CN202264226U - Coupling under-actuated finger device of robot - Google Patents
Coupling under-actuated finger device of robot Download PDFInfo
- Publication number
- CN202264226U CN202264226U CN 201120414216 CN201120414216U CN202264226U CN 202264226 U CN202264226 U CN 202264226U CN 201120414216 CN201120414216 CN 201120414216 CN 201120414216 U CN201120414216 U CN 201120414216U CN 202264226 U CN202264226 U CN 202264226U
- Authority
- CN
- China
- Prior art keywords
- joint shaft
- gear
- finger
- bevel gear
- transmission mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Images
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 utility model discloses a coupling under-actuated finger device of a robot, which comprises a base, a motor, a speed reducer, a proximal joint shaft, a middle finger section, a distal joint shaft, a tail end finger section, a first transmission mechanism, a second transmission mechanism and a third transmission mechanism. The motor and the speed reducer are fixedly connected with the base, the proximal joint shaft is sleeved in the base, the middle finger section is in sleeve joint on the proximal joint shaft, the distal joint shaft is sleeved in the middle finger section, the tail end finger section is fixedly sleeved on the distal joint shaft, the distal joint shaft is parallel to the proximal joint shaft, one end of the first transmission mechanism is connected with the proximal joint shaft while the other end of the first transmission mechanism is connected with the distal joint shaft, one end of the second transmission mechanism is connected with the speed reducer while the other end of the second transmission mechanism is connected with the proximal joint shaft, and one end of the third transmission mechanism is connected with the proximal joint shaft while the other end of the third transmission mechanism is connected with the distal joint shaft. The coupling under-actuated finger device is simple in structure, the shape and the article grabbing action of a finger of the coupling under-actuated finger device are quite similar to those of a human finger, and the finger is suitable to be used as a finger of a hand of a humanoid robot.
Description
Technical field
The utility model relates to a kind of anthropomorphic robot's finger apparatus.
Background technology
In our daily life and work and study, hand is extremely important to us.Similar with us, robot hand also is epochmaking in its routine work with in producing.The extensive concern that manufactures and designs the science that obtained and each department of commercial production of present robot.And because the joint freedom degrees of hand is many; Volume is little to require characteristics such as big with exerting oneself; Manufacture and design the field to robot and brought a lot of technical barriers, the design of robot has at present progressively become emphasis, focus and the difficult point of robot correlation technique research.
The pattern of existing a kind of " coupling " grasping objects is meant that each joint of finger all has bending to a certain degree to rotate, and the crooked in the same way simultaneously rotation in each joint.According to a kind of manifold type two-articulated robot finger device (Chinese invention patent CN101100064A) that this pattern generated, comprise that mainly pedestal, motor, first refer to that section, second refers to section and figure of eight steel wire rope and pulley-type transmission mechanism.This device adopts motor, figure of eight steel wire rope and a pulley-type transmission mechanism to realize pointing the coupled motions of 1: 1 angle in the same way in two joints.Weak point of such coupling extracting formula mechanical finger device with functions is: each joint is all with the rotation of fixed proportion angle; There is not the rotation of arbitrary proportion angle; When grasping objects generally to grip the mode grabbing object; The mode with lucky adaptation body surface size dimension of being difficult to realizes gripping Grasp Modes and grasps, when not possessing grasping objects fully to the adaptivity of different size object, so the grip of this type finger is bad.
