CN116652992A - Mechanical thumb metacarpophalangeal joint, mechanical thumb and mechanical arm - Google Patents
Mechanical thumb metacarpophalangeal joint, mechanical thumb and mechanical arm Download PDFInfo
- Publication number
- CN116652992A CN116652992A CN202310939802.8A CN202310939802A CN116652992A CN 116652992 A CN116652992 A CN 116652992A CN 202310939802 A CN202310939802 A CN 202310939802A CN 116652992 A CN116652992 A CN 116652992A
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- Prior art keywords
- mechanical
- worm
- base
- thumb
- mechanical thumb
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- 210000003813 thumb Anatomy 0.000 title claims abstract description 74
- 210000000811 metacarpophalangeal joint Anatomy 0.000 title claims abstract description 10
- 238000006880 cross-coupling reaction Methods 0.000 claims abstract description 9
- 238000010168 coupling process Methods 0.000 claims description 64
- 238000005859 coupling reaction Methods 0.000 claims description 64
- 230000008878 coupling Effects 0.000 claims description 62
- 230000005540 biological transmission Effects 0.000 claims description 27
- 238000005452 bending Methods 0.000 claims description 13
- 230000010354 integration Effects 0.000 abstract description 2
- 238000010521 absorption reaction Methods 0.000 abstract 1
- 238000010276 construction Methods 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 210000003811 finger Anatomy 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a mechanical thumb metacarpophalangeal joint, a mechanical thumb and a mechanical hand, and relates to the technical field of robots. This mechanical thumb metacarpal joint sets up the base as frame construction, with cross connecting axle, drive assembly, motor and drive shaft integration on the base, can effectively promote mechanical thumb metacarpal joint's integrated level, can satisfy the needs of mechanical arm miniaturized design to a certain extent, simultaneously, can transmit the rotation power of motor output to the drive shaft through cross coupling and drive assembly, thereby realize the rotary drive to the drive shaft, and the drive shaft then is connected with mechanical thumb's nearly knuckle base, thereby realize mechanical thumb's rotation through the rotation of drive shaft, in addition, can utilize the performance of cross coupling absorption vibration, reduce the noise of whole mechanical arm during operation, the structure of cross coupling is comparatively compact, can further promote mechanical metacarpal joint's integrated setting, further satisfy the needs of mechanical arm miniaturized design.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a mechanical thumb metacarpophalangeal joint, a mechanical thumb and a mechanical hand.
Background
As the application of the manipulator in the automation operation is more and more widespread, higher requirements are also put on the manipulator itself, for example, there is a limited automation operation requirement for some working spaces, and higher requirements are put on the miniaturization design of the manipulator. However, the transmission structure of the existing manipulator is complex, the whole manipulator is relatively bulky, and difficulties exist in entering some working spaces, so that the application of the manipulator in automatic operation is severely limited.
Disclosure of Invention
The invention solves the problem of how to meet the requirement of miniaturized design of the manipulator.
In order to solve the above problems, in one aspect, the present invention provides a mechanical thumb metacarpal joint, including:
the base is provided with an Oldham coupling and a transmission assembly;
the motor is connected with the base, and the output end of the motor is in driving connection with the transmission assembly through the cross coupling;
the driving shaft is rotatably arranged on the base and is in driving connection with the transmission assembly, and the driving shaft is used for being connected with a near knuckle base of the mechanical thumb;
the transmission assembly comprises a first worm wheel and a first worm, the first worm wheel and the first worm are rotatably installed on the base, the first worm is in driving connection with the Oldham coupling, the first worm wheel is in coaxial connection with the driving shaft, and the first worm wheel is meshed with the first worm.
Compared with the prior art, the mechanical thumb metacarpal joint has the beneficial effects that: the mechanical thumb palm joint comprises a base, a mechanical thumb palm joint body, a mechanical thumb, a transmission assembly, a cross coupling, a transmission assembly, a mechanical thumb palm joint base, a mechanical thumb, a transmission assembly and a mechanical thumb joint body.
