CN207104942U - A kind of drive device of robot hand - Google Patents
A kind of drive device of robot hand Download PDFInfo
- Publication number
- CN207104942U CN207104942U CN201720956579.8U CN201720956579U CN207104942U CN 207104942 U CN207104942 U CN 207104942U CN 201720956579 U CN201720956579 U CN 201720956579U CN 207104942 U CN207104942 U CN 207104942U
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- Prior art keywords
- collar
- paw
- fixedly connected
- motor
- spring
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- Withdrawn - After Issue
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- 239000003292 glue Substances 0.000 claims description 9
- 229920000297 Rayon Polymers 0.000 claims description 6
- 230000007812 deficiency Effects 0.000 abstract description 2
- 238000004804 winding Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 11
- 238000002627 tracheal intubation Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Abstract
The utility model discloses a kind of drive device of robot hand, including mounting flange, first support, second support, motor, first collar, second collar, 3rd collar and the 4th collar, there is the first spring between first collar and limited block, pass through the collar of the first connecting rope winding the 3rd at the top of first collar, first collar footprint is hinged the first paw and the second paw, the second slide bar is inserted with 4th collar, wedge is connected with the inside of second slide bar, outside is fixedly connected with arc, the axle of motor is plugged to the inside of the 4th collar, backing plate is also fixedly connected with below 4th collar, the axle of motor and the lower section of backing plate are fixed by fixing bolt, the 4th spring is arranged with fixing bolt, 4th spring is between motor shaft and backing plate, first paw is by the second connecting rope around being located on arc.The utility model can improve the deficiencies in the prior art, can be applied to the factory building of non-compressed air driving, and paw adjustment is more convenient.
Description
Technical field
Industrial Robot Technology field is the utility model is related to, especially a kind of drive device of robot hand.
Background technology
Industrial robot integrates the multi-disciplinary advanced technology such as machinery, electronics, control, computer, sensor
The important automated arm of manufacturing industry is modernized, have people and machine concurrently on construction and performance the advantages of.Robot hand is work
The key position of industry robot, robot hand are both the perceptron of an active perception working environment information, are robot again
The actuator of end, be one it is highly integrated, there is a variety of perceptional functions and intelligentized Mechatronic Systems.Crawl is reliable, ring
Border adaptability is good, control is simple, adaptivity is strong, capacity of will height is the important symbol for weighing robot hand design level.
The U of Chinese utility model patent CN 205219142 disclose a kind of adaptive robot both hands pawl.The robot of this structure
Pawl, folding paw component and the self-regulation paw component of adjustable shape are set, but this device must use compression empty
Gas drive cylinder could act, in the factory building of non-compressed air supply can not normal use, and this device is to paw
Adjustment is inconvenient, so as to limit its scope of application.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of drive device of robot hand, can solve the problem that existing
The deficiency of technology, the factory building of non-compressed air driving can be applied to, and paw adjustment is more convenient.
In order to solve the above technical problems, technical solution adopted in the utility model is as follows.
A kind of drive device of robot hand, including mounting flange, mounting flange lower section are fixedly connected with first support,
Second support is fixedly connected with below the first support, the inner side of second support is fixedly connected with motor by fixed cover,
Second collar is connected with by clutch shaft bearing on the axle of motor, several annulars row is fixedly connected with the outside of second collar
First slide bar of cloth, is fixedly connected with limited block on the outside of the first slide bar, and the outside of limited block and second support interconnects, electricity
The 3rd collar and the 4th collar are also associated with arbor, the 3rd collar is located at the top of second collar, and the 4th collar is located at second
The lower section of the collar, movable sleeve is provided with first set ring on the first slide bar, and the first spring is connected between first collar and limited block, and
Fixed block is fixedly connected with the top of one collar, is connected with the first connecting rope on fixed block, the first connecting rope selectivity is around being located at the
On three collars, the bottom of first collar is connected be hinged wheel, and be hinged wheel underside is hinged with the first paw, the first paw and the
Second spring is connected between one collar, the second paw is connected with below the first paw, second is connected with the inside of the first paw
Connecting rope, the second slide bar of several annular arrangements is inserted with the cylinder of the 4th collar, is fixedly connected on the inside of the second slide bar
There is wedge, wedge is located on the inside of the 4th collar, and the arc of cylinder shape, arc are fixedly connected with the outside of the second slide bar
The 3rd spring is connected between the outside of the 4th collar, the axle of motor is plugged to the inside of the 4th collar, the axle and wedge of motor
Shape block contacts with each other, and is also fixedly connected with backing plate below the 4th collar, the axle of motor and the lower section of backing plate are consolidated by fixing bolt
It is fixed, the 4th spring is arranged with fixing bolt, the 4th spring is between motor shaft and backing plate, the second connecting rope selectivity winding
On arc.