In order to overcome the shortcoming that can not adapt to object size and shape automatically that the said coupling extracting in front pattern exists, a kind of have " decoupling zero " effect owe drive the extracting pattern and arise at the historic moment.Generally we are called under-actuated finger with " decoupling zero " under-actuated finger simply.So-called lack of driven structure is the mechanism that the finger actuator number is lacked than driven joint freedom degrees number.In the lack of driven structure; The rotational angle in a plurality of joints does not have fixed proportion; Motor can drive whole finger (comprising that first refers to that section, second refers to section) and is straight configuration and rotates around nearly joint shaft during beginning, refers to that the section finger section of finger root (near) touches object and stopped that can not rotate the time, the driving force of motor can turn to the next joint rotation of driving automatically again when first; Thereby make second to refer to that the section joint shaft of going the long way round again rotates, and has realized two modes that rotate in proper order in the joint.This mechanism's biggest advantage can adapt to the object size exactly automatically, is very beneficial for stable the extracting.According to a kind of under-actuated two-articulated robot finger device (Chinese invention patent CN101288954A) that this extracting pattern is generated, comprise and draw together pedestal, motor, middle finger section, joint shaft far away, the end section of finger, drive bevel gear, driven wheel of differential and double bevel wheel etc.But the weak point that such activation lacking mechanical finger device also exists is: finger presents straight configuration all the time before not touching object, action and outward appearance and staff have than big difference, and the degree that personalizes is not enough; Grasp Modes is mainly the mode of gripping, and is difficult to realize that end grips grasping objects; In the time of can not accomplishing not have grasping body, the action of clenching fist of similar staff; Be difficult to also accomplish that each joint is the natural torsion state when end section of finger grips object.
The utility model content
The technical problem that (one) will solve
The technical problem that the utility model will solve provides a kind of two-articulated robot finger device, has realized that coupling grip and self adaptation owe to drive grip and merge simply and effectively.
(2) technical scheme
For solving the problems of the technologies described above, the coupling under-actuated robot finger device that the utility model adopts comprises pedestal, motor, decelerator, nearly joint shaft, middle finger section, joint shaft far away and the end section of finger; Described motor and decelerator and pedestal are affixed, and nearly joint shaft is set in the pedestal, and middle finger section is socketed on the nearly joint shaft, and joint shaft far away is set in the middle finger section, and the end section of finger is fixed on the joint shaft far away, and joint shaft far away is parallel with nearly joint shaft; Described coupling under-driving robot finger dress also comprises first transmission mechanism, second transmission mechanism, the 3rd transmission mechanism, the first spring spare, the second spring spare and the 3rd spring spare.
First transmission mechanism comprises second bevel gear, third hand tap gear and bipyramid gear; Described second bevel gear is fixed on the joint shaft far away, and the third hand tap gear is fixed on the nearly joint shaft; The bipyramid gear is become with last bevel gear set by bipyramid gear shaft, following bevel gear, last bevel gear and the engagement of second bevel gear, following bevel gear and third hand tap gears engaged.Second transmission mechanism comprises first gear and second gear; The output shaft of decelerator and first gear are affixed, and first gear is meshed with second gear, and second gear is fixed on the nearly joint shaft.
As a kind of preferred version of the utility model, the 3rd transmission mechanism comprises first driving wheel, first driven pulley; Described first driving wheel is fixed on the nearly joint shaft, and first driven pulley is socketed on the joint shaft far away, and first driving member connects first driving wheel and first driven pulley; First driving member adopts flat rubber belting, cog belt, tendon rope or chain; First driving wheel adopts drive, rope sheave or sprocket wheel; First driven pulley adopts drive, rope sheave or sprocket wheel, can cooperate the formation drive connection between first driving member, first driving wheel and the first driven pulley three.The two ends of the first spring spare connect nearly joint shaft and middle finger section respectively; The two ends of the second spring spare connect the pedestal and first bevel gear respectively; The two ends of the 3rd spring spare are divided and are connected the joint shaft far away and first driven pulley.
As the another kind of preferred version of the utility model, the 3rd transmission mechanism comprises first bevel gear, second bevel gear and bipyramid gear; First bevel gear is socketed on the nearly joint shaft, the last bevel gear of bipyramid gear and the engagement of second bevel gear, following bevel gear and the engagement of first bevel gear.The two ends of the first spring spare connect nearly joint shaft and middle finger section respectively; The two ends of the second spring spare connect the pedestal and first bevel gear respectively; The two ends of the 3rd spring spare connect nearly joint shaft and third hand tap gear respectively, and the stiffness factor of the second spring spare is greater than the stiffness factor of the 3rd spring spare.
