CN206578847U - Translation idle running is driven coupling adaptive robot finger apparatus - Google Patents
Translation idle running is driven coupling adaptive robot finger apparatus Download PDFInfo
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- CN206578847U CN206578847U CN201720125492.6U CN201720125492U CN206578847U CN 206578847 U CN206578847 U CN 206578847U CN 201720125492 U CN201720125492 U CN 201720125492U CN 206578847 U CN206578847 U CN 206578847U
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Abstract
Translation idle running is driven coupling adaptive robot finger apparatus, belongs to robot technical field, including pedestal, two segments, two joint shafts, driver, transmission mechanism, three gears, three racks, two spring parts, two driving levers and two projections.The device, which is integrated, realizes coupling and adaptively compound grasp mode, the device can link two joints end grip object, act personification degree high, also can first rotate the first segment touch after object be rotated further by the second segment envelope grip object, reach the self-adapting grasping effect to different shape size objects；Device transmission is accurate steady, and grasping stability is reliable；Two joints are driven merely with a driver, without complicated sensing and real-time control system；Simple in construction, driving-chain is short simultaneously, number of parts is few, small volume, lightweight, assembling easily, manufacturing cost it is low.
Description
Technical field
The utility model belongs to robot technical field, more particularly to a kind of translation idle running transmission coupling adaptive machine
The structure design of finger device.
Background technology
Robot is an important end fitting, and for capturing object and operation object, it typically has multiple hands
Refer to and palm, core is how preferably to capture object.Existing under-actuated robot hand technology mainly uses a small amount of motor
Multiple joints are driven, are divided into two kinds of main methods：When joint is rotated simultaneously, robot finger can obtain stable end
Grip captures effect, and this driving is accurate grasp mode, also referred to as coupling rotational pattern；When needing large force, typically
Multiple segment contact envelope objects are needed, this driving is strength type grasp mode, also referred to as self-adapting grasping pattern.Both
Grasp mode respectively has advantage and disadvantage, and they can realize that a motor drives two joints, reduces control difficulty, reduces to system
Sensing and demand for control, cost is low, meanwhile, this kind of robot weight is small, and small volume, application field is wide.
The robot that combines with adaptive two kinds of grasp modes will have been coupled and be devised that (Chinese invention is special
Sharp CN106041920A).Coupling is that coupling process is arranged in into self-adapting grasping with the compound grasp mode being adaptively combined
Before, so, the doublejointed of the finger first rotates proportional angle simultaneously, and end segment is rotated further by after object touches nearly segment
Reach the effect of envelope (if object is in the first contact end segment of coupling stages, crawl terminates).This robot difference
Possess coupling crawl effect and self-adapting grasping effect, but also be one with adaptive compound grasp mode is first coupled again
Plant good robot.The robot finger apparatus includes two flexible pieces, initiative driver, driven transmission wheel, a pair of teeth
Wheel drive mechanism, a pair of belt wheel transmission mechanisms and a pair have the driving member of idle stroke projection, two spring parts etc., and synthesis is realized
Coupling and adaptively compound grasp mode, but have the following disadvantages：1) flexible piece easily relaxation deformation, transmission is inaccurate, needs
It is tensioned and often adjusts, easily fatigue, short life；2) device transmission chain length, transmission are complicated, and number of parts is more, volume is big,
Weight is big, and assembling is complicated, and manufacturing cost is high.
The content of the invention
The purpose of this utility model is that there is provided a kind of transmission coupling of translation idle running in order to overcome the weak point of prior art
Adaptive robot finger apparatus.The device can realize coupling and adaptively compound grasp mode, and can link two joints
With end grip object, it also can first rotate the first segment and touch after object and be rotated further by the second segment envelope and grip object, reach pair
The adaptive grip effect of different shape size objects；Without complicated sensing and control system；While simple in construction, driving-chain
Short, number of parts is few, be driven accurate steady, small volume, lightweight, assembling is easy, manufacturing cost is low.
