CN114872076A - Self-adaptive gripping device - Google Patents
Self-adaptive gripping device Download PDFInfo
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- CN114872076A CN114872076A CN202210459021.4A CN202210459021A CN114872076A CN 114872076 A CN114872076 A CN 114872076A CN 202210459021 A CN202210459021 A CN 202210459021A CN 114872076 A CN114872076 A CN 114872076A
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- driving
- knuckle
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
Provided herein is an adaptive grasping apparatus including: a guide member; the claw mechanisms are sequentially arranged along the circumferential direction, each claw mechanism comprises an installation part and a grabbing part connected with the installation part, and the installation parts are arranged on the guide piece in a radially movable manner; the driving mechanism is arranged on the guide piece and is in transmission connection with the plurality of claw mechanisms; wherein: the driving mechanism is used for driving the mounting parts to move radially inwards and the grabbing parts to furl radially inwards; or the driving mechanism is used for driving the installation parts to move outwards in the radial direction and the grabbing parts to open outwards in the radial direction. The self-adaptive grabbing device can adapt to stable grabbing of objects of different sizes, and is good in practicability and low in production cost.
Description
Technical Field
The present disclosure relates to robotics, and more particularly, to an adaptive gripping device.
Background
Currently, various gripping claws have been widely used in various fields such as manufacturing industry, logistics industry, and construction. The gripper is carried at the tail end of the mechanical arm and used for realizing the grabbing and carrying of specific objects. Aiming at different objects, stable grabbing of the different objects is achieved by replacing different paws. The paw has poor practicability and high production cost.
Disclosure of Invention
The self-adaptive gripping device is good in practicability and low in production cost.
The self-adaptive grabbing device provided by the embodiment of the invention comprises: a guide member; the claw mechanisms are sequentially arranged along the circumferential direction, each claw mechanism comprises an installation part and a grabbing part connected with the installation part, and the installation parts are arranged on the guide piece in a radially movable manner; the driving mechanism is arranged on the guide piece and is in transmission connection with the plurality of claw mechanisms; wherein: the driving mechanism is used for driving the mounting parts to move inwards in the radial direction and the grabbing parts to furl inwards in the radial direction; or the driving mechanism is used for driving the installation parts to move outwards in the radial direction and the grabbing parts to open outwards in the radial direction.
In an exemplary embodiment, the adaptive grasping apparatus further includes: the resetting mechanism is arranged on the guide piece, is connected with the mounting parts and is used for driving the mounting parts to reset.
In an exemplary embodiment, the return mechanism includes a plurality of coil springs, one end of each of the plurality of coil springs is connected to the guide, and the other end of each of the plurality of coil springs is connected to the plurality of mounting portions in a one-to-one correspondence.
In an exemplary embodiment, the driving mechanism includes: a driving member axially located on one side of the guide member and provided on the guide member, the plurality of gripper mechanisms being axially located on the other side of the guide member; one end of the rope is connected with the driving piece, and the other end of the rope is in transmission connection with the installation parts and the grabbing parts; wherein: the driving piece tightens the rope to drive the installation parts to move radially inwards and the grabbing parts to furl radially inwards; or the driving piece tightens up the rope, and it is a plurality of to realize the drive the installation department all radially outwards removes, drives a plurality ofly the portion of snatching all radially outwards opens.
In an exemplary embodiment, the gripper mechanism includes: the mounting part is positioned on the mounting seat; and the tail end of the claw hand is hinged to the mounting seat, and the grabbing part is positioned on the claw hand.
In an exemplary embodiment, the claw comprises a plurality of knuckles which are sequentially and hingedly connected, the tail end of the knuckle located at the tail end is hingedly installed on the installation seat, and the other end of the rope is sequentially connected with the head end of the knuckle located at the head end after passing through the installation seat and the plurality of knuckles.