Optionally, a placement hole is coaxially arranged on the first worm, and the oldham coupling is arranged in the placement hole in a penetrating manner and is connected with the side wall of the placement hole.
Optionally, the placing hole is a blind hole, a placing groove is formed in the bottom wall of the placing hole, one end of the Oldham coupling is in driving connection with the output end of the motor, and the other end of the Oldham coupling is fixed in the placing groove.
On the other hand, the invention also provides a mechanical thumb, which comprises a proximal knuckle base and the mechanical thumb metacarpal joint.
Compared with the prior art, the beneficial effects of the mechanical thumb are the same as those of the mechanical thumb metacarpal joint, and are not repeated here.
Optionally, the mechanical thumb still includes bending drive subassembly and near knuckle, near knuckle with near knuckle base passes through the joint axle and rotates to be connected, bending drive subassembly includes rotary drive spare, second worm and second worm wheel, rotary drive spare with the second worm drive is connected, and all installs near knuckle is last, the second worm wheel is installed near knuckle base, and with the coaxial setting of joint axle, the second worm wheel with the second worm meshes.
Optionally, the mechanical thumb further comprises a distal knuckle, the distal knuckle is rotatably connected with the proximal knuckle, a coupling shaft and a coupling connecting rod are arranged on the distal knuckle, the distal knuckle is connected with one end of the coupling connecting rod through the coupling shaft, and the other end of the coupling connecting rod is connected with the proximal knuckle base.
In yet another aspect, the present invention also provides a manipulator comprising a mechanical thumb as described above.
Compared with the prior art, the mechanical arm has the same beneficial effects as the mechanical thumb, and the beneficial effects are not repeated here.
Drawings
FIG. 1 is a schematic view of a mechanical thumb metacarpophalangeal joint according to an embodiment of the present invention;
FIG. 2 is a schematic view of another view of a metacarpophalangeal joint according to an embodiment of the present invention;
FIG. 3 is a schematic view of a mechanical thumb from a view angle in accordance with an embodiment of the present invention;
fig. 4 is a schematic view of a mechanical thumb from another perspective in accordance with an embodiment of the present invention.
Reference numerals illustrate:
1-a base; 2-cross coupling; 3-a transmission assembly; 31-a first worm gear; 32-a first worm; 321-placing grooves; 322-placing holes; 4-an electric motor; 5-driving shaft; 6-proximal knuckle base; 61-joint axis; 7-a bending drive assembly; 71-a rotary drive; 72-a second worm; 73-a second worm gear; 8-proximal knuckle; 9-distal knuckle; 91-coupling shaft; 92-coupling links.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the coordinate system XYZ provided herein, the forward direction of the X axis represents the right direction, the reverse direction of the X axis represents the left direction, the forward direction of the Y axis represents the rear direction, the reverse direction of the Y axis represents the front direction, the forward direction of the Z axis represents the upper direction, and the reverse direction of the Z axis represents the lower direction. Also, it is noted that the terms "first," "second," and the like in the description and claims of the present invention and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.
In one aspect, an embodiment of the present invention provides a mechanical thumb metacarpal joint, including: the base 1, the base 1 is provided with an Oldham coupling 2 and a transmission component 3; the motor 4 is connected with the base 1, and the output end of the motor 4 is in driving connection with the transmission assembly 3 through the Oldham coupling 2; the driving shaft 5 is rotatably arranged on the base 1 and is in driving connection with the transmission assembly 3, and the driving shaft 5 is used for being connected with the near knuckle base 6 of the mechanical thumb; the transmission assembly 3 comprises a first worm wheel 31 and a first worm 32, the first worm wheel 31 and the first worm 32 are rotatably arranged on the base 1, the first worm 32 is in driving connection with the Oldham coupling 2, the first worm wheel 31 is in coaxial connection with the driving shaft 5, and the first worm wheel 31 is meshed with the first worm 32.
It should be noted that the metacarpal joint of the mechanical thumb can be assembled and connected with the palm of the manipulator to form a complete manipulator.
