dispensing devices are all complex in structure and have a limited finger stretch range.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a multi-mode mechanical gripper, which aims to solve the technical problems that in the prior art, the multi-mode switching of fingers cannot be realized in medical material distribution and the structure is complex.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
the invention provides a multi-mode mechanical gripper, which comprises a finger driving device and four symmetrically arranged fingers; the four fingers are all arranged on the finger driving device;
the finger driving device comprises a gear rotating module, a clutch driving module and a motor driving module, wherein the gear rotating module is located below the finger, the clutch driving module is fixed below the gear rotating module, the motor driving module is installed below the clutch driving module, and the motor driving module drives the clutch driving module and the gear rotating module to rotate so as to realize the grabbing of the object by the finger.
Preferably, the fingers comprise fingertips, finger middle, finger ends, a tension driven link and a torsion spring;
the finger tip, the middle finger, the end finger and the pulled driven connecting rod are connected in sequence through hinges, and torsion springs are installed at the hinges.
Preferably, the gear rotating module comprises an upper steering gear, symmetrically arranged upper finger fixedly connecting gears, symmetrically arranged lower finger fixedly connecting gears, a direction changing bevel gear set, a lower steering gear, a rack, four paw fixedly connecting pieces and four finger fixedly connecting gear shafts;
the paw rigid connection piece is positioned below the tensile driven rod and is connected with the tensile driven rod through a hinge, the upper finger rigid connection gear and the lower finger rigid connection gear are arranged below the paw rigid connection piece, the finger rigid connection gear shaft penetrates through the upper finger rigid connection gear and the lower finger rigid connection gear to be connected with the rack, and the finger rigid connection gear shaft is used for fixing the upper finger rigid connection gear and the lower finger rigid connection gear; the upper steering gear is meshed with the upper finger fixedly-connected gear which is symmetrically arranged, the lower steering gear is meshed with the lower finger fixedly-connected gear which is symmetrically arranged, the upper end of the turning bevel gear set is meshed with the upper steering gear, the lower end of the turning bevel gear set is meshed with the lower steering gear, and the turning bevel gear set is used for driving the finger fixedly-connected gear and the lower finger fixedly-connected gear to rotate.
Preferably, the paw fastening piece is connected with the upper finger fastening gear and the lower finger fastening gear through 4 screws.
Preferably, the gear rotating module further comprises a blocking cover, and the blocking cover is arranged above the direction-changing bevel gear set and used for blocking the direction-changing bevel gear set.
Preferably, the clutch driving module comprises a clutch, a clutch rotating shaft, a motor fixed connection gear, a driving gear, a motor guide rail and a linear motor;
the clutch rotating shaft is arranged below the rack, the driving gear is arranged on the clutch rotating shaft through a radial ball bearing, and the rack is meshed with the driving gear; the linear motor is positioned above the rack, and the motor guide rail is positioned above the linear motor; the clutch is installed on a clutch rotating shaft through shape locking, the clutch rotating shaft is used for driving the clutch to rotate, the motor fixed gear is arranged on one side of the clutch rotating shaft, the motor fixed gear is meshed with the gear on the clutch rotating shaft, and the motor fixed gear is used for driving the clutch rotating shaft to rotate.
Preferably, the motor driving module comprises a motor, and the motor is arranged below the motor fixed connection gear and used for driving the motor fixed connection gear to rotate.
Preferably, the clutch is clamped with the driving gear to realize rotation of the driving gear, and the rack is meshed with the driving gear to realize extension of finger space;
the clutch is engaged with the lower steering gear to realize the change of the finger angle.
Preferably, the motor driving module further comprises a motor fixedly connected with a lead screw and a lead screw nut; the motor is fixedly connected with a lead screw and is arranged in a central hole of the clutch rotating shaft, a lead screw nut is arranged on the motor and is fixedly connected with the lead screw, and a tension driven rod is connected with the lead screw nut through an iron wire and is used for realizing self-adaptive grabbing of fingers.
Preferably, the manipulator device further comprises a manipulator housing, and the manipulator housing is arranged on the outer wall of the finger driving device.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a multi-mode mechanical gripper, which realizes multi-mode gripping of an object by fingers by fixing a finger driving device below the fingers. Specifically, when an object is grabbed under the action of four fingers, the gear conversion module, the clutch driving module and the motor driving module are sequentially arranged below the fingers, the clutch driving module can be driven under the action of the motor driving module, so that the gear conversion module rotates, and the fingers are fixed on the gear conversion module, so that the object can be grabbed by the fingers. The multi-mode mechanical gripper provided by the invention has a simple structure and is convenient to operate, the fingers are controlled by combining the motor driving module, the clutch driving module and the gear conversion module when materials are carried, and the multi-mode mechanical gripper can reduce the probability of virus infection and has a better application prospect when being applied to the field of medical transportation.