(3) beneficial effect
The advantage of the utility model is: this device adopts motor, first transmission mechanism, second transmission mechanism and a plurality of spring spare to realize that comprehensively coupling grip and self adaptation owe to drive the fusion of grip.This apparatus structure is simple; The profile of finger is very similar with finger with the action of grasping objects, is suitable as the finger of anthropomorphic robot's hand.
Description of drawings
Fig. 1 is the front appearance figure of first kind of embodiment of the utility model.
Fig. 2 is that the front section view of first kind of embodiment of the utility model also is the cutaway view of Fig. 1.
Fig. 3 is the front appearance figure of second kind of embodiment of the utility model.
Fig. 4 is that the front section view of second kind of embodiment of the utility model also is the cutaway view of Fig. 1.
Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10 and Figure 11 are several key positions side schematic appearance of the utility model grasping object process.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the specific embodiment of the utility model is described in further detail.Following examples are used to explain the utility model, but are not used for limiting the scope of the utility model.
Like Fig. 1, Fig. 2, Fig. 3 and shown in Figure 4, the utility model comprises pedestal 1, motor 2, decelerator 7, nearly joint shaft 3, middle finger section 4, joint shaft 5 far away and the end section of finger 6; Motor 2 is affixed with decelerator 7 and pedestal 1, and nearly joint shaft 3 is set in the pedestal 1, and middle finger section 4 is socketed on the nearly joint shaft 3, and joint shaft 5 far away is set in the middle finger section 4, and the end section of finger 6 is fixed on the joint shaft 5 far away, and joint shaft 5 far away is parallel with nearly joint shaft 3; This two-articulated robot finger device also comprises first transmission mechanism, second transmission mechanism and the 3rd transmission mechanism; First transmission mechanism, one end links to each other with nearly joint shaft, and the other end links to each other with joint shaft far away; Second transmission mechanism, one end links to each other with decelerator, and the other end links to each other with nearly joint shaft; The 3rd transmission mechanism one end links to each other with nearly joint shaft, and the other end links to each other with joint shaft far away.。
First transmission mechanism comprises second bevel gear 22, third hand tap gear 23 and bipyramid gear 31; Described second bevel gear 22 is fixed on the joint shaft 5 far away; Third hand tap gear 23 is fixed on the nearly joint shaft 3; Bipyramid gear 31 is made up of bipyramid gear shaft 310, following bevel gear 311 and last bevel gear 312; Last bevel gear 312 and 22 engagements of second bevel gear, following bevel gear 311 and 23 engagements of third hand tap gear.
Second transmission mechanism comprises first gear 61 and second gear 62; The output shaft of decelerator 7 and first gear 61 are affixed, and first gear 61 is meshed with second gear 62, and second gear 62 is fixed on the nearly joint shaft 3.
In present embodiment one, the 3rd transmission mechanism comprises first driving wheel, first driven pulley; First driving wheel 11 is fixed on the nearly joint shaft 3, and described first driven pulley 12 is socketed on the joint shaft 5 far away, and described first driving member 13 connects first driving wheel 11 and first driven pulley 12; Described first driving member 13 adopts flat rubber belting, cog belt, tendon rope or chain; Described first driving wheel 11 adopts drive, rope sheave or sprocket wheel; Described first driven pulley 12 adopts drive, rope sheave or sprocket wheel; Can cooperate the formation drive connection between described first driving member 13, first driving wheel 11 and first driven pulley, 12 threes, first driving wheel 11 and first driven pulley 12 all adopt drive in the present embodiment, and first driving member 13 adopts flat rubber beltings; The two ends of the first spring spare 41 connect nearly joint shaft 3 and middle finger section 4 respectively; The two ends of the described second spring spare 42 connect the pedestal 1 and first bevel gear 21 respectively; The two ends of described the 3rd spring spare 43 are divided and are connected the joint shaft 5 far away and first driven pulley 12.