As shown in fig. 1, in this embodiment, the base 1 is set as a frame structure of a mechanical thumb metajoint, the oldham coupling 2 and the transmission component 3 are set on the base 1, wherein, the oldham coupling 2 and the transmission component 3 are in driving connection, meanwhile, the output mechanism of the mechanical thumb metajoint is further set, the motor 4 is connected with the base 1, the installation stability of the motor 4 is ensured, the output end of the motor 4 is in driving connection with the transmission component 3 through the oldham coupling 2, the transmission component 3 is in driving connection with the driving shaft 5 rotatably installed on the base 1, in this way, the rotation power output by the motor 4 can be transmitted to the driving shaft 5 through the oldham coupling 2 and the transmission component 3, thereby realizing the rotation driving of the driving shaft 5, the oldham coupling 2, the transmission component 3, the motor 4 and the driving shaft 5 are integrated on the base 1, the integration level of the mechanical thumb metajoint can be effectively improved, the requirement of the mechanical hand miniaturized design can be met to a certain extent, meanwhile, as shown in fig. 2, the driving shaft 5 is connected with the proximal finger base 6 of the mechanical thumb, thereby realizing the rotation of the driving shaft 5, the mechanical thumb, the mechanical hand can be realized through the rotation of the driving shaft 5, the oldham coupling 2, the mechanical thumb joint can be further realized, the requirement of the mechanical hand can be reduced, the vibration can be further, the mechanical hand can be realized, the mechanical hand can be more compact, and the vibration can be more compact, and the mechanical hand can be realized, and the vibration can be further, and the mechanical device can be more easily, and the vibration can be reduced, and the mechanical device can be more has small and the overall, and the performance.
Specifically, as shown in fig. 1 and fig. 2, the first worm wheel 31 and the first worm 32 are provided to form the transmission assembly 3, where the first worm wheel 32 is rotatably installed on the base 1 and coaxially connected with the oldham coupling 2, so that the rotation power output by the motor 4 can be transmitted to the first worm 32 through the oldham coupling 2, driving the first worm 32 to rotate, and the first worm wheel 31 is rotatably installed on the base 1, and the first worm wheel 31 is meshed with the first worm 32, and the first worm wheel 31 is coaxially connected with the driving shaft 5, so that the first worm wheel 31 can drive the driving shaft 5 to rotate after receiving the power transmitted by the first worm 32, and finally, the rotation of the whole mechanical thumb is realized, and meanwhile, the space occupied by the first worm wheel 31 and the first worm 32 is smaller, which is favorable for the integrated setting on the base 1, and is favorable for reducing the size of the base 1, so that the miniaturized design of the mechanical hand is facilitated, and the meshing of the first worm wheel 31 and the first worm 32 has a self-locking effect, and the reset after the mechanical thumb completes the rotation, and the reset of the mechanical thumb is not influenced by the first worm wheel 31, and the mechanical thumb 32 is driven to rotate, and the mechanical thumb is not influenced by the mechanical thumb.
In the present embodiment, as shown in fig. 1, the output shaft of the motor 4 is coaxially connected to the input end of the oldham coupling 2, and is fixed by a pin.
It should be noted that, in this embodiment, as shown in fig. 1, the oldham coupling 2 is composed of two sliding blocks, the two sliding blocks are connected with each other to form a sliding pair, the structure is compact, one sliding block is fixedly connected with the output shaft of the motor 4, the other sliding block is connected with the transmission assembly 3, a gap exists between the two sliding blocks, the transmission force is smooth, and noise is not easily generated due to collision, so that the rotation driving force output by the motor 4 can be stably transmitted to the transmission assembly 3 through the oldham coupling 2.