Further, the linear motor is arranged above the rack, and when the clutch is clamped by the linear motor along the linear motor guide rail, the linear motor can slide up and down along the rotating shaft of the driving clutch.
Furthermore, the linear motor with the clamping piece clamps the clutch along the linear motor guide rail and slides downwards along the rotating shaft of the driving clutch, so that the clutch is clamped with the rack driving gear, and the rack driving gear is driven to rotate. The rack driving gear drives the two racks to move towards opposite directions through meshing. And four fingers are arranged on the rack, so that the distance between the fingers can be expanded and reduced.
Furthermore, the linear motor with the clamping piece clamps the clutch along the linear motor guide rail and slides upwards along the rotating shaft of the driving clutch, so that the clutch is clamped with the lower steering gear, and the lower steering gear is driven to rotate. The lower steering gear drives the two lower finger fixed connection gears to rotate through meshing, the lower steering gear reversely transmits power to the upper steering gear through the bevel gear set, and the two upper finger fixed connection gears are driven to rotate in the direction opposite to the direction of the lower finger fixed connection gear through meshing. Fingers are arranged on the upper finger fixed connection gear and the lower finger fixed connection gear, and the angle between the fingers can be changed through rotation.
Further, when the lead screw nut moves downwards, the steel wire pulls the pulled driven connecting rod to rotate downwards around the hinge of the paw fixed connection piece, so that when the finger tips, the middle fingers or the tail fingers touch objects respectively, the resistance of the objects is received, the resistance of the torsion spring at the hinge is overcome, and the self-adaptive enveloping of the objects with complex shapes is realized.
Further, when the lead screw nut moves upwards, the pulled driven connecting rod rotates upwards around a hinge of the claw fixedly-connected part, so that when the finger tips, the middle fingers or the tail fingers leave the articles respectively, the resistance of the articles disappears, and the finger joints recover to the initial positions respectively under the action of the rebounding torque of the torsion spring, so that the self-adaptive grabbing of the complicated-shaped articles by the fingers is realized.
Furthermore, the outer wall of the finger driving device is provided with the manipulator shell, so that the appearance is attractive, and the effect of preventing the electric leakage of the device is achieved.
Drawings
FIG. 1 is a block diagram of a gripper according to the present invention;
FIG. 2 is a diagram of a finger structure of the present invention;
FIG. 3 is a front view of the finger actuation device of the present invention;
FIG. 4 is a top view of the finger actuation device of the present invention;
FIG. 5 is a front view of the clutch drive of the present invention;
FIG. 6 is a front view of the gear shifting apparatus of the present invention;
fig. 7 is a front view of the motor fixedly connected with the lead screw.
Wherein: 1-finger tip; 2-means middle; 3-finger powder; 4-a tension driven link; 5-a torsion spring; 6-upper steering gear; 7-the upper finger is fixedly connected with a gear; 8-the lower finger is fixedly connected with a gear; 9-a direction-changing bevel gear set; 10-a lower steering gear; 11-a clutch; 12-a clutch shaft; 13-the motor is fixedly connected with a gear; 14-a rack; 15-a drive gear; 16-the motor is fixedly connected with a screw rod; 17-a lead screw nut; 20-a blocking cover; 21-four paw fastening components; 22-motor guide rail; 23-a linear motor; 24-four fingers are fixedly connected with a gear shaft; 25-finger; 26-a robot housing; 27-a finger actuation device; 28-motor.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
the invention provides a multi-mode mechanical gripper, which comprises a finger driving device 27 and four symmetrically arranged fingers 25, wherein the finger driving device 27 comprises a gear rotating module, a clutch driving module and a motor driving module, the gear rotating module is positioned below the fingers 25, the clutch driving module is fixed below the gear rotating module, the motor driving module is arranged below the clutch driving module, and the motor driving module drives the clutch driving module and the gear rotating module to rotate so as to realize the grabbing of an object by the fingers 25.