In present embodiment one, the coupling under-actuated robot finger device is provided with following 3 boss: first boss 51 connects the second spring spare, 41 1 ends and inlays and is fixed on the middle finger section 4; Second boss 52 connects the first spring spare, 42 1 ends and inlays and is fixed on first bevel gear 21; The 3rd boss 53 connects the 3rd spring spare 43 1 ends and inlays and is fixed on first driven pulley 12;
Below in conjunction with Fig. 3 and Fig. 4, introduce second kind of embodiment of the utility model in detail.
As can knowing among Fig. 3 and the embodiment two shown in Figure 4, the 3rd transmission mechanism comprises first bevel gear 21, second bevel gear 22 and bipyramid gear 31; First bevel gear 21 is socketed on the nearly joint shaft 3, the last bevel gear 312 of bipyramid gear 31 and 22 engagements of first bevel gear, following bevel gear 311 and 21 engagements of first bevel gear.The two ends of the first spring spare 41 connect nearly joint shaft 3 and middle finger section 4 respectively; The two ends of the second spring spare 42 connect the pedestal 1 and first bevel gear 21 respectively; The two ends of the 3rd spring spare 43 connect the stiffness factor of the stiffness factor of nearly joint shaft 3 and third hand tap gear 23, the second spring spares 42 greater than the 3rd spring spare 43 respectively.
In the present embodiment two, the coupling under-actuated robot finger device is provided with following 3 boss: first boss 51 connects the first spring spare, 41 1 ends and inlays and is fixed on the middle finger section 4; Second boss 52 is inlayed and is fixed on the pedestal 1 and first bevel gear 21; The 3rd boss 53 connects the 3rd spring spare 43 1 ends and inlays and is fixed on the third hand tap gear 23.
The above-described first spring spare 41, the second spring spare 42 and the 3rd spring spare 43 can adopt torsion spring, extension spring, stage clip, sheet spring or elastic threads.
The operation principle of present embodiment, like Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10 and shown in Figure 11, narrate as follows:
This initial position that installs under a kind of situation is as shown in Figure 5; In this case; Middle finger section 4 does not all contact object with the end section of finger 6 when initial, and object 9 is nearer apart with middle finger section 4, and finger can at first touch object 9 by middle finger section 4 in rotation process.When motor 2 had just begun to rotate, middle finger section 4 was the state that finger stretches with terminal section of finger 6 and pedestal 1.When using robot finger's grasping objects 9 of the utility model; The output shaft of motor 2 rotates; Driving the nearly joint shaft 3 that is connected with second gear 62 through first gear 61 rotates; Because the effect of contraction of the first spring spare 41, middle finger section 4 is fixed together with nearly joint shaft 3 seemingly, and middle finger section 4 will be around nearly joint shaft 3 rotational angle α.
Because first bevel gear 21 is connected with pedestal 1 through the second spring spare 42; In middle finger section 4 rotation processes; Joint shaft 5 far away will change with respect to the position of nearly joint shaft 3, because the following bevel gear 311 of bipyramid gear 31 and 21 engagements of first bevel gear, so the rotation of middle finger section 4 can make the go the long way round center line of joint shaft 5 of second bevel gear 22 of 312 promotions of last bevel gear and its engagement of bipyramid gear 31 rotate a same angle [alpha]; When first bevel gear 21 is consistent with second bevel gear, 22 sizes; Diarticular coupled rotation angle is 1: 1, and certain first bevel gear 21 also can be designed as different sizes with second bevel gear 22, then will obtain the different coupling effect; Because second bevel gear 22 is affixed with joint shaft far away, will make joint shaft 5 far away again around self axis rotational angle α.