In an exemplary embodiment, the driving member includes a plurality of mount driving members and a plurality of claw driving members, the rope includes a plurality of mount driving ropes and a plurality of claw driving ropes, the mount driving members are connected to the mount in a one-to-one correspondence through the plurality of mount driving ropes, and the claw driving members are connected to the plurality of claws in a one-to-one correspondence through the plurality of claw driving ropes.
In an exemplary embodiment, the claw comprises a plurality of knuckles which are sequentially and hingedly connected, the tail end of the knuckle located at the tail end is hinged and installed on the installation seat, one end of the claw driving rope is correspondingly connected with the corresponding claw driving part, and the other end of the claw driving rope sequentially passes through a plurality of corresponding knuckles and is correspondingly connected with the head end of the knuckle located at the head end.
In an exemplary embodiment, the claw comprises a plurality of knuckles which are sequentially and hingedly connected, the tail end of the knuckle located at the tail end is hinged on the mounting seat, the claw driving piece comprises a plurality of knuckle driving pieces with the same number as the plurality of knuckles, the claw driving rope comprises a plurality of knuckle driving ropes with the same number as the plurality of knuckles, and the knuckle driving pieces are connected with the plurality of knuckles in a one-to-one correspondence mode through the plurality of knuckle driving ropes.
In an exemplary embodiment, one end of the knuckle driving rope is connected with the knuckle driving part in a one-to-one correspondence manner, and the other end of the knuckle driving rope passes through the corresponding knuckle and then is connected with the head end of the knuckle.
In an exemplary embodiment, the drive member is a telescopic cylinder or a motor provided with a reel.
The self-adaptive grabbing device provided by the embodiment of the invention can adapt to stable grabbing of objects with different sizes, and has the advantages of good practicability and low production cost.
In one example, the driving mechanism drives the installation parts to move radially inwards, the grabbing parts to furl radially inwards, the sizes of the grabbing parts are gradually reduced, and finally the object is tightly held on the outer peripheral surface.
In one example, the driving mechanism drives the installation parts to move outwards in the radial direction, the grabbing parts to expand outwards in the radial direction, the size between the grabbing parts is gradually increased, and the grabbing parts finally hug the inner circumferential surface of the object.
Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the present application. Other advantages of the present application may be realized and attained by the instrumentalities and combinations particularly pointed out in the specification and the drawings.
Drawings
The accompanying drawings are included to provide an understanding of the present disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the examples serve to explain the principles of the disclosure and not to limit the disclosure.
Fig. 1 to 4 are schematic structural diagrams of an adaptive capture device according to an embodiment of the present invention from different viewing angles;
fig. 5 is a schematic structural diagram of an adaptive grasping apparatus according to another embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 5 is:
100 guide, 200 gripper mechanism, 210 mount, 220 gripper, 221 knuckle, 300 drive mechanism, 310 drive, 320 rope, 400 reset mechanism, 500 mount, 600 roller, 700 pulley.
Detailed Description
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 all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; "connected" may be directly connected or indirectly connected through an intermediate member, and may be internal or external to the two elements or may be in an interaction relationship with the two elements, unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1 to 5, the adaptive grasping apparatus provided in the embodiment of the present invention includes: a guide member 100; a plurality of gripper mechanisms 200 arranged in this order in a circumferential direction (both axial and radial directions mentioned later are referred to in the circumferential direction), each gripper mechanism 200 including a mounting portion and a gripping portion connected to the mounting portion, the mounting portions being provided on the guide 100 so as to be radially movable; and a driving mechanism 300 provided on the guide 100 and drivingly connected to the plurality of gripper mechanisms 200.
The driving mechanism 300 may be configured to drive the installation portions to move radially inward, the grabbing portions to draw in radially inward, and the grabbing portions to gradually decrease in size and finally hug the outer peripheral surface of the object. Or the driving mechanism 300 may be configured to drive the plurality of mounting portions to move radially outward, the plurality of gripping portions to expand radially outward, and the plurality of gripping portions gradually increase in size to finally grip the inner circumferential surface of the object, which is capable of adapting to stable gripping of objects with different sizes.