Preferably, the connected mode of first paw and the second paw is be hinged, the first paw and the second paw it
Between be connected with adjusting knob.
Preferably, it is fixedly connected with hemispheric first cushion on the inside of the lower section of second paw.
Preferably, the lower section of the 4th collar is connected with fixed plate by second bearing.
Preferably, being fixedly connected with several glue bars below the fixed plate, blob of viscose is fixedly connected with below glue bar.
Preferably, being fixedly connected with the second cushion on the outside of second collar, the second cushion and first collar select
Property contact.
It is using beneficial effect caused by above-mentioned technical proposal：The drive device of the utility model robot hand is led to
Cross mounting flange and robot to interconnect, second support and fixed cover are used to fix motor, and the is fixed on the outside of second support
One slide bar, it thereby may be ensured that the position of first support, second support and the first slide bar is fixed, the axle of motor passes through clutch shaft bearing
It is connected with second collar, when thereby may be ensured that motor shaft rotates, second collar and the first slide bar synchronous with motor shaft will not turn
Dynamic, limited block is used to prevent first collar from skidding off from outside, and the first spring between limited block and first collar can also
Ensure the reset of paw grasping movement, the course of work of the utility model paw drive device, which is that motor rotates, drives the 3rd set
The synchronous axial system of ring and the 4th collar, and then the first connecting rope and the second connecting rope are driven rotating around being located at the 3rd collar and the 4th
On the collar, and gradually tighten up, under the pull effect of the first connecting rope and the second connecting rope, each first collar is in the first connection
The slide bar of pulling lower edge first of rope moves inward, and each first paw is then under the pulling of the second connecting rope along be hinged wheel
Turn to the inside, make each second paw while carry out adjacent to each other and action that is tightening up, so as to complete paw to article
Grasping movement, the grasping movement are realized without using compressed air, therefore are particularly suitable for use in the factory of non-compressed air supply,
First spring can realize the return of first collar, and second spring can then realize the return of the first paw, and the first spring
With second spring it is also ensured that when motor drives mobile, the pulling effect of spring ensures first collar and the first paw position
Nonvoluntary movement, further, the second connecting rope of the present utility model are each on the arc being located on the outside of the 4th collar
Arc forms the entirety of a near cylindrical, the 4th collar depth is entered by adjusting motor shaft, so as to control
Contact situation of the motor shaft with wedge, the cylindrical size so as to be formed to arc are adjusted, and work as motor shaft
When not contacted with wedge, under the 3rd spring effect, arc and the 4th collar are in close contact, the circle that now arc is formed
Post diameters are minimum, and with the 4th collar that stretches into of motor shaft, progressively compression wedge block, by the second slide bar make arc by
Step is stretched out, and incrementally increases the cylindrical diameter that arc is formed, motor shaft is fixed with the 4th collar by fixing bolt, and is led to
Crossing the 4th spring prevents from loosening, and can adjust the second connecting rope by this way around the length for being located at arc, and then to motor
Rotate and drive the length of tightening up of the second connecting rope to be adjusted, should so as to be adjusted to the rotational angle of the first paw
Adjustment mode can be once adjusted to multiple paws, the relatively reliable convenience of adjustment mode.
The mode that first paw and the second paw are hinged, facilitates the adjustment of the second paw angle, and can pass through regulation
Knob is locked, and the first cushion below the second paw, can be played certain cushioning effect, be protected gripped object not to be damaged
It is bad；The fixed plate connected below 4th collar by second bearing, can be propped up when clamping article above gripped object
Support, by the connected mode of second bearing, can prevent with fixed plate with gripped object is contacted after, to the damage of gripped object
Evil.Glue bar and blob of viscose below fixed plate, there is provided enough damping characteristics, further protect gripped object, second collar it is outer
The second cushion that side is fixedly connected, prevent hard contact when first collar is moved to most inner side.
