CN205734996U - A kind of flexible manipulator captured for pipe - Google Patents
A kind of flexible manipulator captured for pipe Download PDFInfo
- Publication number
- CN205734996U CN205734996U CN201620681295.8U CN201620681295U CN205734996U CN 205734996 U CN205734996 U CN 205734996U CN 201620681295 U CN201620681295 U CN 201620681295U CN 205734996 U CN205734996 U CN 205734996U
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- pipe
- mechanical
- joint
- group
- 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.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 210000003462 vein Anatomy 0.000 claims description 4
- 238000000205 computational method Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 235000013399 edible fruits Nutrition 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000238633 Odonata Species 0.000 description 1
- 239000004952 Polyamide Substances 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 229920002647 polyamide Polymers 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
A kind of flexible manipulator captured for pipe, including robot base, one group of mechanical finger and the one group of main joint being arranged in robot base, one group of mechanical finger is connected with one group of main joint respectively, one group of main joint is symmetricly set in robot base, and robot base is provided with main joint driving means, controls device and position detecting device；Mechanical finger includes the mechanical joint of first knuckle, second knuckle and connection, and first knuckle is connected with main joint, and second knuckle end cross is provided with jaw；Mechanical joint includes sliding mechanism and mechanical joint driving means, and sliding mechanism includes the first bindiny mechanism and second bindiny mechanism of phase clamping；Mechanical joint driving means, main joint driving means and position detecting device are all connected with control device.Without complicated control system and computational methods, difform object can be captured, be particularly suited for pipe, it is possible to keep stable grasp force.
Description
Technical field
This utility model relates to the technical field of mechanical hand, particularly to a kind of flexible manipulator captured for pipe.
Background technology
Articulated robot, also referred to as joint arm robot or joint Manipulator arm, be modal in current industrial circle
One of form of industrial robot, is suitable for the machine automatization equalization of many industrial circles.For articulated robot, joint
It it is its important component part, it is achieved that the relative motion of mechanical arm.
When utilizing mechanical arm to capture object, end can arrange the mechanical finger of several mutually coordinated motion, mechanical hand
Refer to be respectively divided into several sections of and connected by joint.Currently for capturing different size, difform object, mechanical finger
Self adaptation degree is the highest.
Chinese patent application prospectus CN104303709A discloses a kind of dragonfly pawl with bionic geometric structure feature
Formula end effector, this mechanical hand is by frame-type mechanical platform, intelligence control system, feedback system, drive system, electric power auxiliary
System forms；When mechanical hand contact fruit and vegerable, by the rotation amplitude of the force value feedback regulation servomotor of sensor, thus come
Adjustable claw refers to tightening up or diastole of the high-strength flexible polyamide rope of inside, and then realizes different size, difform fruit
Vegetables carry out the purpose of stable crawl, improve the end effector i.e. adaptive ability of mechanical finger, but the knot of this design
Structure and control method are the most complex, and its intermediate link is the most, break down and the probability that lost efficacy is the biggest, and, tired
The error (include measurement error, calculate error etc.) of meter is the biggest.
Utility model content
The purpose of utility model: this utility model disclose a kind of for pipe capture flexible manipulator, its simple in construction,
Low cost, it is not necessary to complicated control system and computational methods, mechanical joint uses purely mechanic structure, it is matched with mechanical finger
Close, difform object can be captured, be particularly suited for capturing pipe and the object with hollow round hole, it is possible to achieve double
To crawl, and keep stable grasp force.
