CN207127886U - Finger displacement and the dual drive crank block parallel institution palm-type manipulator of indexing - Google Patents
Finger displacement and the dual drive crank block parallel institution palm-type manipulator of indexing Download PDFInfo
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- CN207127886U CN207127886U CN201720352689.3U CN201720352689U CN207127886U CN 207127886 U CN207127886 U CN 207127886U CN 201720352689 U CN201720352689 U CN 201720352689U CN 207127886 U CN207127886 U CN 207127886U
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- crank
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- nut
- face
- kidney slot
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Abstract
The displacement of the utility model finger and the dual drive crank block parallel institution palm-type manipulator of indexing, the slider-crank mechanism in left side is active drive structure, is driven respectively by two stepper motors, produces crank angular displacement and changes the length of connecting rod；The slider-crank mechanism on right side is follower, is driven by a pair of gear levels, left crank is equal with the rotational displacement of right crank；Manipulator has three flat spring fingers, and two fingers are separately mounted on the connecting rod of left and right sides, pass through the synergy of two stepper motors；Manually adjust, thus it is possible to vary the eccentricity of crank, two fingers position on two connecting rods and angle, and the position of another fixed finger respectively；It is also to lean on two driving stepper motors to clamp crawl power, because two stepper motors of self-locking can power off during grasping.The utility model manipulator has that operating space is big, wide adaptability, low power consumption and other advantages, belongs to logistics delivery equipment, manipulator and robot field.
Description
Technical field
The displacement of the utility model finger and the dual drive crank block parallel institution palm-type manipulator of indexing, the song in left side
Handle slide block mechanism is active drive structure, is driven respectively by two stepper motors, produces crank angular displacement and changes the length of connecting rod
Degree；The slider-crank mechanism on right side is follower, is driven by a pair of gear levels, and left crank and right crank turn
Dynamic angular displacement is equal；Manipulator has three flat spring fingers, and two of which finger is separately mounted on the connecting rod of left and right sides, passed through
The synergy of two stepper motors；Manually adjust, thus it is possible to vary the eccentricity of crank, two fingers are respectively in two connecting rods
On position and angle, and the position of another fixed finger.The clamping crawl power of the utility model manipulator is also to lean on
Two driving stepper motors, because two stepper motors of self-locking can power off during grasping.The utility model manipulator has
Have that operating space is big, wide adaptability, low power consumption and other advantages, belong to logistics delivery equipment, manipulator and robot field.
Background technology
At present except it is with high costs, equipped with the anthropomorphic Dextrous Hand of many sensors in addition to, or standard machinery can only control
The centre-to-centre spacing of finger, the circle or spherical object for capturing size diameter, otherwise control finger indexing, from crawl circle or round
Body is converted to crawl rectangle object, and finger can not only change position but also the manipulator of angle rotatable is not yet reported that.
The content of the invention
The utility model overcomes drawbacks described above, from the angle design manipulator for changing palm shape, according to parallel institution
The characteristics of action space is big, slider-crank mechanism the simplest is employed, selected the flexible flat spring hand of three identicals
Refer to, one of finger is motionless, and two other finger is neither rotate, nor mobile, but not only rotated the translation moved again
Motion.Finger can be air pressure driving crawl object, and the clamping of the utility model manipulator crawl power is also by two steps
Stepper motor drives, because two stepper motors of self-locking can power off during grasping.