Brief description of the drawings
Fig. 1 is the structure chart of one embodiment of the utility model.
Fig. 2 is the structure chart of the first slide bar in one embodiment of the utility model.
Fig. 3 is the structure chart of the 4th collar in one embodiment of the utility model.
Fig. 4 is the structure chart of arc and the second slide bar in one embodiment of the utility model.
Fig. 5 is the structure chart of intubation and the second hemisphere block in one embodiment of the utility model.
In figure：1st, mounting flange；2nd, first support；3rd, fixed cover；4th, second support；5th, motor；6th, the first slide bar；7th, it is solid
Determine block；8th, first collar；9th, limited block；10th, the first spring；11st, second spring；12nd, it is hinged wheel；13rd, the first paw；14th, adjust
Save knob；15th, the second paw；16th, the first cushion；17th, the 3rd collar；18th, clutch shaft bearing；19th, the first connecting rope；20th, the 4th
The collar；21st, second bearing；22nd, fixed plate；23rd, glue bar；24th, blob of viscose；25th, the second connecting rope；26th, fixing bolt；27th, arc
Plate；28th, the 3rd spring；29th, the second slide bar；30th, wedge；31st, the 4th spring；32nd, second collar；33rd, the second cushion；34、
Backing plate；35th, the first hemisphere block；36th, the second hemisphere block；37th, the 5th spring；38th, supporting plate；39th, adjustment bolt；40th, it is intubated.
Embodiment
The standardized element used in the utility model can commercially, and shaped piece is according to specification and attached
The record of figure can carry out it is customized, the specific connected mode of each part using bolt ripe in the prior art, rivet,
The conventional meanses such as welding, stickup, will not be described in detail herein.
Reference picture 1-5, one embodiment of the utility model include mounting flange 1, and the lower section of mounting flange 1 is fixed to be connected
First support 2 is connected to, the lower section of the first support 2 is fixedly connected with second support 4, and the inner side of second support 4 passes through fixation
Set 3 is fixedly connected with motor 5, and second collar 32 is connected with by clutch shaft bearing 18 on the axle of motor 5, second collar 32
Outside is fixedly connected with the first slide bar 6 of several annular arrangements, and the outside of the first slide bar 6 is fixedly connected with limited block 9, spacing
Block 9 and the outside of second support 4 are interconnected, and the 3rd collar 17 and the 4th collar 20, the 3rd collar are also associated with the axle of motor 5
17 are located at the top of second collar 32, and the 4th collar 20 be located at the lower section of second collar 32, and movable sleeve is provided with the on the first slide bar 6
One collar 8, is connected with the first spring 10 between first collar 8 and limited block 9, the top of first collar 8 is fixedly connected with fixed block
7, it is connected with the first connecting rope 19 on fixed block 7, the selectivity of the first connecting rope 19 is around being located on the 3rd collar 17, first collar 8
Bottom be connected be hinged wheel 12,12 undersides of be hinged wheel are hinged with the first paw 13, the first paw 13 and first collar 8 it
Between be connected with second spring 11, the lower section of the first paw 13 is connected with the second paw 15, and the inner side of the first paw 13 is connected with second
Connecting rope 25, the second slide bar 29 of several annular arrangements, the inner side of the second slide bar 29 are inserted with the cylinder of the 4th collar 20
Wedge 30 is fixedly connected with, wedge 30 is located at the inner side of the 4th collar 20, and the outside of the second slide bar 29 is fixedly connected with cylinder
The arc 27 of shape, the 3rd spring 28 is connected between the outside of the collar 20 of arc 27 and the 4th, the axle of motor 5 is plugged to
The inside of four collars 20, axle and the wedge 30 of motor 5 contact with each other, and the lower section of the 4th collar 20 is also fixedly connected with backing plate 34,
The lower section of the axle of motor 5 and backing plate 34 is fixed by fixing bolt 26, and the 4th spring 31, the 4th bullet are arranged with fixing bolt 26
Spring 31 is between the axle of motor 5 and backing plate 34, and the selectivity of the second connecting rope 25 is around being located on arc 27.The utility model machine
The drive device of people's paw is interconnected by mounting flange 1 and robot, and second support 4 and fixed cover 3 are used to fix motor
5, the first slide bar 6 is fixed in the outside of second support 4, thereby may be ensured that first support 2, the position of the slide bar 6 of second support 4 and first