The self-adaptive grabbing device can adapt to stable grabbing of objects of different sizes, and is good in practicability and low in production cost.
In an exemplary embodiment, as shown in fig. 1 to 4, the adaptive grasping apparatus further includes: the reset mechanism 400 is disposed on the guide 100, connected to the plurality of mounting portions, and configured to drive the mounting portions (i.e., the gripper mechanisms 200) to reset by itself after the plurality of gripper mechanisms 200 complete the gripping operation, so that an operator does not need to reset manually, which is more practical.
In an exemplary embodiment, as shown in fig. 1 to 4, the return mechanism 400 includes a plurality of coil springs, one end of each of which is connected to the guide 100 and the other end of each of which is connected to the plurality of mounting portions in a one-to-one correspondence. The coil spring may be used to reset the gripper mechanism 200 in a pulling manner, or the coil spring may be used to reset the gripper mechanism 200 in a pushing manner, and those skilled in the art may reasonably set the spring according to the needs to achieve the purpose of the present application.
As shown in fig. 1 to 5, the following is a detailed description of an embodiment in which the driving mechanism 300 drives the plurality of mounting portions to move radially inward and the plurality of gripping portions to close radially inward, and an embodiment in which the driving mechanism 300 drives the plurality of mounting portions to move radially outward and the plurality of gripping portions to open radially outward can be obtained by rotating the gripper mechanism 200 by 180 degrees and performing the repositioning installation on the plurality of gripper mechanisms 200 at the radial inner side and the radial outer side of the gripper mechanism 400, which is not described herein again, but falls within the scope of the present application.
In an exemplary embodiment, as shown in fig. 1 to 4, a plurality of coil springs are located radially outside the plurality of gripper mechanisms 200 in a one-to-one correspondence and are all in a stretched state, radially inner ends of the plurality of coil springs are connected to the plurality of mounting portions in a one-to-one correspondence, and radially outer ends of the plurality of coil springs are connected to the guide 100. When the plurality of coil springs drive the plurality of gripper mechanisms 200 to return, the plurality of gripper mechanisms 200 each move radially outward, and the size between the plurality of gripper mechanisms 200 increases.
In one example, as shown in fig. 1-4, the drive mechanism 300 includes: a driving member 310 provided on the guide 100 on one side of the guide 100 in the axial direction, the plurality of gripper mechanisms 200 being provided on the other side of the guide 100 in the axial direction; and a rope 320 having one end connected to the driving member 310 and the other end drivingly connected to the plurality of mounting portions and the plurality of grasping portions. The driving member 310 tightens the rope 320, and the rope 320 drives the plurality of mounting portions to move radially inward, the plurality of grabbing portions to furl radially inward, and the size between the plurality of grabbing portions is gradually reduced to finally hug the peripheral surface of the object, so that the rope can adapt to stable grabbing of objects with different sizes.
In one embodiment, as shown in fig. 1 to 4, the adaptive gripping device further includes a mounting bracket 500 and a roller 600, the guide 100 is fixed on the mounting bracket 500, the driving member 310 is fixed on the mounting bracket 500, the roller 600 is located between the driving member 310 and the gripper mechanism 200, the roller 600 is disposed on the mounting bracket 500 through a seat body, and the rope 320 is engaged with the roller 600.
In one example, as shown in fig. 1-4, the gripper mechanism 200 includes: the mounting seat 210, the mounting part is located on the mounting seat 210; and the claws 220, the tail ends of which are hinged on the mounting seats 210, the grabbing parts are positioned on the claws 220, the driving part 310 tightens the rope 320, the rope 320 drives the mounting seats 210 to drive the claws 220 to move radially inwards together, the claws 220 are folded radially inwards in the process of moving radially inwards, and the claws 220 finally clasp the peripheral surfaces of the objects and can be suitable for stably grabbing the objects with different sizes.