The technical solution of the utility model is as follows：
A kind of translation idle running transmission coupling adaptive robot finger apparatus of the utility model design, including pedestal, the
One segment, the second segment, nearly joint shaft, remote joint shaft, driver and transmission mechanism；The nearly joint shaft is movably set in pedestal
In；First segment is actively socketed on nearly joint shaft；The remote joint shaft is set in the first segment；Second segment
It is socketed on remote joint shaft；The driver and pedestal are affixed；The transmission mechanism is arranged in pedestal；The driver it is defeated
Shaft is connected with the input of transmission mechanism；The output end of the transmission mechanism is connected with nearly joint shaft；The nearly joint shaft
The centerline parallel of center line and remote joint shaft；It is characterized in that：Translation idle running transmission coupling adaptive robot finger's dress
Put also include first gear, second gear, the 3rd gear, the first rack, the second rack, the 3rd rack, the first driving lever, second group
Bar, the first spring part, the second spring part, the first projection and the second projection；The first gear is fixed on nearly joint shaft, and described second
Gear is actively socketed on nearly joint shaft, and the 3rd gear is socketed on remote joint shaft, the 3rd gear and the second segment
It is affixed；First rack is slided and is embedded in the first segment；Second rack is slided and is embedded in the first segment, the first tooth
Glide direction in each comfortable first segment of bar, the second rack is identical；First rack is engaged with first gear, and described second
Rack is engaged with second gear, and the 3rd rack is engaged with the 3rd gear；Second rack and the 3rd rack are affixed；If institute
The meshing point of the first rack and first gear is stated for A points, the meshing point of second rack and second gear is B points, the 3rd tooth
Article it is C points with the meshing point of the 3rd gear, the central point of nearly joint shaft is M points, the central point of remote joint shaft is N points, line segment MB,
BC, CN, NM constitute the figure of eight, and A points, B points are located at the both sides of nearly joint shaft；First projection and pedestal are affixed, and described second
Projection is affixed with second gear；First driving lever and the first rack are affixed, and second driving lever and the 3rd rack are affixed；It is described
First projection and the second bump contact are stood away, and first driving lever is contacted with the second driving lever in the range of stroke；
When translation idle running transmission coupling adaptive robot finger apparatus is in original state, the first projection connects with the second projection
Touch, the first driving lever stands away with the second driving lever；The two ends of the first spring part connect nearly joint shaft and first and referred to respectively
Section, the two ends of the second spring part connect pedestal and second gear respectively and so that the second projection is close to the first projection.
Translation idle running described in the utility model is driven coupling adaptive robot finger apparatus, it is characterised in that：It is described
Driver uses motor, cylinder or hydraulic cylinder.
Translation idle running described in the utility model is driven coupling adaptive robot finger apparatus, it is characterised in that：It is described
First spring part uses extension spring or torsion spring.
Translation idle running described in the utility model is driven coupling adaptive robot finger apparatus, it is characterised in that：It is described
Second spring part uses extension spring or torsion spring.
Translation idle running described in the utility model is driven coupling adaptive robot finger apparatus, it is characterised in that：It is described
Transmission mechanism includes decelerator, the first belt wheel, the second belt wheel and transmission belt；The input of the output shaft and decelerator of the driver
Axle is connected, and the first band wheel is fixed on the output shaft of decelerator, and second belt wheel is fixed on nearly joint shaft, described to pass
Dynamic band connects the first belt wheel and the second belt wheel respectively, is cooperatively formed between the transmission belt, the first belt wheel and the second belt wheel three
Belt wheel transmission relation；Described transmission belt formation " O " font.