Because the version of the 3rd transmission mechanism and spring spare distributing position is different, the 3rd spring spare 43 production processes are also different with deflection, below just introduce production process in two kinds of embodiments in detail.
When adopting first kind of embodiment; The output shaft of motor 2 rotates; Drive the nearly joint shaft 3 that is connected with first driving wheel 11 through first gear 11 and second gear 12 and rotate, first driving wheel, 11 pullings, first driving member 13 makes the driven pulley 12 of the winning joint shaft 5 rotational angle α that go the long way round.Because middle finger section 4 has also been rotated angle [alpha] around nearly joint shaft 3 at this moment, so first driven pulley 12, therefore connects the 3rd spring spare 43 generation certain deformation amounts of the joint shaft 5 far away and first driven pulley 12 with respect to the not change of position of middle finger section 4.
When adopting second kind of embodiment; The output shaft of motor 2 rotates; Driving second bevel gear 22 that links to each other with nearly joint shaft 3 through the 3rd spring spare 43 through first gear 11 and second gear 12 rotates; Because bipyramid gear shaft 310 is around the axis rotational angle α of self; Simultaneously bipyramid gear 31 along with middle finger section 4 around nearly joint shaft 3 axis rotational angle α, these two kinds of effects stacks cause second bevel gear 22 with following bevel gear 311 engagements of bipyramid gear 31 around nearly joint shaft 3 axis rotational angles 2 α, thus this moment the 3rd spring spare 43 deflection be 2 times of the first spring spare 41.
At this moment, because the end section of finger 6 is fixed on the joint shaft 5 far away, also thereupon the go the long way round center line rotational angle α of joint shaft 5 of the end section of finger 6, as shown in Figure 6.This process is run into object 9 up to middle finger section 4, and middle finger section has been rotated angle beta around nearly joint shaft, and also the go the long way round center line of joint shaft of the end section of finger has rotated angle beta, and is as shown in Figure 9.Said process is two joints and adopts coupled modes to rotate.
At this moment, if the end section of finger 6 contact objects 9 then accomplish grasping, employing be to grip the mode grasping objects.As shown in Figure 9.
At this moment, if the end section of finger 6 does not also contact object 9, as shown in Figure 7.The output shaft of motor 2 is rotated further, and drives through spring spare 43 and first bevel gear 21 of nearly joint shaft 3 sockets through first gear 11 and second gear 12 and rotates.
Because at this moment middle finger section 4 contacted object 9, middle finger section 4 can not continue to rotate around nearly joint shaft 3, the continuation distortion of the first spring spare 41 will make middle finger section 4 with increasing grasp force near object 9.Simultaneously because the deflection of the 3rd spring spare 43 is big than the deflection of all the other two spring spares; So along with being rotated further of motor 2; The 3rd spring spare 43 meeting drives first bevel gear 21 is rotated further around the axis of nearly joint shaft 3; Thereby the following bevel gear 311 that drives bipyramid gear 31 is rotated further, and second bevel gear 22 that last bevel gear 312 feasible and bipyramid gear 31 meshes is rotated, again because second bevel gear 22 and joint shaft 5 far away are affixed; To make joint shaft 5 far away be rotated further, the axis rotation of joint shaft 5 thereby the terminal section of finger 6 can continue to go the long way round around self axis.This process touches object 9 up to the end section of finger 6, accomplishes and grasps action, and is as shown in Figure 8.This process makes this device can adapt to the object that grasps difformity and size automatically.
The initial position of this device under another kind of situation is shown in figure 10, and in this case, object 9 is nearer apart with the end section of finger 6, can at first touch object by the end section of finger in this case.Finger can rotate with the sort of coupling extracting pattern recited above always in this case; Till the end section of finger 6 touches object; Completion grasps; Do not carry out the under-driven adaptive pattern in the motion process of finger in this case, finger is directly accomplished through coupling extracting pattern and grasped, and is shown in figure 11.