In one embodiment, as shown in fig. 1 to 4, the plurality of claws 220 incline from the end to the head end toward the radial inner side, and take a holding posture converging radially inward, so as to more easily and stably hold an object. Each claw 220 comprises a plurality of knuckles 221 which are sequentially hinged, the tail end of the knuckle 221 positioned at the tail end is hinged on the mounting seat 210, the other end of the rope 320 sequentially passes through the mounting seat 210 and the knuckles 221 and then is connected with the head end of the knuckle 221 positioned at the head end, and each claw mechanism 200 can complete the actions of driving the mounting seats 210 to move radially inwards and driving the claws 220 to furl radially inwards through the rope 320.
Of course, one knuckle may be provided, and the object of the present application may also be achieved, which does not depart from the design concept of the present invention and will not be described herein again, but should fall within the protection scope of the present application.
In another embodiment, the driving member includes a plurality of mounting seat driving members and a plurality of claw hand driving members, the rope includes a plurality of mounting seat driving ropes and a plurality of claw hand driving ropes, the plurality of mounting seat driving members are connected with the plurality of mounting seats in a one-to-one correspondence through the plurality of mounting seat driving ropes, the plurality of claw hand driving members are connected with the plurality of claw hands in a one-to-one correspondence through the plurality of claw hand driving ropes, namely, the mounting seats are driven through the mounting seat driving ropes, the claw hands are driven through the claw hand driving ropes, and the actions of the mounting seats and the claws are independent of each other and only performed simultaneously.
Wherein, the claw hand is including articulated a plurality of knuckles that connect in proper order, and the end hinge of the knuckle that is located the end is installed on the mount pad. Of course, one knuckle may be provided, and the object of the present application may also be achieved, which does not depart from the design concept of the present invention and will not be described herein again, but should fall within the protection scope of the present application.
One implementation scheme is as follows: one end of claw hand drive rope corresponds with corresponding claw hand driving piece and is connected, the other end of claw hand drive rope is in proper order behind corresponding a plurality of knuckles, correspond with the head end that is located the knuckle of head end and be connected, tighten up a plurality of claw hand drive rope, a plurality of claw hands of a plurality of claw hand drive rope drive all radially inwards draw in, the head end homogeneous phase of a plurality of knuckles is for terminal radial inward swing, a plurality of knuckles are finally all embraced on the outer peripheral face of object, therefore the object can be embraced stably.
The other implementation scheme is as follows: the plurality of claw hand driving pieces comprise a plurality of knuckle driving pieces with the same number as the plurality of knuckles, the plurality of claw hand driving ropes comprise a plurality of knuckle driving ropes with the same number as the plurality of knuckles, the plurality of knuckle driving pieces are in one-to-one correspondence with the plurality of knuckles through the plurality of knuckle driving ropes, each knuckle is driven independently through the knuckle driving rope, and actions of each knuckle on the same claw hand are independent of each other and only are carried out simultaneously. The finger joint driving rope is connected with the finger joint driving parts in a one-to-one correspondence mode, the other end of the finger joint driving rope passes through the corresponding finger joints from the tail ends of the finger joints and then is connected with the head ends of the finger joints, the finger joint driving ropes drive the finger joints to be folded inwards from the tail ends to the head ends in a radial mode, the head ends of the finger joints swing inwards in a radial mode relative to the tail ends, and the finger joints are finally embraced on the outer peripheral surface of an object, so that the object can be stably embraced.
In an exemplary embodiment, as shown in fig. 1 to 5, the driving member is a telescopic cylinder (not shown) or a motor provided with a reel, a pulley 700 is provided at a position where the adjacent knuckles 221 are hinged, and a pulley 700 is also provided at a position where the distal end of the distal knuckle 221 is hinged to the mounting seat 210. The telescopic cylinder can be a cylinder or an oil cylinder.