Technical scheme: in order to realize object above, the utility model discloses a kind of flexible mechanical captured for pipe
Hands, including robot base, one group of mechanical finger and the one group of main joint being arranged in robot base, one of which mechanical hand
Referring to be connected with one group of main joint respectively, one group of main joint is symmetricly set in robot base, and robot base is provided with main pass
Joint driving means, control device and position detecting device；Described mechanical finger includes first knuckle, second knuckle and connection
Mechanical joint, wherein first knuckle is connected with main joint, and second knuckle end cross is provided with jaw；Described mechanical joint includes
Sliding mechanism and mechanical joint driving means, wherein sliding mechanism includes the first bindiny mechanism and the second connection machine of phase clamping
Structure；Mechanical joint driving means, main joint driving means and position detecting device are all connected with control device.This design structure
Simply, low cost, it is not necessary to complicated control system and computational methods, mechanical joint uses purely mechanic structure, by itself and mechanical hand
Finger matches, and can capture difform object, is particularly suited for capturing pipe and the object with hollow round hole, permissible
Realize two-way crawl, and keep stable grasp force；Sliding mechanism has the function of slipping protection, is possible not only to protect machinery pass
The parts of joint are without damage, more prevent from grabbing bad object.
Further, above-mentioned a kind of flexible manipulator captured for pipe, described mechanical joint also includes being coaxially disposed
The first rotating shaft and the second rotating shaft, be sheathed on the travelling gear in the first rotating shaft, be arranged in the first rotating shaft and the second rotating shaft
First support, the second support, wherein the first bindiny mechanism is set in the first rotating shaft, and the second bindiny mechanism is set in the second rotating shaft
On, mechanical joint driving means is connected with travelling gear.The mechanical joint of this design is used for connecting outside mechanical finger,
When capturing object, driving means drives mechanical joint to rotate, thus driving mechanical finger grips object；When mechanical finger tightens up thing
When body reaches to a certain degree, when i.e. object reaches setting value to the counteracting force of mechanical finger, sliding mechanism starts to skid to rise
To protective effect, mechanical finger halts simultaneously；So, it is possible not only to protect the parts such as gear, motor without damage, more makes
Grasp force keeps stable, prevents from grabbing bad object；It addition, loosened when object, the counteracting force of mechanical finger reduces by object,
During less than setting value, sliding mechanism stops skidding, and mechanical finger rotates promptly object further, can keep stable grabbing with this
Power taking, makes crawl process safety, reliable.
Further, above-mentioned a kind of flexible manipulator captured for pipe, described second bindiny mechanism is in the form of annular discs, its
The edge-perpendicular of circular surface is provided with one group of continuous print sawtooth；First bindiny mechanism surface is vertically provided with grab, and first connects machine
Elastic component it is provided with inside structure.This design simple in construction, it is achieved that the function of slipping protection, if applied external force connects second
Enough it overcomes the elastic component thrust to the first bindiny mechanism to the moment of torsion that mechanism produces, then the second bindiny mechanism connects relative to first
Mechanism rotates, and promotes the first attachment structure to keep out of the way simultaneously, and sawtooth slips over grab successively, it is achieved skid；Elastic component has holding and makees
With and reset response.
Further, above-mentioned a kind of flexible manipulator captured for pipe, described elastic component is compression spring, and it is sheathed
In the first rotating shaft, one end is connected with the first bindiny mechanism, and the other end and the first rotating shaft are connected.The design of this compression spring
There is reset function, push the first bindiny mechanism to second bindiny mechanism, will push between adjacent saw-tooth by grab, the company of being allowed to
Knot；Sliding mechanism is made to keep stability and the reliability of connecting shaft in the case of non-slip.
Further, above-mentioned a kind of flexible manipulator captured for pipe, described one group of sawtooth is continuous print waveform
Or continuous print triangle, corresponding, card chimoto is circular arc or triangle.This design makes the first bindiny mechanism and second
The rotation of bindiny mechanism has amphicheirality, except having slipping protection function when capturing object, decontrols at release mechanism finger
During object, it may have slipping protection function, or (mechanical finger stretches in the hole of object or cavity and captures reversely capturing object
Object) time also there is slipping protection function；Corrugated design makes rotation the most smooth and easy, and can slow down abrasion；Triangle
Design make the engaging of grab and sawtooth relatively stable, improve the reliability of connecting shaft.