The above is merely the preferred implementation of the utility model; Should be understood that; For those skilled in the art; Under the prerequisite that does not break away from the utility model know-why, can also make some improvement and retouching, these improvement and retouching also should be regarded as the protection domain of the utility model.
Claims (7)
1. a coupling under-actuated robot finger device comprises pedestal (1), motor (2), decelerator (7), nearly joint shaft (3), middle finger section (4), joint shaft (5) far away and the end section of finger (6); Said motor (2), said decelerator (7) and said pedestal (1) are affixed; Said nearly joint shaft (3) is set in the said pedestal (1); Said middle finger section (4) is socketed on the said nearly joint shaft (3); Said joint shaft far away (5) is set in the said middle finger section (4), and the said end section of finger (6) is fixed on the said joint shaft far away (5), and said joint shaft far away (5) is parallel with said nearly joint shaft (3); It is characterized in that: said finger dress also comprises first transmission mechanism, second transmission mechanism, the 3rd transmission mechanism; Said first transmission mechanism, one end links to each other with said nearly joint shaft (3), and the other end links to each other with said joint shaft far away (5); Said second transmission mechanism, one end links to each other with said decelerator (7), and the other end links to each other with said nearly joint shaft (3); Said the 3rd transmission mechanism one end links to each other with said nearly joint shaft (3), and the other end links to each other with said joint shaft far away (5).
2. finger apparatus according to claim 1 is characterized in that: said first transmission mechanism comprises second bevel gear (22), third hand tap gear (23) and bipyramid gear (31); Said second bevel gear (22) is fixed on the said joint shaft far away (5), and said third hand tap gear (23) is fixed on the said nearly joint shaft (3); Said bipyramid gear (31) is made up of bipyramid gear shaft (310), following bevel gear (311) and last bevel gear (312), said upward bevel gear (312) and said second bevel gear (22) engagement, and said bevel gear (311) down and said third hand tap gear (23) mesh.
3. finger apparatus according to claim 1 is characterized in that: said second transmission mechanism comprises first gear (61) and second gear (62); The output shaft of said decelerator (7) and said first gear (61) are affixed, and said first gear (61) is meshed with said second gear (62), and said second gear (62) is fixed on the said nearly joint shaft (3).
4. coupling under-actuated robot finger device according to claim 1 is characterized in that: said the 3rd transmission mechanism comprises first driving wheel (11), first driven pulley (12); Said first driving wheel (11) is fixed on the said nearly joint shaft (3), and said first driven pulley (12) is socketed on the said joint shaft far away (5), and said first driving member (13) connects said first driving wheel (11) and said first driven pulley (12); Said first driving member (13) adopts flat rubber belting, cog belt, tendon rope or chain; Said first driving wheel (11) adopts drive, rope sheave or sprocket wheel; Said first driven pulley (12) adopts drive, rope sheave or sprocket wheel, can cooperate the formation drive connection between said first driving member (13), said first driving wheel (11) and said first driven pulley (12) three.
5. according to finger apparatus according to claim 4, it is characterized in that: this finger apparatus also is provided with the first spring spare (41), the second spring spare (42) and the 3rd spring spare (43); The two ends of the said first spring spare (41) connect said nearly joint shaft (3) and said middle finger section (4) respectively; The two ends of the said second spring spare (42) connect said pedestal (1) and said first bevel gear (21) respectively; The two ends of said the 3rd spring spare (43) connect said joint shaft far away (5) and said first driven pulley (12) respectively.
6. finger apparatus according to claim 1 is characterized in that: said the 3rd transmission mechanism comprises first bevel gear (21), second bevel gear (22) and bipyramid gear (31); Said first bevel gear (21) is socketed on the said nearly joint shaft (3), the said upward bevel gear (312) and said second bevel gear (22) engagement of said bipyramid gear (31), and said bevel gear (311) down meshes with said first bevel gear (21).