In an exemplary embodiment, as shown in fig. 1 to 5, the guide member 100 is plural, and the plurality of gripper mechanisms 200 are radially movably provided on the plurality of guide members 100 in a one-to-one correspondence. The guide 100 and the gripper mechanism 200 may each be two (as shown in fig. 1-5), three, five, six, or ten, etc.; alternatively, as shown in fig. 5, the mounting base 210 is provided with a guide rail, and the guide 100 is provided with a guide rail groove; alternatively, as shown in fig. 4, the mount 210 may be provided with a guide groove, the guide 100 may be provided with a guide rail, or the like; the above objectives can be achieved without departing from the design concept of the present invention, and therefore, the details are not repeated herein and all of the objectives should fall within the protection scope of the present application.
In one embodiment, the rope may be provided as a steel cord, which is strong and not easily broken.
When the self-adaptive gripping device is used, the gripping force of the self-adaptive gripping device for gripping an object can be controlled by arranging the tension sensor and the control device.
In summary, the adaptive gripping device provided by the embodiment of the invention can adapt to stable gripping of objects with different sizes, and has good practicability and low production cost.
In the description of the present invention, it should be noted that the terms "upper", "lower", "one side", "the other side", "one end", "the other end", "side", "opposite", "four corners", "periphery", "mouth" structure ", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the structures referred to have specific orientations, are configured and operated in specific orientations, and thus, are not to be construed as limiting the present invention.
In the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "connected," "directly connected," "indirectly connected," "fixedly connected," "mounted," and "assembled" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; the terms "mounted," "connected," and "fixedly connected" may refer to a direct connection, an indirect connection through intervening media, and a connection between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Although the embodiments of the present invention have been described above, the above description is only for the purpose of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An adaptive grasping apparatus, characterized by comprising:
a guide member;
the claw mechanisms are sequentially arranged along the circumferential direction, each claw mechanism comprises an installation part and a grabbing part connected with the installation part, and the installation parts are arranged on the guide piece in a radially movable manner; and
the driving mechanism is arranged on the guide piece and is in transmission connection with the plurality of claw mechanisms;
wherein: the driving mechanism is used for driving the mounting parts to move inwards in the radial direction and the grabbing parts to furl inwards in the radial direction; or the driving mechanism is used for driving the installation parts to move outwards in the radial direction and the grabbing parts to open outwards in the radial direction.
2. The adaptive grasping apparatus according to claim 1, further comprising:
the resetting mechanism is arranged on the guide piece, is connected with the mounting parts and is used for driving the mounting parts to reset.
3. The adaptive grasping apparatus according to claim 1 or 2, wherein the drive mechanism includes:
a driving member axially located on one side of the guide member and provided on the guide member, the plurality of gripper mechanisms being axially located on the other side of the guide member; and
one end of the rope is connected with the driving piece, and the other end of the rope is in transmission connection with the installation parts and the grabbing parts;
wherein: the driving piece tightens the rope to drive the installation parts to move radially inwards and the grabbing parts to furl radially inwards; or the driving piece tightens up the rope, and it is a plurality of to realize the drive the installation department all radially outwards removes, drives a plurality ofly the portion of snatching all radially outwards opens.
4. The adaptive grasping apparatus according to claim 3, wherein the gripper mechanism includes:
the mounting part is positioned on the mounting seat; and
the tail end of the claw is hinged to the mounting seat, and the grabbing part is located on the claw.
5. The adaptive gripping device of claim 4, wherein the gripper comprises a plurality of knuckles that are sequentially hingedly connected, a distal end of a knuckle at the distal end being hingedly mounted to the mounting base, and the other end of the cable being sequentially passed through the mounting base and the plurality of knuckles and then connected to a head end of a knuckle at the head end.