In this embodiment, as shown in fig. 1 and 2, two ends of the driving shaft 5 are rotatably connected to the base 1 through two bearings, the bearings are fixedly connected to the base 1, and the driving shaft 5 is fixedly connected to the proximal knuckle base 6 through a connecting key. Meanwhile, an angular position sensor is further arranged, an inner hole of the angular position sensor is sleeved on the driving shaft 5, and a shell of the angular position sensor is fixedly connected with the base 1, so that when the driving shaft 5 rotates, the relative positions of the shell of the angular position sensor and the inner hole change, and the resistance change of the angular position sensor is caused, and the rotating angle of the whole mechanical thumb is obtained.
In this embodiment, as shown in fig. 1 and 2, a circuit board is fixedly mounted on the base 1 through a set screw, and a flexible wire is fixedly connected to the circuit board, so that the flexibility can be electrically connected with a main control board in the palm, and the rotation control of the mechanical thumb can be realized through the main control board.
It should be noted that, in this embodiment, the motor 4 may be disposed inside the palm and fixedly connected to the palm inner structure through screws.
It should be noted that in other embodiments of the present invention, the entire metacarpal joint of the mechanical thumb may also be used as a metacarpal joint of other types of mechanical fingers.
In this embodiment, as shown in fig. 1 and 2, the first worm wheel 31 is sleeved on the driving shaft 5 and is fixedly connected with the driving shaft 5 through a connecting key.
In this embodiment, as shown in fig. 1 and 2, the first worm 32 is rotatably mounted on the base 1 through two bearings, and the bearing at the end of the first worm 32 is fixedly connected with the base 1 through a bearing end cover, so as to limit the first worm 32 and the bearing along the axial direction, and ensure the stability of the rotation of the first worm 32.
Optionally, a placement hole 322 is coaxially disposed on the first worm 32, and the oldham coupling 2 is disposed through the placement hole 322 and connected to a sidewall of the placement hole 322.
In order to further facilitate the miniaturized design of the manipulator, in this embodiment, as shown in fig. 1, a placement hole 322 is coaxially disposed on the first worm 32, and the oldham coupling 2 is disposed in the placement hole 322 in a penetrating manner and connected with the side wall of the placement hole 322, so as to realize the fixed connection with the first worm 32, and since the oldham coupling 2 is mostly accommodated in the first worm 32, the space requirement during the installation of the oldham coupling 2 can be effectively reduced, thereby facilitating the miniaturized design of the manipulator.
In the present embodiment, the end of the oldham coupling 2 is fixedly connected to the first worm 32 by a pin.
Optionally, the placement hole 322 is a blind hole, the bottom wall of the placement hole 322 is provided with a placement groove 321, one end of the Oldham coupling 2 is in driving connection with the output end of the motor 4, and the other end of the Oldham coupling is fixed in the placement groove 321.
In this embodiment, as shown in fig. 1, the bottom wall of the placement hole 322 is an inner wall along the Y-axis forward direction.
In order to improve the assembly accuracy and convenience of the Oldham coupling 2 and the first worm 32, in this embodiment, as shown in fig. 1 and 2, the placement hole 322 is set to be a blind hole, and the placement groove 321 is disposed on the bottom wall of the placement hole 322, when the end of the Oldham coupling 2 is installed, the end of the Oldham coupling 2 can directly penetrate into the placement hole 322 and be fixed in the placement groove 321, and after the end of the Oldham coupling 2 is placed in the placement groove 321, the assembly of the Oldham coupling 2 and the first worm 32 is completed, and the placement groove 321 has a positioning function, so that the assembly accuracy and convenience of the Oldham coupling 2 and the first worm 32 can be improved while the miniaturization design of the manipulator is facilitated.
In the present embodiment, the end of the oldham coupling 2 is fixed in the placement groove 321 by a fitting method.
In another aspect, an embodiment of the present invention provides a mechanical thumb comprising a proximal knuckle base 6 and a mechanical thumb metacarpophalangeal joint as described above.
As shown in fig. 1 and 2, the technical effects of the mechanical thumb in this embodiment are similar to those of the above-mentioned mechanical thumb metacarpophalangeal joint, and will not be repeated here.