Further, above-mentioned a kind of flexible manipulator captured for pipe, described jaw is arc-shaped, and refers to second
Joint is rotationally connected.The jaw of this design more adapts to the shape of pipe and circular hole, is rotationally connected after can making jaw touching object
Carry out self-regulation, with tube wall of fitting.
Further, above-mentioned a kind of flexible manipulator captured for pipe, described jaw is provided with rubber sleeve, and rubber
Set surface is provided with anti-slip veins.This design had both protected mechanical finger, also protects and is grabbed object, prevented mechanical finger and object
Between damage；The design of anti-slip veins improves the frictional force between mechanical finger and object, reduces the possibility of object landing, makes crawl
Object is more reliable.
Further, above-mentioned a kind of flexible manipulator captured for pipe, described jaw inside and outside wall is equipped with friction plate.
This design improves frictional force during crawl, and it is to tackle crawl pipe and capturing circular hole that inside and outside wall is equipped with friction plate
Two kinds of situations of wall.
Technique scheme is it can be seen that this utility model has the advantages that one described in the utility model
The flexible manipulator captured for pipe, its simple in construction, low cost, it is not necessary to complicated control system and computational methods, machinery
Joint uses purely mechanic structure, it is matched with mechanical finger, it is adaptable to capture difform object, it is possible to keep steady
Fixed grasp force；The parts such as gear, motor can be protected without damage, more prevent from grabbing bad object；Both beating of forward crawl had been realized
Sliding protection, realizes again the slipping protection reversely captured；Connecting shaft reliability during normal work is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of flexible manipulator captured for pipe described in the utility model；
Fig. 2 is the structural representation of the mechanical joint of a kind of flexible manipulator for pipe crawl described in the utility model
Figure；
Fig. 3 is the cross-section structure of the sliding mechanism of a kind of flexible manipulator for pipe crawl described in the utility model
Schematic diagram；
Fig. 4 is the jaw structure with friction plate of a kind of flexible manipulator for pipe crawl described in the utility model
Schematic diagram；
Fig. 5 is the jaw structure with rubber sleeve of a kind of flexible manipulator for pipe crawl described in the utility model
Schematic diagram；
In figure: 1-robot base, 2-mechanical finger, 21-first knuckle, 22-second knuckle, 3-main joint, 4-machinery
Joint, 41-the first rotating shaft, 42-the second rotating shaft, 43-travelling gear, 44-the first support, 441-the first base plate, 442-the first side
Plate, 45-the second support, 451-the second base plate, 452-the second side plate, 46-sliding mechanism, 461-the first bindiny mechanism, 462-
Two bindiny mechanisms, 463-elastic component, 47-driving means, 471-motor, 472-train of reduction gears, 5-jaw, 6-rubber sleeve, 7-
Friction plate.
Detailed description of the invention
Below in conjunction with the accompanying drawings, this utility model detailed description of the invention is described in detail.
Embodiment
A kind of flexible manipulator captured for pipe of the present utility model, as shown in Figures 1 to 5, including mechanical hand base
1, one group of mechanical finger 2 of seat and the one group of main joint 3 being arranged in robot base 1, one of which mechanical finger 2 is respectively with one
Group main joint 3 connects, and one group of main joint 3 is symmetricly set in robot base 1 and is distributed with circular array column-shaped, robot base
1 is provided with main joint driving means, control device and position detecting device；Described mechanical finger 2 includes first knuckle 21, second
Referring to joint 22 and connect both mechanical joints 4, wherein first knuckle 21 is connected with main joint 3, and second knuckle 22 end cross sets
There is jaw 5；Jaw 5 in arc-shaped, the strip i.e. bent, and being rotationally connected with second knuckle 22；Jaw 5 is provided with rubber sleeve 6,
And rubber sleeve 6 surface is provided with anti-slip veins, or jaw 5 inside and outside wall is equipped with friction plate 7, is used for replacing rubber sleeve 6；One group of machinery
The quantity of finger 2 can be 2 or 4.