The utility model compared with prior art, with advantages below and high-lighting effect：
The utility model device utilizes driver, transmission mechanism, three gears, three racks, two spring parts, two driving levers
With two projections etc. are comprehensive realizes coupling and adaptively compound grasp mode, the device two joints that can link are pinched with end
Hold object, action personification degree is high, also can first rotate the first segment and touch after object and be rotated further by the second segment envelope gripping object, reach
To the self-adapting grasping effect to different shape size objects；Device transmission is accurate steady, and grasping stability is reliable；Merely with one
Individual driver drives two joints, without complicated sensing and real-time control system；While simple in construction, driving-chain is short, part
Quantity is few, small volume, lightweight, assembling easily, manufacturing cost it is low.
Brief description of the drawings
Fig. 1 is that the translation idle running of the utility model design is driven a kind of embodiment of coupling adaptive robot finger apparatus
Stereo appearance figure.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the side view (Fig. 2 right view) of embodiment illustrated in fig. 1.
Fig. 4 is that the stereo appearance figure in embodiment illustrated in fig. 1 (is not drawn into before pedestal foreboard, pedestal right plate, the first segment
Plate, the first segment right plate).
Fig. 5 is the front view (being not drawn into pedestal foreboard, the first segment foreboard) of embodiment illustrated in fig. 1.
Fig. 6 is A-A sectional views in embodiment illustrated in fig. 2.
Fig. 7 is B-B sectional views in embodiment illustrated in fig. 3.
Fig. 8 is the explosive view of embodiment illustrated in fig. 1.
Fig. 9 to Figure 12 is that embodiment illustrated in fig. 1 is being combined the action that Grasp Modes capture object to couple with adaptive
Journey schematic diagram.
When Figure 13 is Fig. 9 several to embodiment illustrated in fig. 12 key positions, from first the first rack of segment view,
Two racks, the 3rd rack, the situation of change of the relative position of the first driving lever and the second driving lever, its middle conductor PQ are nearly joint shaft
Center line.
Figure 14 is embodiment illustrated in fig. 1 in original state and coupling stage of gripping, second the first projection of bump contact
State.
Figure 15 be embodiment illustrated in fig. 1 at the self-adapting grasping stage, the second projection is rotated away from relative to the first projection
The situation of one angle, now, the second spring part is stretched.
Figure 16 to Figure 18 is embodiment illustrated in fig. 1 with the action process schematic diagram of simple coupled modes grip object,
Two segments contact object.
Figure 19 is the mechanism principle schematic diagram of embodiment illustrated in fig. 1.
In Fig. 1 into Figure 19：
1- pedestals, 101- pedestal foreboards, 102- pedestal left plates, 103- pedestal right plates,
104- pedestal back plates, 105- pedestal bottom plates, the projections of 11- first, 12- motors,
The segments of 2- first, 201- the first segment foreboards, 202- the first segment left plates, the segments of 203- first are right
Side plate,
204- the first segment back plates, 205- the first segment frame boards, the segments of 3- second, the nearly joint shafts of 4-,
The remote joint shafts of 5-, 61- decelerators, the belt wheels of 62- first, 63- transmission belts,
The belt wheels of 64- second, 71- first gears, 72- second gears, the projections of 721- second,
The gears of 73- the 3rd, the racks of 81- first, the racks of 82- second, the racks of 83- the 3rd,
The driving levers of 811- first, the driving levers of 831- second, 91- the first spring parts, 92- the second spring parts,
99- objects.
Embodiment
Below in conjunction with the accompanying drawings and embodiment be described in further detail concrete structure of the present utility model, operation principle it is interior
Hold.