Optionally, the mechanical thumb further comprises a bending drive assembly 7 and a proximal knuckle 8, the proximal knuckle 8 is rotatably connected with the proximal knuckle base 6 through a joint shaft 61, the bending drive assembly 7 comprises a rotary drive 71, a second worm 72 and a second worm wheel 73, the rotary drive 71 is in driving connection with the second worm 72 and is mounted on the proximal knuckle 8, the second worm wheel 73 is mounted on the proximal knuckle base 6 and is coaxially arranged with the joint shaft 61, and the second worm wheel 73 is meshed with the second worm 72.
In order to ensure that the mechanical thumb rotates while the metacarpophalangeal joint drives the rotation of the mechanical thumb, so that the mechanical thumb can rotate along two directions, and motion with two degrees of freedom is realized, as shown in fig. 3, in the embodiment, a bending driving assembly 7 and a proximal knuckle 8 are provided, wherein the proximal knuckle 8 is in rotational connection with a proximal knuckle base 6 through a joint shaft 61, and the bending driving assembly 7 is composed of a rotation driving member 71, a second worm 72 and a second worm wheel 73, wherein the rotation driving member 71 is fixedly arranged on the proximal knuckle 8 and in driving connection with the second worm 72, the second worm 72 is rotatably arranged on the proximal knuckle 8 and meshed with the second worm wheel 73, and the second worm wheel 73 is rotatably arranged on the proximal knuckle base 6, and the rotation driving member 71 can output a rotation force to the second worm 72, so as to drive the second worm 72 to rotate relative to the second worm wheel 73, thereby realizing bending driving of the mechanical thumb.
Specifically, in this embodiment, the second worm 72 and the second worm wheel 73 are meshed with each other, so that the rotation force can drive the second worm 72 to rotate relative to the second worm wheel 73, so as to drive the bending of the mechanical thumb, and the self-locking function of the second worm 72 and the second worm wheel 73 when meshed with each other can also ensure the bending stability of the mechanical thumb.
In this embodiment, as shown in fig. 3 and 4, the bending drive assembly 7 further includes a coupling, and the output end of the rotation drive member 71 is drivingly connected to the second worm 72 through the coupling, specifically, the coupling is a rigid coupling.
In this embodiment, as shown in fig. 3 and 4, the second worm wheel 73 is fixedly connected to the proximal knuckle base 6 by a screw, and the second worm wheel 73 is sleeved on the joint shaft 61 and is fixedly connected by a connecting key.
It should be noted that, the proximal knuckle 8 is of a hollow structure, in order to facilitate control when the proximal knuckle 8 moves, as shown in fig. 3 and 4, a pressure sensor is adhered to a housing of the proximal knuckle 8, and a circuit board is disposed inside the proximal knuckle 8 and can be electrically connected with the pressure sensor for acquiring a collected pressure value and transmitting the collected pressure value to the main control board.
Optionally, the mechanical thumb further comprises a distal knuckle 9, the distal knuckle 9 is rotatably connected with the proximal knuckle 8, a coupling shaft 91 and a coupling connecting rod 92 are arranged on the distal knuckle 9, the distal knuckle 9 is connected with one end of the coupling connecting rod 92 through the coupling shaft 91, and the other end of the coupling connecting rod 92 is connected with the proximal knuckle base 6.
In this embodiment, as shown in fig. 3 and 4, the mechanical thumb is further provided with a distal knuckle 9, wherein the distal knuckle 9 is rotatably connected with the proximal knuckle 8, and in order to realize the rotation of the distal knuckle 9 relative to the proximal knuckle 8, a coupling shaft 91 and a coupling link 92 are provided on the distal knuckle 9, wherein the distal knuckle 9 is connected with one end of the coupling link 92 through the coupling shaft 91, and the other end of the coupling link 92 is connected with the proximal knuckle base 6, so that when the proximal knuckle 8 rotates relative to the proximal knuckle base 6, the coupling link 92 drives the coupling shaft 91 to move, thereby realizing the rotation of the distal knuckle 9 relative to the proximal knuckle 8.