Fixation is put, the axle of motor 5 is connected by clutch shaft bearing 18 with second collar 32, when thereby may be ensured that the axle of motor 5 rotates, second
The slide bar 6 of the collar 32 and first will not be used to prevent first collar 8 from skidding off from outside with the axle synchronous axial system of motor 5, limited block 9, and
And the first spring 10 between the collar 8 of limited block 9 and first is it is also ensured that the reset of paw grasping movement, the utility model hand
The course of work of claw drive unit is that motor 5 rotates the synchronous axial system for driving the 3rd collar 17 and the 4th collar 20, and then drives
First connecting rope 19 and the second connecting rope 25 are gradually tightened up rotating around being located on the 3rd collar 17 and the 4th collar 20,
Under the pull effect of one connecting rope 19 and the second connecting rope 25, pulling lower edge of each first collar 8 in the first connecting rope 19
One slide bar 6 moves inward, and each first paw 13 then takes turns 12 to inner side under the pulling of the second connecting rope 25 along be hinged
Rotate, make each second paw 15 while carry out adjacent to each other and action that is tightening up, so as to complete the crawl to article of paw
Action, the grasping movement are realized without using compressed air, therefore are particularly suitable for use in the factory of non-compressed air supply, first
Spring 10 can realize the return of first collar 8, and second spring 11 can then realize the return of the first paw 13, and the first bullet
It is also ensured that when motor 5 drives mobile, the pulling effect of spring ensures first collar 8 and first for spring 10 and second spring 11
The nonvoluntary movement in the position of paw 13, further, the second connecting rope 25 of the present utility model, around being located at the outside of the 4th collar 20
On arc 27, each arc 27 forms the entirety of a near cylindrical, and the 4th collar is entered by adjusting the axle of motor 5
20 depth, the contact situation so as to the axle of controlled motor 5 with wedge 30, so as to the cylinder formed to arc 27
Size be adjusted, when the axle of motor 5 does not contact with wedge 30, the 3rd spring 28 effect under, arc 27 and the 4th
The collar 20 is in close contact, and the cylindrical diameter that now arc 27 is formed is minimum, and stretches into the 4th collar with the axle of motor 5
20, progressively compression wedge block 30, makes arc 277 progressively stretch out by the second slide bar 29, the cylinder for forming arc 27
Diameter is incrementally increased, and the axle of motor 5 is fixed with the 4th collar 20 by fixing bolt 26, and prevents from loosening by the 4th spring 31,
The second connecting rope 25 can be adjusted by this way around the length for being located at arc, and then motor 5 is rotated and drives the second connection
The length of tightening up of rope 25 is adjusted, and so as to be adjusted to the rotational angle of the first paw 13, the adjustment mode is once
Multiple paws can be adjusted, the relatively reliable convenience of adjustment mode.
The connected mode of the paw 15 of first paw 13 and second is be hinged, between the first paw 13 and the second paw 15
It is connected with adjusting knob 14.The mode that first paw 13 and the second paw 15 are hinged, facilitates the adjustment of the angle of the second paw 15, and
And can be locked by adjusting knob 14, it is soft to be fixedly connected with hemispheric first on the inside of the lower section of second paw 15
Pad 16.First cushion 16 of the lower section of the second paw 15, can play certain cushioning effect, and protection gripped object is without damage；
The lower section of 4th collar 20 is connected with fixed plate 22 by second bearing 21.The lower section of 4th collar 20 passes through the second axle
The fixed plate 22 of 21 connections is held, can be supported when clamping article above gripped object, pass through the company of second bearing 21
Connect mode, can prevent with fixed plate with gripped object is contacted after, the infringement to gripped object.The lower section of the fixed plate 22
Several glue bars 23 are fixedly connected with, the lower section of glue bar 23 is fixedly connected with blob of viscose 24.The glue bar 23 and blob of viscose of the lower section of fixed plate 22
24, there is provided enough damping characteristics, further protect gripped object, it is soft that the outside of second collar 32 is fixedly connected with second
Pad 33, the second cushion 33 and the selective exposure of first collar 8.The second cushion 33 that the outside of second collar 32 is fixedly connected, prevent
Hard contact when only first collar 8 is moved on the inside of most.