The translation idle running of the utility model design is driven a kind of embodiment of coupling adaptive robot finger apparatus, such as schemes
Shown in 1 to Fig. 8, including pedestal 1, the first segment 2, the second segment 3, nearly joint shaft 4, remote joint shaft 5 and driver 12 and transmission
Mechanism；The nearly joint shaft 4 is movably set in pedestal 1；First segment 2 is actively socketed on nearly joint shaft 4；It is described remote
Joint shaft 5 is set in the first segment 2；Second segment 3 is socketed on remote joint shaft 5；The driver 12 is consolidated with pedestal 1
Connect；The transmission mechanism is arranged in pedestal 1；The output shaft of the driver 12 is connected with the input of transmission mechanism；It is described
The output end of transmission mechanism is connected with nearly joint shaft 4；The centerline parallel of the center line of the nearly joint shaft 4 and remote joint shaft 5；
Translation idle running transmission coupling adaptive robot finger apparatus also include first gear 71, second gear 72, the 3rd gear 73,
First rack 81, the second rack 82, the 3rd rack 83, the first driving lever 811, the second driving lever 831, the first spring part 91, the second spring part
92nd, the first projection 11 and the second projection 721；The first gear 71 is fixed on nearly joint shaft 4, the activity of second gear 72
It is socketed on nearly joint shaft 4, the 3rd gear 73 is socketed on remote joint shaft 5, the 3rd gear 73 and the second segment 3 are solid
Connect；First rack 81 is slided and is embedded in the first segment 2；Second rack 82 is slided and is embedded in the first segment 2, the
Glide direction in one rack 81, each comfortable first segment 2 of the second rack 82 is identical；First rack 81 and first gear 71
Engagement, second rack 82 is engaged with second gear 72, and the 3rd rack 83 is engaged with the 3rd gear 73；Second tooth
Articles 82 affixed with the 3rd rack 83；If the meshing point of first rack 81 and first gear 71 is A points, second rack 82
It is B points with the meshing point of second gear 72, the meshing point of the 3rd rack 83 and the 3rd gear 73 is C points, the center of nearly joint shaft 4
Point is M points, and the central point of remote joint shaft 5 is N points, and line segment MB, BC, CN, NM constitute the figure of eight, and A points, B points are located at nearly joint shaft
4 both sides；First projection 11 and pedestal 1 are affixed, and second projection 721 and second gear 72 are affixed；Described first group
Bar 811 and the first rack 81 are affixed, and second driving lever 831 and the 3rd rack 83 are affixed；First projection 11 and second convex
Block 721 is contacted or stood away, and first driving lever 811 is contacted with the second driving lever 831 in the range of stroke；In the translation
When idle running transmission coupling adaptive robot finger apparatus is in original state, the first projection 11 is contacted with the second projection 721, the
One driving lever 811 stands away with the second driving lever 831；The two ends of the first spring part 91 connect nearly joint shaft 4 and respectively
One segment 2, the two ends of the second spring part 92 connect pedestal 1 and second gear 72 respectively and so that the second projection 721 is close to
One projection 11.
Translation idle running described in the utility model is driven coupling adaptive robot finger apparatus, it is characterised in that：It is described
Driver uses motor, cylinder or hydraulic cylinder.In the present embodiment, the driver uses motor 12.
Translation idle running described in the utility model is driven coupling adaptive robot finger apparatus, it is characterised in that：It is described
First spring part uses extension spring or torsion spring.In the present embodiment, the first spring part 91 uses extension spring.
Translation idle running described in the utility model is driven coupling adaptive robot finger apparatus, it is characterised in that：It is described
Second spring part uses extension spring or torsion spring.In the present embodiment, the second spring part 92 uses torsion spring.
In the present embodiment, the transmission mechanism includes decelerator 61, the first belt wheel 62, the belt wheel 64 of transmission belt 63 and second；
The output shaft of the driver 12 is connected with the input shaft of decelerator 61, and first belt wheel 62 is fixed in the defeated of decelerator 61
On shaft, second belt wheel 64 is fixed on nearly joint shaft 4, and the transmission belt 63 connects the first belt wheel 62 and the second band respectively
Wheel 64, belt wheel transmission relation is cooperatively formed between the transmission belt 63, the first belt wheel 62 and the three of the second belt wheel 64；The transmission
Band forms " O " font.
In the present embodiment, the pedestal foreboard 101, pedestal left plate 102, pedestal that the pedestal 1 includes being fixed together are right
Side plate 103 and pedestal back plate 104.