6. The adaptive grasping apparatus according to claim 4, wherein the drive member includes a plurality of mount drive members and a plurality of gripper drive members, the cable includes a plurality of mount drive cables and a plurality of gripper drive cables, the plurality of mount drive members are connected to the plurality of mounts in a one-to-one correspondence via the plurality of mount drive cables, and the plurality of gripper drive members are connected to the plurality of grippers in a one-to-one correspondence via the plurality of gripper drive cables.
7. The adaptive gripping device according to claim 6, wherein the gripper comprises a plurality of knuckles that are sequentially and hingedly connected, the end of the knuckle located at the end is hingedly mounted on the mounting base, one end of the gripper driving rope is correspondingly connected to the corresponding gripper driving member, and the other end of the gripper driving rope is correspondingly connected to the head end of the knuckle located at the head end after sequentially passing through the corresponding plurality of knuckles.
8. The adaptive gripping device of claim 6, wherein the gripper comprises a plurality of knuckles that are sequentially and hingedly connected, the distal ends of the knuckles at the distal ends are hingedly mounted on the mounting base, the plurality of gripper drivers comprises a plurality of knuckle drivers equal in number to the plurality of knuckles, the plurality of gripper drive cables comprises a plurality of knuckle drive cables equal in number to the plurality of knuckles, and the plurality of knuckle drivers are connected to the plurality of knuckles in a one-to-one correspondence via the plurality of knuckle drive cables.
9. The adaptive gripping device of claim 8, wherein one end of the knuckle drive cable is connected to the knuckle drivers in a one-to-one correspondence, and the other end of the knuckle drive cable is connected to the head end of the knuckle after passing through the corresponding knuckle.
10. The adaptive grasping device according to claim 3, wherein the drive member is a telescopic cylinder or a motor provided with a reel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210459021.4A CN114872076A (en) | 2022-04-27 | 2022-04-27 | Self-adaptive gripping device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210459021.4A CN114872076A (en) | 2022-04-27 | 2022-04-27 | Self-adaptive gripping device |
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| CN114872076A true CN114872076A (en) | 2022-08-09 |
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| CN202210459021.4A Pending CN114872076A (en) | 2022-04-27 | 2022-04-27 | Self-adaptive gripping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205521473U (en) * | 2016-01-18 | 2016-08-31 | 电子科技大学 | Three indicate mechanical gripper |
| WO2019144266A1 (en) * | 2018-01-23 | 2019-08-01 | 深圳蓝胖子机器人有限公司 | Mechanical finger and manipulator |
| CN111168698A (en) * | 2020-03-03 | 2020-05-19 | 山东大学 | Rope-driven bionic mechanical gripper and rehabilitation nursing device |
| CN113246161A (en) * | 2021-05-31 | 2021-08-13 | 吉林大学 | Multifunctional luggage grabbing and folding manipulator |
| US20210353437A1 (en) * | 2020-05-15 | 2021-11-18 | Huazhong University Of Science And Technology | Under-driven prosthetic hand with self-adaptive grasping function |
-
2022
- 2022-04-27 CN CN202210459021.4A patent/CN114872076A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205521473U (en) * | 2016-01-18 | 2016-08-31 | 电子科技大学 | Three indicate mechanical gripper |
| WO2019144266A1 (en) * | 2018-01-23 | 2019-08-01 | 深圳蓝胖子机器人有限公司 | Mechanical finger and manipulator |
| CN111168698A (en) * | 2020-03-03 | 2020-05-19 | 山东大学 | Rope-driven bionic mechanical gripper and rehabilitation nursing device |
| US20210353437A1 (en) * | 2020-05-15 | 2021-11-18 | Huazhong University Of Science And Technology | Under-driven prosthetic hand with self-adaptive grasping function |
| CN113246161A (en) * | 2021-05-31 | 2021-08-13 | 吉林大学 | Multifunctional luggage grabbing and folding manipulator |
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