The gear rotating module comprises an upper steering gear 6, symmetrically arranged upper finger fixedly connecting gears 7, symmetrically arranged lower finger fixedly connecting gears 8, a direction changing bevel gear set 9, a lower steering gear 10, a rack 14, four paw fixedly connecting pieces 21, a baffle cover 20 and four finger fixedly connecting gear shafts 24; the clutch driving module comprises a clutch 11, a clutch rotating shaft 12, a motor fixed connection gear 13, a driving gear 15, a motor guide rail 22 and a linear motor 23; the motor driving module comprises a motor 28, and a motor fixedly connected with a lead screw 16 and a lead screw nut 17.
As shown in fig. 1, the multi-mode gripper of the present invention includes a finger 25, a manipulator housing 26, and a finger drive 27. The finger 25 is mounted on a finger drive 27 and the finger drive 27 is mounted within the robot housing 26.
As shown in fig. 2, the four fingers 25 are composed of a fingertip 1, a middle finger 2, a tail finger 3, a tension driven link 4 and a torsion spring 5. The finger tip 1, the finger middle 2, the finger end 3 and the tension driven connecting rod 4 are connected in sequence through hinges, and torsion springs 5 are installed at the hinges. The hole below the tension driven link 4 passes through the steel wire and is connected with the hole on the lead screw nut 17. Meanwhile, the paw fixing component 21 is arranged below the tension driven rod 4, and the tension driven connecting rod 4 is connected with the paw fixing component 21 through a hinge.
As shown in fig. 3 and 4, the four gripper fixing members 21 are respectively connected to the two upper finger fixing gears 7 and the two lower finger fixing gears 8 by four bolts. The two upper finger fixed gears 7 and the two lower finger fixed gears 8 are connected to the four finger fixed gear shafts 24 through flat keys. The finger fixing gear shaft 24 is installed on the rack 14, the clutch rotating shaft 12 is located below the rack 14, the linear motor 23 with clamping piece clamps the clutch 11 along the linear motor guide rail 22, and can slide up and down along the driving clutch rotating shaft 12.
As shown in fig. 5, the rack gear 14 is engaged with a rack drive gear 15. The drive gear 15 is mounted on the drive clutch shaft 12 by means of a radial ball bearing. The clutch 11 is mounted on the drive clutch shaft 12 by means of a form-fit. The driving clutch rotating shaft 12 is fixedly connected with a motor fixed gear 13, and the gear on the clutch rotating shaft 12 is meshed with the motor fixed gear 13. The motor 28 is arranged below the motor fixed gear 13, when the motor 28 drives the motor fixed gear 13 to rotate, the motor fixed gear 13 drives the clutch rotating shaft 12 to rotate by meshing with the gear on the clutch rotating shaft 12, and drives the clutch 11 to rotate by positive locking. The linear motor with a holding plate 23 slides downward along the linear motor guide 22 while holding the clutch 11 and driving the clutch shaft 12, so that the clutch 11 is engaged with the rack drive gear 15, thereby driving the rack drive gear 15 to rotate. The rack drive gear 15 moves the two racks 14 in opposite directions by meshing. Four fingers 25 are mounted on the rack 14 so that the distance between the fingers 25 can be enlarged or reduced.
As shown in fig. 6, the two upper finger engagement gears 7 are engaged with the upper steering gear 6, and the two lower finger engagement gears 8 are engaged with the lower steering gear 10. The middle parts of the upper steering gear 6 and the lower steering gear 10 are meshed and connected through a direction-changing bevel gear set 9, and the blocking cover 20 is arranged above the direction-changing bevel gear set 9. The upper steering gear 6 and the lower steering gear 10 are mounted on a driving clutch rotating shaft 12 through a radial ball bearing and a mortise and tenon joint structure. When the motor 28 drives the motor fixing gear 13 to rotate, the motor fixing gear 13 drives the clutch rotating shaft 12 to rotate by meshing with the gear on the clutch rotating shaft 12, and drives the clutch 11 to rotate by positive locking. The linear motor with a holding plate 23 slides upward along the linear motor guide 22, holding the clutch 11, along the driving clutch shaft 12, so that the clutch 11 is engaged with the lower steering gear 10, thereby driving the lower steering gear 10 to rotate. The lower steering gear 10 drives the two lower finger fixing gears 8 to rotate through meshing. The lower steering gear 10 transmits power reversely to the upper steering gear 6 through the bevel gear set 9. The upper steering gear 6 drives the two upper finger fixing gears 7 to rotate in the opposite direction to the lower finger fixing gear 8 through meshing. Fingers 25 are arranged on the upper finger fixed gear 7 and the lower finger fixed gear 8, and the change of the angles between the fingers 25 can be realized through rotation.