In the present embodiment, first segment 2 includes the first segment foreboard 201, the first segment left side being fixed together
Plate 202, the first segment right plate 203, the first segment back plate 204 and the first segment frame board 205.
The mechanism principle schematic diagram of the present embodiment is as shown in figure 19.
The operation principle of the present embodiment, with reference to accompanying drawing 9 to Figure 19, is described below：
In the present embodiment, in original state, translation idle running transmission coupling adaptive robot finger apparatus is in stretch
State, as shown in figure 1, now the second spring part 92 pulls the second projection 721 against on the first projection 11, the second projection
721 contact with the first projection 11, because the second projection 721 and second gear 72 are affixed, so second gear 72 keeps initial shape
State, temporary transient " fixation " is on pedestal.
Motor 12 is rotated forward, and is driven the first belt wheel 62 to rotate by decelerator 61, is passed through the turn drives second tape wheel 64 of transmission belt 63
Rotate, pull the first segment 2 to be rotated forward around nearly joint shaft 4 by the first spring part 91, the first segment 2, which is rotated, is close to crawl object 99.
Now, due to the effect of the second spring part 92, second gear 72 keeps initial with the second projection 721 relative to pedestal 1
Posture is constant；Simultaneously as second gear 72, the 3rd gear 73, the second rack 82, the 3rd rack 83, the first segment 2 constitutes spy
Different rack gear, its middle conductor MB, BC, CN, NM constitute the figure of eight, and the first segment 2 will be caused to rotate forward an angle
When, the 3rd gear 73 coupling rotational, one angle, when second gear 72 and the equal reference diameter of the 3rd gear 73, reaches 1:
1 coupling.
Because the second segment 3 and the 3rd gear 73 are affixed, the second segment 3 will rotate forward an angle relative to the first segment 2,
Reach the second segment 3 and the first segment 2 while the coupling effect rotated.This couples crawl process as shown in Figs. 9 to 11, in this rank
Section, the second projection 721 keeps the first projection 11 of contact under the effect of the second spring part 92, as shown in figure 14.
If the second segment 3 contacts object 99, the effect of coupling grip is reached, crawl terminates, this crawl process is such as
Shown in Figure 16 to Figure 18.
If in said process, the first segment 2 first contacts object 99, the second segment 3 also not in contact with to object 99, now from
It is dynamic to enter the second grasp mode --- self-adapting grasping pattern：Now, motor 12 continues to rotate forward an angle, passes through transmission mechanism
So that first gear 71 is rotated further, the first segment 2 is stopped by object 99 can not be further continued for rotating, and the first spring part 91 occurs bigger
Deformation, under the rotary action of first gear 71, the first rack 81 and the segment distance of 811 slide downward of the first driving lever one, by one
The idle stroke of segment distance, until the first driving lever 811 is contacted with the second driving lever 831 and pulls the second driving lever 831 and the 3rd rack 83
Slide downward, the 3rd rack 83 and the second rack 82 are affixed, drive second gear 72 to leave the first projection 11 to the second projection 721
Direction rotate, while so that the 3rd gear 73 continue rotate forward so that the second segment 3 continue rotate forward, until the second segment 3
Object 99 is contacted, crawl terminates.The crawl process is adapted to the object of different shape size, is a kind of self-adapting grasping mould
Formula.This self-adapting grasping process is as shown in Figure 11 to Figure 12, and in this self-adapting grasping stage, it is convex that the second projection 721 leaves first
Block 11, the second projection 721 rotates an angle [alpha] around nearly joint shaft 4, and the second spring part 92 is stretched deformation, as shown in figure 15.Finally
Envelope crawl object 99 situation as shown in figure 12, the first segment 2 around nearly joint shaft 4 rotate an angle [alpha], the second segment 3 around
Remote joint shaft 5 rotates an angle alpha+beta.