In addition, in order to further lift gripping effect of the present utility model, one is also fixedly connected with the axle of the motor 5
The first hemisphere block 35 of annular arrangement is arranged, the first hemisphere block 35 is located in the 4th collar 20, and the top of the 4th collar 20 is also
The vertical intubation 40 for being inserted with row's annular arrangement, 40 internal sleeves of intubation are provided with the second hemisphere block 36, the second hemisphere block 36 it is interior
Side and the selective exposure of the first hemisphere block 35, the outside of the second hemisphere block 36 are connected with the 5th spring 37, the 5th spring 37 it is another
One end is connected with the supporting plate 38 of circle, and the outside of supporting plate 38 is fixedly connected with adjustment bolt 39, and the screw thread of adjustment bolt 39 connects
The outside of intubation 40 is connected on, by said apparatus, the second hemisphere block 36 with elastic telescopic performance can be with the first hemisphere block
35 produce certain barrier effect, and when motor 5, which drives, to be rotated, the blocking effect of the first hemisphere block 35 and the second hemisphere block 36 can
So that motor 5 can drive the 4th collar 20 to rotate, and then the crawl of the first paw 13 can be driven by the second connecting rope 25
Action, after paw captures, the 4th collar 20 and the second connecting rope 25 continue pulling and the first paw 13 can not be made to continue to move
Make, now in the rotatory force of the axle of motor 5 the second hemisphere block 36 can be made to overcome the effect of the 5th spring 37, enter intubation 40
It is interior, so that the rotation of motor 5 can not continue to drive the 4th collar 20 to be rotated further, certain protective effect is played, when the
Rear motor 5 stops operating one collar 8 in place, you can next step action is carried out, further, can be by adjusting adjustment bolt 39
Position of the supporting plate 38 inside intubation 40 is adjusted, adjusts the contractility of the 5th spring 37, and then the second hemisphere block can be adjusted
36 to inner side contractility, so as to adapt to different hardness or material by gripping thing.
Wherein, the devices such as the mounting flange used in the utility model have entered in the patent document that background technology is quoted
Go sufficient disclosure, belong to ripe prior art, will not be described in detail herein its concrete structure.
In description of the present utility model, it is to be understood that term " longitudinal direction ", " transverse direction ", " on ", " under ", " preceding ",
The orientation or position relationship of the instruction such as " rear ", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " be based on
Orientation shown in the drawings or position relationship, it is for only for ease of description the utility model, rather than instruction or the dress for implying meaning
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the utility model
Limitation.
The advantages of general principle and principal character of the present utility model and the utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification
Simply illustrate principle of the present utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model is also
Various changes and modifications are had, these changes and improvements are both fallen within claimed the scope of the utility model.The utility model
Claimed scope is by appended claims and its equivalent thereof.
Claims (6)
1. a kind of drive device of robot hand, including mounting flange (1), mounting flange (1) lower section is fixedly connected with first
Support (2), it is characterised in that：Be fixedly connected with second support (4) below the first support (2), second support (4) it is interior
Side is fixedly connected with motor (5) by fixed cover (3), and second is connected with by clutch shaft bearing (18) on the axle of motor (5)
The collar (32), the first slide bar (6) of several annular arrangements, the first slide bar (6) are fixedly connected with the outside of second collar (32)
Outside be fixedly connected with limited block (9), limited block (9) and the outside of second support (4) interconnect, on motor (5) axle also
The 3rd collar (17) and the 4th collar (20) are connected with, the 3rd collar (17) is located at the top of second collar (32), the 4th collar
(20) it is located at the lower section of second collar (32), movable sleeve is provided with first set ring (8), first collar (8) and limit on the first slide bar (6)
The first spring (10) is connected between position block (9), is fixedly connected with fixed block (7) at the top of first collar (8), on fixed block (7)
It is connected with the first connecting rope (19), the first connecting rope (19) selectivity is around being located on the 3rd collar (17), the bottom of first collar (8)
Portion is connected be hinged wheel (12), and be hinged wheel (12) underside is hinged with the first paw (13), the first paw (13) and first set
Second spring (11) is connected between ring (8), the second paw (15) is connected with below the first paw (13), the first paw (13)
Inner side is connected with the second connecting rope (25), and the second slide bar of several annular arrangements is inserted with the cylinder of the 4th collar (20)
(29) wedge (30), is fixedly connected with the inside of the second slide bar (29), wedge (30) is located on the inside of the 4th collar (20), the
Be fixedly connected with the arc (27) of cylinder shape on the outside of two slide bars (29), the outside of arc (27) and the 4th collar (20) it
Between be connected with the 3rd spring (28), the axle of motor (5) is plugged to the inside of the 4th collar (20), the axle and wedge of motor (5)
(30) selective exposure, is also fixedly connected with backing plate (34) below the 4th collar (20), the axle of motor (5) with backing plate (34)
Side is fixed by fixing bolt (26), is arranged with the 4th spring (31) on fixing bolt (26), the 4th spring (31) is located at motor
(5) between axle and backing plate (34), the second connecting rope (25) selectivity is around being located on arc (27).