As shown in fig. 7, the lead screw nut 17 is mounted on the motor fixing lead screw 16. The motor is fixedly connected with a lead screw 16 which is arranged in a central hole of the rotating shaft 12 of the driving clutch. When the motor 28 drives the motor fixing lead screw 16 to rotate, the lead screw nut 17 can move up and down. As shown in FIG. 2, when the lead screw nut 17 moves downwards, the steel wire pulls the tension driven link 4 to rotate downwards around the hinge of the paw rigid connection piece 21, so that when the finger tip 1, the middle finger 2 or the finger tip 3 respectively touch an object, the resistance of the object is respectively applied, the resistance of the torsion spring 5 at the hinge is overcome, and the self-adaptive enveloping of the object with the complex shape is realized. When the lead screw nut 17 moves upwards, the tension driven link 4 rotates upwards around the hinge of the paw fastening piece 21, so that when the finger tips 1, the middle fingers 2 or the finger tips 3 leave the article respectively, the resistance of the article disappears, and the finger joints return to the original positions respectively under the action of the rebounding torque of the torsion spring 5. Therefore, the self-adaptive grabbing of the complex-shaped articles by the fingers 25 can be realized, and the grabbing capacity of the paw to articles with different shapes is improved.
When the AGV trolley is used, the AGV trolley can be carried on the AGV trolley and the mechanical arm which are common in the market. The AGV has the advantages that epidemic-resistant materials such as medicines, reagent bottles, food, articles for daily use and the like are uniformly placed near the AGV carrying the AGV. The invention can automatically convey articles to the AGV. After the AGV trolley moves to the target place, the system automatically carries the articles to the patient. The aseptic handling of whole journey zero contact can be realized, direct contact between the personnel has been avoided, cross infection's risk has been reduced. The invention can adaptively grab articles with different complex shapes, and has strong diversity of shapes of the grabbed articles; the angle of the fingers 25 can be changed through the direction-changing bevel gear set 9, so that the diversity of shapes of the grabbed objects is further improved; the product can change the distance between the fingers 25 through the driving gear 15 and the rack 14, thereby improving the range of the size of the grabbed objects; this product adopts screw nut 17 to drive, has the characteristics from the locking, can guarantee to snatch the stability of article.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (10)
1. A multi-mode gripper, comprising a finger actuation device (27) and four symmetrically arranged fingers (25); the four fingers (25) are all arranged on a finger driving device (27);
the finger driving device (27) comprises a gear rotating module, a clutch driving module and a motor driving module, the gear rotating module is located below the finger (25), the clutch driving module is fixed below the gear rotating module, the motor driving module is installed below the clutch driving module, and the motor driving module drives the clutch driving module and the gear rotating module to rotate so as to realize the grabbing of the finger (25) to an object.
2. The multi-mode gripper according to claim 1, characterized in that the fingers (25) comprise fingertips (1), fingertips (2), fingertips (3), tension follower links (4) and torsion springs (5);
the finger tip (1), the finger middle (2), the finger end (3) and the pulled driven connecting rod (4) are sequentially connected through hinges, and torsion springs (5) are installed at the hinges.
3. The multi-mode mechanical gripper of claim 2, wherein the gear rotation module comprises an upper steering gear (6), symmetrically arranged upper finger securing gears (7), symmetrically arranged lower finger securing gears (8), a direction-changing bevel gear set (9), a lower steering gear (10), a rack (14), four gripper securing members (21), and four finger securing gear shafts (24);
the gripper fixed connection piece (21) is positioned below the tensile driven rod (4), the gripper fixed connection piece (21) is connected with the tensile driven rod (4) through a hinge, an upper finger fixed connection gear (7) and a lower finger fixed connection gear (8) are arranged below the gripper fixed connection piece (21), a finger fixed connection gear shaft (24) penetrates through the upper finger fixed connection gear (7) and the lower finger fixed connection gear (8) to be connected with the rack (14), and the finger fixed connection gear shaft (24) is used for fixing the upper finger fixed connection gear (7) and the lower finger fixed connection gear (8); the upper steering gear (6) is meshed with an upper finger fixedly connecting gear (7) which is symmetrically arranged, the lower steering gear (10) is meshed with a lower finger fixedly connecting gear (8) which is symmetrically arranged, the upper end of a turning bevel gear set (9) is meshed with the upper steering gear (6), the lower end of the turning bevel gear set (9) is meshed with the lower steering gear (10), and the turning bevel gear set (9) is used for driving the finger fixedly connecting gear (7) and the lower finger fixedly connecting gear (8) to rotate.