Since original state, coupling stage of gripping is I-stage, first rack 81 after the first segment 2 contact object 99
The downward translation and stage not in contact with the 3rd rack 83 is referred to as the II stages, this II stage is transition stage, afterwards, self-adapting grasping
Stage be the III stages, I-stage, II stages and III stages the first rack 81, the second rack 82, the 3rd rack 83 relative to
As shown in figure 13, its middle conductor PQ is the center line of nearly joint shaft 4 to the change in location situation of first segment 2.In Figure 13, in I ranks
Section, the first rack 81 is motionless relative to the first segment 2, and the second rack 82 and the 3rd rack 83 are flat downwards relative to the first segment 2
A dynamic distance, d；In the II stages, the first rack 81 is relative to the downward distance, d of translation one of the first segment 2, the He of the second rack 82
3rd rack 83 is motionless relative to the first segment 2；In the III stages, the first rack 81 contacts and stirs the second rack 82 and the 3rd
Rack 83, thus the first rack 81, the second rack 82 and the three of the 3rd rack 83 relative to one section of the downward translation of the first segment 2 away from
From s.
When the present embodiment discharges object 99, motor 12 is inverted, and subsequent process is with said process just on the contrary, repeating no more.
The utility model device utilizes driver, transmission mechanism, three gears, three racks, two spring parts, two driving levers
With two projections etc. are comprehensive realizes coupling and adaptively compound grasp mode, the device two joints that can link are pinched with end
Hold object, action personification degree is high, also can first rotate the first segment and touch after object and be rotated further by the second segment envelope gripping object, reach
To the self-adapting grasping effect to different shape size objects；Device transmission is accurate steady, and grasping stability is reliable；Merely with one
Individual driver drives two joints, without complicated sensing and real-time control system；While simple in construction, driving-chain is short, part
Quantity is few, small volume, lightweight, assembling easily, manufacturing cost it is low.
Claims (5)
1. a kind of translation idle running is driven coupling adaptive robot finger apparatus, including it is pedestal, the first segment, the second segment, near
Joint shaft, remote joint shaft, driver and transmission mechanism；The nearly joint shaft is movably set in pedestal；First segment is lived
It is dynamic to be socketed on nearly joint shaft；The remote joint shaft is set in the first segment；Second segment is socketed on remote joint shaft；
The driver and pedestal are affixed；The transmission mechanism is arranged in pedestal；The output shaft of the driver and transmission mechanism
Input is connected；The output end of the transmission mechanism is connected with nearly joint shaft；The center line of the nearly joint shaft and remote joint shaft
Centerline parallel；It is characterized in that：Translation idle running transmission coupling adaptive robot finger apparatus also include first gear,
Second gear, the 3rd gear, the first rack, the second rack, the 3rd rack, the first driving lever, the second driving lever, the first spring part, second
Spring part, the first projection and the second projection；The first gear is fixed on nearly joint shaft, and the second gear is actively socketed on closely
On joint shaft, the 3rd gear is socketed on remote joint shaft, and the 3rd gear and the second segment are affixed；First rack
Slip is embedded in the first segment；Second rack is slided and is embedded in the first segment, the first rack, each leisure of the second rack
Glide direction in first segment is identical；First rack is engaged with first gear, and second rack is nibbled with second gear
Close, the 3rd rack is engaged with the 3rd gear；Second rack and the 3rd rack are affixed；If first rack and first
The meshing point of gear is A points, and the meshing point of second rack and second gear is B points, and the 3rd rack is nibbled with the 3rd gear
Chalaza is C points, and the central point of nearly joint shaft is M points, and the central point of remote joint shaft is N points, and line segment MB, BC, CN, NM constitute " 8 "
Font, A points, B points are located at the both sides of nearly joint shaft；First projection and pedestal are affixed, second projection and second gear
It is affixed；First driving lever and the first rack are affixed, and second driving lever and the 3rd rack are affixed；First projection and second
Bump contact is stood away, and first driving lever is contacted with the second driving lever in the range of stroke；Passed in the translation idle running
When dynamic coupling adaptive robot finger apparatus is in original state, the first projection and the second bump contact, the first driving lever and the
Two driving levers stand away；The two ends of the first spring part connect nearly joint shaft and the first segment, the second spring part respectively
Two ends connect pedestal and second gear respectively and so that the second projection is close to the first projection.