Described mechanical joint 4 includes the first rotating shaft 41 and the second rotating shaft 42 being coaxially disposed, and is sheathed in the first rotating shaft 41
Travelling gear 43, first support the 44, second support 45 being arranged in the first rotating shaft 41 and the second rotating shaft 42, and skidding machine
Structure 46, sliding mechanism 46 includes the first bindiny mechanism 461 and the second bindiny mechanism 462, wherein the first bindiny mechanism of phase clamping
461 are set in the first rotating shaft 41, and the second bindiny mechanism 462 is set in the second rotating shaft 42；Second bindiny mechanism 462 is in disk
Shape, the edge-perpendicular of its circular surface is provided with one group of continuous print sawtooth；First bindiny mechanism 461 surface is vertically provided with grab, its
Adapting with zigzag fashion, the first bindiny mechanism 461 is internal is provided with elastic component 463, and described elastic component 463 is compression spring, its
Being set in the first rotating shaft 41, one end is connected with the first bindiny mechanism 461, and the other end and the first rotating shaft 41 are connected.One group of saw
Tooth is continuous print waveform or continuous print triangle, corresponding, and card chimoto is circular arc or triangle；Described grab is one
Group grab, it can be distributed with circular array shape, can also continuous distribution at the first bindiny mechanism 461 marginal surface.
First support the 44, second support 45 is all connected with outside mechanical finger, and the first support 44 includes the first base plate 441
Be separately positioned on two first side plates 442 at the first base plate 441 two ends, the second support 45 includes the second base plate 451 and respectively
It is arranged on two second side plates 452 at the second base plate 451 two ends；First rotating shaft 41 one end respectively with first side plate the 442, second side
Plate 452 is connected, and second rotating shaft 42 one end is connected with first side plate the 442, second side plate 452 of opposite side respectively；First
Frame 44 is provided with mechanical joint driving means 47, and mechanical joint driving means 47 includes motor 471, and is connected with motor 471
Train of reduction gears 472, wherein reduction gearing 472 is connected with travelling gear 43, and motor 471 is fixedly mounted on the first support 44
On.Mechanical joint driving means 47, main joint driving means and position detecting device are all connected with control device.
Travelling gear 43 is fixing with the first rotating shaft 41 to be connected, and the first bindiny mechanism 461 is slidably connected with the first rotating shaft 41, and two
Can not relatively rotate between person, but can linear slide within the specific limits, D can be offered in the first bindiny mechanism 461
Shape hole, and one section of D-shaped shape shaft is set in the first rotating shaft 41 to realize above-mentioned requirements；Second bindiny mechanism 462 and second turn
Axle 42 is fixing to be connected, by grab, the cooperation phase clamping of sawtooth between the first bindiny mechanism 461 and the second bindiny mechanism 462；The
Side plate 442 and the first rotating shaft 41 are rotationally connected and are provided with bearing, are rotationally connected with the second rotating shaft 42 and are provided with bearing；Second side
Plate 452 and the first rotating shaft 41 are rotationally connected and are provided with bearing, fix with the second rotating shaft 42 and are connected.