2. the drive device of robot hand according to claim 1, it is characterised in that：First paw (13) and
The connected mode of two paws (15) is be hinged, and adjusting knob (14) is connected between the first paw (13) and the second paw (15).
3. the drive device of robot hand according to claim 2, it is characterised in that：Under second paw (15)
Side inner side is fixedly connected with hemispheric first cushion (16).
4. the drive device of robot hand according to claim 1, it is characterised in that：Under 4th collar (20)
Side is connected with fixed plate (22) by second bearing (21).
5. the drive device of robot hand according to claim 4, it is characterised in that：The lower section of the fixed plate (22)
Several glue bars (23) are fixedly connected with, blob of viscose (24) is fixedly connected with below glue bar (23).
6. the drive device of robot hand according to claim 1, it is characterised in that：Outside second collar (32)
Side is fixedly connected with the second cushion (33), the second cushion (33) and first collar (8) selective exposure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720956579.8U CN207104942U (en) | 2017-08-02 | 2017-08-02 | A kind of drive device of robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720956579.8U CN207104942U (en) | 2017-08-02 | 2017-08-02 | A kind of drive device of robot hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207104942U true CN207104942U (en) | 2018-03-16 |
Family
ID=61582480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720956579.8U Withdrawn - After Issue CN207104942U (en) | 2017-08-02 | 2017-08-02 | A kind of drive device of robot hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207104942U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471236A (en) * | 2017-08-02 | 2017-12-15 | 宁夏巨能机器人股份有限公司 | A kind of drive device of robot hand |
| CN109397317A (en) * | 2018-11-26 | 2019-03-01 | 内蒙古工业大学 | A kind of underactuated manipulator and its operating method |
| CN110900447A (en) * | 2019-12-16 | 2020-03-24 | 张耕乾 | Clamping device capable of keeping bearing clamping force constant |
| CN112140129A (en) * | 2020-09-22 | 2020-12-29 | 浙江农林大学 | Novel reducing log gripping apparatus |
-
2017
- 2017-08-02 CN CN201720956579.8U patent/CN207104942U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471236A (en) * | 2017-08-02 | 2017-12-15 | 宁夏巨能机器人股份有限公司 | A kind of drive device of robot hand |
| CN107471236B (en) * | 2017-08-02 | 2024-02-13 | 宁夏巨能机器人股份有限公司 | Driving device of robot paw |
| CN109397317A (en) * | 2018-11-26 | 2019-03-01 | 内蒙古工业大学 | A kind of underactuated manipulator and its operating method |
| CN109397317B (en) * | 2018-11-26 | 2023-10-10 | 内蒙古工业大学 | Under-actuated manipulator and operation method thereof |
| CN110900447A (en) * | 2019-12-16 | 2020-03-24 | 张耕乾 | Clamping device capable of keeping bearing clamping force constant |
| CN110900447B (en) * | 2019-12-16 | 2021-11-30 | 建湖县华越机械制造有限公司 | Clamping device capable of keeping bearing clamping force constant |
| CN112140129A (en) * | 2020-09-22 | 2020-12-29 | 浙江农林大学 | Novel reducing log gripping apparatus |
| CN112140129B (en) * | 2020-09-22 | 2022-01-21 | 浙江农林大学 | Novel reducing log gripping apparatus |
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