It should be noted that, as shown in fig. 4, the distal knuckle 9 is also of a hollow structure, the housing is provided with a tactile sensor, and a circuit board is disposed inside the housing, and the circuit board transmits data collected by the tactile sensor to the main control board.
In yet another aspect, an embodiment of the present invention provides a manipulator including the above-described mechanical thumb.
As shown in fig. 1 to 4, the technical effects of the manipulator in the present embodiment are similar to those of the mechanical thumb described above, and will not be described again here.
Although the invention is disclosed above, the scope of the invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications will fall within the scope of the invention.
Claims (7)
1. A mechanical thumb metacarpal joint comprising:
the device comprises a base (1), wherein an Oldham coupling (2) and a transmission assembly (3) are arranged on the base (1);
the motor (4) is connected with the base (1), and the output end of the motor (4) is in driving connection with the transmission assembly (3) through the cross coupling (2);
the driving shaft (5) is rotatably arranged on the base (1) and is in driving connection with the transmission assembly (3), and the driving shaft (5) is used for being connected with a knuckle-approaching base (6) of a mechanical thumb;
the transmission assembly (3) comprises a first worm wheel (31) and a first worm (32), the first worm wheel (31) and the first worm (32) are rotatably mounted on the base (1), the first worm (32) is in driving connection with the Oldham coupling (2), the first worm wheel (31) is in coaxial connection with the driving shaft (5), and the first worm wheel (31) is meshed with the first worm (32).
2. The mechanical thumb metacarpal joint as claimed in claim 1, wherein the first worm (32) is coaxially provided with a placement hole (322), and the oldham coupling (2) is inserted into the placement hole (322) and connected with a side wall of the placement hole (322).
3. The mechanical thumb metacarpal joint as claimed in claim 2, wherein the placement hole (322) is a blind hole, a placement groove (321) is provided on a bottom wall of the placement hole (322), one end of the cross coupling (2) is in driving connection with an output end of the motor (4), and the other end of the cross coupling is fixed in the placement groove (321).
4. A mechanical thumb, characterized by comprising a proximal knuckle base (6) and a mechanical thumb metacarpophalangeal joint according to any one of claims 1 to 3.
5. The mechanical thumb according to claim 4, further comprising a bending drive assembly (7) and a proximal knuckle (8), the proximal knuckle (8) being rotatably connected to the proximal knuckle base (6) by a joint shaft (61), the bending drive assembly (7) comprising a rotary drive (71), a second worm (72) and a second worm wheel (73), the rotary drive (71) being drivingly connected to the second worm (72) and both being mounted on the proximal knuckle (8), the second worm wheel (73) being mounted to the proximal knuckle base (6) and being coaxially arranged with the joint shaft (61), the second worm wheel (73) being in engagement with the second worm (72).
6. The mechanical thumb according to claim 5, further comprising a distal knuckle (9), wherein the distal knuckle (9) is rotatably connected to the proximal knuckle (8), a coupling shaft (91) and a coupling link (92) are provided on the distal knuckle (9), the distal knuckle (9) is connected to one end of the coupling link (92) through the coupling shaft (91), and the other end of the coupling link (92) is connected to the proximal knuckle base (6).
7. A manipulator comprising a mechanical thumb according to any of claims 4 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310939802.8A CN116652992A (en) | 2023-07-28 | 2023-07-28 | Mechanical thumb metacarpophalangeal joint, mechanical thumb and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310939802.8A CN116652992A (en) | 2023-07-28 | 2023-07-28 | Mechanical thumb metacarpophalangeal joint, mechanical thumb and mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN116652992A true CN116652992A (en) | 2023-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310939802.8A Pending CN116652992A (en) | 2023-07-28 | 2023-07-28 | Mechanical thumb metacarpophalangeal joint, mechanical thumb and mechanical arm |
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|---|---|
| CN (1) | CN116652992A (en) |
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| 韩建海等: "《数控技术及装备》", 华中科技大学出版社, pages: 317 - 318 * |
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