Mechanical joint is used for connecting outside mechanical finger, and operation principle is as follows: when capturing object, and mechanical joint drives dress
Put 47 driving travelling gear the 43, first rotating shafts 41 and the first bindiny mechanism 461 rotates, when normally capturing, at grab and sawtooth
In clamped condition, elastic component 463(compression spring) the first bindiny mechanism 461 is applied axial force push it against the second bindiny mechanism
462 also push-tights, the first bindiny mechanism 461 and the second bindiny mechanism 462 stable bond, plays connecting shaft effect, thus drives second
Rotating shaft 42 and the second support 45 rotate, i.e. driving mechanical finger grip object gradually tighten up object, and now mechanical finger is to thing
Knowing from experience and produce grasp, accordingly, object can produce counteracting force to mechanical finger, grasp and retroaction in tightening process
Power is gradually increased, and enough it overcomes elastic component 463(compression spring to the moment of torsion produced the second bindiny mechanism 462 when counteracting force)
Thrust to the first bindiny mechanism 461, then the second bindiny mechanism 462 rotates relative to the first bindiny mechanism 461, promotes first simultaneously
Attachment structure 461 is kept out of the way, and sawtooth slips over grab successively, it is achieved skidding, now mechanical finger halts；If mechanical hand is carried out
Short distance is carried, simple for structure and control, and motor 471 can be with continuous running, and sliding mechanism 46 persistently skids；When object has
Loosened, the counteracting force of mechanical finger reduces by object, less than setting value time, sliding mechanism 46 stops skidding, and first connects
Mechanism 461 drives the second bindiny mechanism the 462, second rotating shaft 42 and the second support 45 to be rotated further, and mechanical finger tightens up further
Object, avoids object during capturing with this and loosens because of what shift in position caused and come off, being especially suitable for irregularly shaped object
Capturing, and grasp force can keep stable, grasp force can pass through elastic component 612(compression spring), sawtooth 621 and grab
The shapes of 611 etc. calculate and design.When the cavity that mechanical hand stretches into hollow body captures object, only need to first close up mechanical hand
Referring to, the most reversely launching mechanical finger (motor 471 inverts) afterwards in stretching into cavity, its ultimate principle is ibid.
The above is only preferred implementation of the present utility model, it should be noted that for the ordinary skill of the art
For personnel, on the premise of without departing from this utility model principle, it is also possible to make some improvement, these improve and also should be regarded as this
The protection domain of utility model.
Claims (8)
1. the flexible manipulator captured for pipe, it is characterised in that: include robot base (1), one group of mechanical finger
(2) and one group of main joint (3) being arranged in robot base (1), one of which mechanical finger (2) respectively with one group of main joint
(3) connecting, one group of main joint (3) is symmetricly set in robot base (1), and robot base (1) is provided with main joint and drives
Device, control device and position detecting device；
Described mechanical finger (2) includes first knuckle (21), second knuckle (22) and connects both mechanical joints (4), wherein
First knuckle (21) is connected with main joint (3), and second knuckle (22) end cross is provided with jaw (5)；
Described mechanical joint (4) includes sliding mechanism (46) and mechanical joint driving means (47), wherein sliding mechanism (46) bag
Include the first bindiny mechanism (461) and second bindiny mechanism (462) of phase clamping；Mechanical joint driving means (47), main joint drive
Dynamic device and position detecting device are all connected with control device.
A kind of flexible manipulator captured for pipe the most according to claim 1, it is characterised in that: described mechanical joint
(4) also include the first rotating shaft (41) and the second rotating shaft (42) being coaxially disposed, be sheathed on the travelling gear in the first rotating shaft (41)
(43), being arranged on the first support (44) in the first rotating shaft (41) and the second rotating shaft (42), the second support (45), wherein first even
Connection mechanism (461) is set in the first rotating shaft (41), and the second bindiny mechanism (462) is set in the second rotating shaft (42), and machinery closes
Joint driving means (47) is connected with travelling gear (43).
A kind of flexible manipulator captured for pipe the most according to claim 2, it is characterised in that: described second connects
Mechanism (462) is in the form of annular discs, and the edge-perpendicular of its circular surface is provided with one group of continuous print sawtooth；First bindiny mechanism (461) table
Face is vertically provided with grab, and the first bindiny mechanism (461) is internal is provided with elastic component (463).
A kind of flexible manipulator captured for pipe the most according to claim 3, it is characterised in that: described elastic component
(463) being compression spring, it is set in the first rotating shaft (41), and one end is connected with the first bindiny mechanism (461), the other end and
One rotating shaft (41) is connected.
A kind of flexible manipulator captured for pipe the most according to claim 2, it is characterised in that: described one group of sawtooth
In continuous print waveform or continuous print triangle, corresponding, card chimoto is circular arc or triangle.