4. The multi-mode gripper according to claim 3, wherein the gripper fixation (21) is connected to the upper finger fixation gear (7) and the lower finger fixation gear (8) by 4 screws.
5. The multi-mode gripper according to claim 3, wherein the gear rotating module further comprises a blocking cover (20), and the blocking cover (20) is disposed above the direction-changing bevel gear set (9) and used for blocking the direction-changing bevel gear set (9).
6. The multi-mode gripper according to claim 3, wherein the clutch driving module comprises a clutch (11), a clutch rotating shaft (12), a motor fixing gear (13), a driving gear (15), a motor guide rail (22) and a linear motor (23);
the clutch rotating shaft (12) is arranged below the rack (14), the driving gear (15) is arranged on the clutch rotating shaft (12) through a radial ball bearing, and the rack (14) is meshed with the driving gear (15); the linear motor (23) is positioned above the rack (14), and the motor guide rail (22) is positioned above the linear motor (23); the clutch (11) is installed on the clutch rotating shaft (12) through shape locking, the clutch rotating shaft (12) is used for driving the clutch (11) to rotate, the motor fixed gear (13) is arranged on one side of the clutch rotating shaft (12), the motor fixed gear (13) is meshed with a gear on the clutch rotating shaft (12), and the motor fixed gear (13) is used for driving the clutch rotating shaft (12) to rotate.
7. The multi-mode gripper according to claim 6, wherein the motor driving module comprises a motor (28), and the motor (28) is disposed below the motor fixed gear (13) for driving the motor fixed gear (13) to rotate.
8. The multi-mode gripper according to claim 7, wherein the clutch (11) is engaged with the driving gear (15) for rotating the driving gear (15), and the rack (14) is engaged with the driving gear (15) for extending and retracting the distance between the fingers (25);
the clutch (11) is engaged with the lower steering gear (10) to change the angle of the finger (25).
9. The multi-mode gripper of claim 7, wherein the motor drive module further comprises a motor fixedly attached to the lead screw (16) and to the lead screw nut (17); the motor is fixedly connected with a lead screw (16) and is arranged in a central hole of a clutch rotating shaft (12), a lead screw nut (17) is arranged on the motor and is fixedly connected with the lead screw (16), and a tension driven rod (4) is connected with the lead screw nut (17) through an iron wire and is used for realizing self-adaptive grabbing of fingers (26).
10. The multi-mode gripper of claim 1, further comprising a manipulator housing (26), wherein the manipulator housing (26) is disposed on an exterior wall of the finger drive (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111007812.5A CN113752293B (en) | 2021-08-30 | 2021-08-30 | Multi-mode mechanical gripper |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111007812.5A CN113752293B (en) | 2021-08-30 | 2021-08-30 | Multi-mode mechanical gripper |
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| CN113752293A true CN113752293A (en) | 2021-12-07 |
| CN113752293B CN113752293B (en) | 2023-09-22 |
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| CN202111007812.5A Active CN113752293B (en) | 2021-08-30 | 2021-08-30 | Multi-mode mechanical gripper |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115837665A (en) * | 2023-01-14 | 2023-03-24 | 菏泽牡丹区姚伟网络科技有限责任公司 | Robot connector pivot |
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| CN107309887A (en) * | 2017-06-29 | 2017-11-03 | 北京理工大学 | It is a kind of to couple and adaptive under-actuated bionic skillful finger |
| CN107932549A (en) * | 2018-01-16 | 2018-04-20 | 深圳市大寰机器人科技有限公司 | Adaptive drive lacking turns to three and refers to robot clamping jaw |
| CN108247627A (en) * | 2018-03-06 | 2018-07-06 | 苏州钧舵机器人有限公司 | A kind of miniature clutch structure and the manipulator with the clutch structure |
| CN110842956A (en) * | 2019-11-07 | 2020-02-28 | 江苏科技大学 | Electromagnetic clutch type folding controllable multi-knuckle mechanical paw and working method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115837665A (en) * | 2023-01-14 | 2023-03-24 | 菏泽牡丹区姚伟网络科技有限责任公司 | Robot connector pivot |
| CN115837665B (en) * | 2023-01-14 | 2023-11-28 | 深圳辉业科技有限公司 | Robot connector rotating shaft |
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