7. according to finger apparatus according to claim 6, it is characterized in that: this finger apparatus also is provided with the first spring spare (41), the second spring spare (42) and the 3rd spring spare (43); The two ends of the said first spring spare (41) connect said nearly joint shaft (3) and said middle finger section (4) respectively; The two ends of the said second spring spare (42) connect said pedestal (1) and said first bevel gear (21) respectively; The two ends of said the 3rd spring spare (43) connect said nearly joint shaft (3) and said third hand tap gear (23) respectively, and the stiffness factor of the said second spring spare (42) is greater than the stiffness factor of said the 3rd spring spare (43).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120414216 CN202264226U (en) | 2011-10-26 | 2011-10-26 | Coupling under-actuated finger device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120414216 CN202264226U (en) | 2011-10-26 | 2011-10-26 | Coupling under-actuated finger device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202264226U true CN202264226U (en) | 2012-06-06 |
Family
ID=46155036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201120414216 Withdrawn - After Issue CN202264226U (en) | 2011-10-26 | 2011-10-26 | Coupling under-actuated finger device of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202264226U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605406A (en) * | 2018-12-11 | 2019-04-12 | 安阳工学院 | A kind of bionic finger |
-
2011
- 2011-10-26 CN CN 201120414216 patent/CN202264226U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605406A (en) * | 2018-12-11 | 2019-04-12 | 安阳工学院 | A kind of bionic finger |
| CN109605406B (en) * | 2018-12-11 | 2021-05-14 | 安阳工学院 | Bionic finger |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101486191B (en) | Displacement under-actuated robot hand apparatus | |
| CN101214653B (en) | Belt wheel changing to holding power under-driven modularization anthropomorphic robot multi-finger hand device | |
| CN101474794B (en) | Bionic robot under-actuated delicacy hand device | |
| CN101774175B (en) | Double-joint wheel type parallel coupling under-actuated bio-simulation mechanical finger device | |
| CN100551641C (en) | The Chiasma tendon rope under-driven modularization anthropomorphic robot arm device | |
| CN101444918B (en) | Under-actuated bionic finger device with function of pre-bending grasping | |
| CN101422906B (en) | Displaced under-actuated two-articulated robot finger device based on flexible piece | |
| CN101664929B (en) | Rack type parallel coupling underactuated robot finger device | |
| CN101804633B (en) | Tendon rope parallel skillful under-driven bionic robot finger device | |
| CN101508115B (en) | Variable sequence under-actuated two-articulated robot finger device | |
| CN101716767B (en) | Coupling underactuated integrated bionic hand device | |
| CN101633171B (en) | Finger device of double-joint parallel under-actuated robot | |
| CN102310411B (en) | Three-axis gear and rack composite underactuated dual-joint robot finger device | |
| CN100581756C (en) | Double bevel wheel under-driven robot finger | |
| CN102161204A (en) | Double joint and equidirectional drive hybrid under-actuated robot finger device | |
| CN101474795A (en) | Pre-bend coupling under-actuated three-joint robot finger device | |
| CN102179818A (en) | Finger device of composite underactuated double-joint robot with differential-motion bevel gear system | |
| CN101774176B (en) | Rack-flexible piece coupling underactuated double-joint robot finger device | |
| CN101767338B (en) | Bevel gear-band wheel coupled two-joint robot finger device lack of driving | |
| CN101444917A (en) | Mechanical finger device with functions of bionic displacement and self-adapting grasping | |
| CN101664930B (en) | Coupling underactuated integral finger device of double-joint robot | |
| CN101653940B (en) | Finger device of double joint rack coupling robot | |
| CN102328316A (en) | Double-joint inclined belt type transmission compound underactuated robot finger device | |
| CN202264226U (en) | Coupling under-actuated finger device of robot | |
| CN100537157C (en) | Gear belt wheel under-driven anthropomorphic robot hand device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120606 Effective date of abandoning: 20120726 |
|
| C20 | Patent right or utility model deemed to be abandoned or is abandoned |