A kind of flexible manipulator captured for pipe the most according to claim 1, it is characterised in that: described jaw (5)
In arc-shaped, and it is rotationally connected with second knuckle (22).
A kind of flexible manipulator captured for pipe the most according to claim 1, it is characterised in that: described jaw (5)
It is provided with rubber sleeve (6), and rubber sleeve (6) surface is provided with anti-slip veins.
A kind of flexible manipulator captured for pipe the most according to claim 1, it is characterised in that: described jaw (5)
Inside and outside wall is equipped with friction plate (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620681295.8U CN205734996U (en) | 2016-07-01 | 2016-07-01 | A kind of flexible manipulator captured for pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620681295.8U CN205734996U (en) | 2016-07-01 | 2016-07-01 | A kind of flexible manipulator captured for pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205734996U true CN205734996U (en) | 2016-11-30 |
Family
ID=57380327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620681295.8U Expired - Fee Related CN205734996U (en) | 2016-07-01 | 2016-07-01 | A kind of flexible manipulator captured for pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205734996U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041987A (en) * | 2016-07-01 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Flexible mechanical hand used for grabbing round pipes and work method of flexible mechanical hand |
-
2016
- 2016-07-01 CN CN201620681295.8U patent/CN205734996U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041987A (en) * | 2016-07-01 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Flexible mechanical hand used for grabbing round pipes and work method of flexible mechanical hand |
| CN106041987B (en) * | 2016-07-01 | 2018-08-24 | 江苏捷帝机器人股份有限公司 | A kind of working method of flexible manipulator for pipe crawl |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108163078B (en) | Operation device capable of being adjusted in telescopic mode | |
| CN109927068B (en) | Flexible palm surface self-adaptive rapid grabbing robot hand device | |
| CN108908382A (en) | The coupling adaptive three of tendon rope drive refers to differential mechanism manpower jaw arrangement | |
| CN105150225A (en) | Pinching-holding composite and adaptive robot finger device with rod and wheels connected in parallel | |
| CN107309887B (en) | Coupling and self-adaptive under-actuated bionic dexterous finger | |
| CN102171004A (en) | An apparatus for tightening a fastener having a safety device | |
| CN101774175B (en) | Double-joint wheel type parallel coupling under-actuated bio-simulation mechanical finger device | |
| GB2459723A (en) | Robotic end effector | |
| CN205734996U (en) | A kind of flexible manipulator captured for pipe | |
| CN205735007U (en) | A kind of flexible mechanical joint of catching robot | |
| CN205734933U (en) | A kind of two-way catching robot being provided with Friction Type Belt Drive joint | |
| CN106113079A (en) | A kind of mechanical joint of flexible catching robot | |
| CN107139195B (en) | Robot finger device suitable for pinching and holding | |
| CN106041987B (en) | A kind of working method of flexible manipulator for pipe crawl | |
| CN204546553U (en) | A kind of stay-supported manipulator | |
| CN109849030A (en) | A kind of flat clip finger self-reacting device based on fluid | |
| CN205735005U (en) | A kind of two-way mechanical joint for catching robot | |
| CN206764813U (en) | A kind of anti-skidding manipulator | |
| CN205734902U (en) | A kind of self-adapting grasping mechanical hand with sliding mechanism | |
| CN106695851A (en) | Two-direction perception adaptive robot finger device with closed-ring flexible piece and control method of two-direction perception adaptive robot finger device | |
| CN106041918A (en) | Both-way grabbing mechanical arm with friction type belt drive joints and work method of both-way grabbing mechanical arm | |
| JP5684332B2 (en) | Bogie with lower parts assembly | |
| CN106041890A (en) | Self-adaptive grabbing mechanical hand with skidding mechanisms and work method of self-adaptive grabbing mechanical hand | |
| CN113771016B (en) | Single-degree-of-freedom bionic multifunctional manipulator with adaptability | |
| CN102873687B (en) | Distributed multi-motor cooperative composite grabbing robot finger device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 |