2. translation idle running as claimed in claim 1 is driven coupling adaptive robot finger apparatus, it is characterised in that：It is described to drive
Dynamic device uses motor, cylinder or hydraulic cylinder.
3. translation idle running as claimed in claim 1 is driven coupling adaptive robot finger apparatus, it is characterised in that：Described
One spring part uses extension spring or torsion spring.
4. translation idle running as claimed in claim 1 is driven coupling adaptive robot finger apparatus, it is characterised in that：Described
Two spring parts use extension spring or torsion spring.
5. translation idle running as claimed in claim 1 is driven coupling adaptive robot finger apparatus, it is characterised in that：It is described to pass
Motivation structure includes decelerator, the first belt wheel, the second belt wheel and transmission belt；The output shaft of the driver and the input shaft of decelerator
It is connected, the first band wheel is fixed on the output shaft of decelerator, and second belt wheel is fixed on nearly joint shaft, the transmission
Band connects the first belt wheel and the second belt wheel respectively, and band is cooperatively formed between the transmission belt, the first belt wheel and the second belt wheel three
Take turns drive connection；Described transmission belt formation " O " font.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720125492.6U CN206578847U (en) | 2017-02-10 | 2017-02-10 | Translation idle running is driven coupling adaptive robot finger apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720125492.6U CN206578847U (en) | 2017-02-10 | 2017-02-10 | Translation idle running is driven coupling adaptive robot finger apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206578847U true CN206578847U (en) | 2017-10-24 |
Family
ID=60091055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720125492.6U Withdrawn - After Issue CN206578847U (en) | 2017-02-10 | 2017-02-10 | Translation idle running is driven coupling adaptive robot finger apparatus |
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| CN (1) | CN206578847U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671113A (en) * | 2017-02-10 | 2017-05-17 | 清华大学 | Translational motion idle-stroke transmission coupled and self-adaptive robot finger device |
| CN108016869A (en) * | 2017-11-08 | 2018-05-11 | 中冶南方工程技术有限公司 | Quadrat method is gathered and processed in material sample bucket grabbing device, material sample bucket sorting system and stock ground |
| CN108994864A (en) * | 2018-08-15 | 2018-12-14 | 哈尔滨工业大学 | Double tendon rope tandem coupling adaptive finger apparatus |
-
2017
- 2017-02-10 CN CN201720125492.6U patent/CN206578847U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671113A (en) * | 2017-02-10 | 2017-05-17 | 清华大学 | Translational motion idle-stroke transmission coupled and self-adaptive robot finger device |
| CN106671113B (en) * | 2017-02-10 | 2023-11-10 | 清华大学 | Translational idle stroke transmission coupling self-adaptive robot finger device |
| CN108016869A (en) * | 2017-11-08 | 2018-05-11 | 中冶南方工程技术有限公司 | Quadrat method is gathered and processed in material sample bucket grabbing device, material sample bucket sorting system and stock ground |
| CN108016869B (en) * | 2017-11-08 | 2020-05-08 | 中冶南方工程技术有限公司 | Material sample barrel grabbing device, material sample barrel sorting system and stock ground sampling and preparing method |
| CN108994864A (en) * | 2018-08-15 | 2018-12-14 | 哈尔滨工业大学 | Double tendon rope tandem coupling adaptive finger apparatus |
| CN108994864B (en) * | 2018-08-15 | 2021-06-01 | 哈尔滨工业大学 | Double-tendon rope series connection type coupling self-adaptive finger device |
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