What the primary solutions of the present invention were realized in：
As illustrated in the accompanying drawings from 1 to 3, the dual drive crank block parallel institution palm-type of the displacement of the utility model finger and indexing
In manipulator, the both ends of line slideway 3 are fixed by two guide rail bearings 2, and two guide rail bearings 2 are arranged on bottom plate 1, installing plate
4 both ends are individually fixed on two guide rail bearings 2, and the hole system that installing plate 4 has diverse location is linked with robot body, hole
It is that size corresponds to robot body, connection is conveniently adjusted to adapt to the different hole systems by the center of gravity of grabbing object, diverse location
Knot；Linear bearing 5 is moved through line slideway 3, and Mobile base 6 is fixed on linear bearing 5, and hinge axis 8 is fixed on by nut
On Mobile base 6, bearing 9 is housed on hinge axis 8, the shaft shoulder face on hinge axis 8 contacts with the inner ring of bearing 9, the outer ring of bearing 9
Upper that rotation seat 7 is housed, the gravity that axial direction is produced by grabbing object is delivered on the outer ring of bearing 9 by rotation seat 7；In rotating guide-bar
There is wear washer 10 between 11 and the inner ring of bearing 9, also there is wear washer 10 between nut and rotating guide-bar 11, this nut is twisted
Tightly on hinge axis 8, limit bearing 9, wear washer 10, rotating guide-bar 11 and move axially, but reach ensure that axle
To gap, so as to ensure that bearing 9, rotating guide-bar 11 can relatively rotate, nut tighten after with split pin 12 it is locking；
Screw mandrel stepper motor 13 is used for controlling the length of connecting rod in slider-crank mechanism, the band worm gear rotated with driving crank
The Collaborative Control of decelerator stepper motor 23, constitutes the parallel institution of dual drive, feed screw nut's knot in screw mandrel stepper motor 13
Structure and worm reducer with worm reducer stepper motor 23 play self-locking action, can be powered off during grasping, save energy
Source；The main driving clamping object of band worm reducer stepper motor 23 more high-power than screw mandrel stepper motor 13；
Screw mandrel stepper motor 13 is fixed on rotation seat 7, and the top nut of rotation seat 7 is fixed with and screw mandrel stepper motor 13
The coplanar and parallel guide pillar 14 of leading screw, the end of thread of guide pillar 14 have one section of face of cylinder, the face of cylinder and the dress of corresponding aperture on rotation seat 7
It is that small―gap suture or slight interference coordinate with relation；Feed screw nut 15 and method are accordingly housed on the vertical plane of the drive link 17 of L-shaped
Blue linear bearing 16, kidney slot, the width of kidney slot and the short end of thread of finger block 18 are provided with the horizontal plane of drive link 17
One section of face of cylinder diameter is clearance fit relationship, and short finger block 18 can be in the kidney slot optional position of drive link 17 and short
Finger block 18 can rotate any angle relative to drive link 17, then short finger block 18 is fixed on into drive link 17 with nut
On, flat spring curved surface finger 19 is housed, the finger tip curved portion of flat spring curved surface finger 19 is used to pinch to take mode on short finger block 18
Crawl, median curved surface position capture for envelope mode；
With slotting on crank 21 coaxial inner conductor Milling Process two layers of width different kidney slot, for manual adjustment crank
Eccentric throw, between hole be that running clearance coordinates on the face of cylinder of crank connecting link bearing pin 20 and drive link 17, crank connecting link pin
The diameter on the face of cylinder of axle 20 is also that gap coordinates between the width of the wide kidney slot on fluting crank 21, the width of thin kidney slot
Degree is more bigger than the diameter of thread of crank connecting link bearing pin 20, and nut is fastened the shaft shoulder face of the thread root of crank connecting link bearing pin 20 and width
Step surface between narrow kidney slot compresses, and ensures the axle center gap that drive link 17 rotates in handle pitman pin 20；
The other end of the fluting crank 21 of active is enclosed in drive shaft 26, and it is flat to be fastened on cutting for the one end of drive shaft 26 by screw
On face, the driving torque of drive shaft 26 is transmitted；Drive shaft 26 is equipped with fluting crank 21,27, two rolling bearing units 28 of long sleeve, short
Band worm reducer stepper motor 23 is ordinatedly injected in sleeve 29, gear 24, the oblate shell of column gap of cutting of the other end of drive shaft 26
In the hole of drive shaft, band worm reducer stepper motor 23 cuts oblate shell of column by this and transmits torque to drive shaft 26, drive shaft
Flat key 25 on 26 is transferred torque on gear 24；One rolling bearing units 28 is fixed on gear cover plate 22, by grabbing object
The gravity for producing axial direction is delivered to the inner ring of this rolling bearing units 28 by the shaft shoulder face of drive shaft 26 and born, coaxial inner conductor it is another
Individual rolling bearing units 28 are fixed on bottom plate 1, and gear cover plate 22 is coupled to overall structure by two guiding screw poles 36 and bottom plate 1, are oriented to
The both ends Jun You faces of cylinder of stud 36, the full interporal lacuna corresponding on bottom plate 1 and gear cover plate 22 of cylinder coordinate；
Driven shaft 30 is supported by rolling bearing units 28 and small rolling bearing units 35, and rolling bearing units 28 and small rolling bearing units 35 are solid respectively
It is scheduled on gear cover plate 22 and bottom plate 1, it is flat axially by the shaft shoulder face of driven shaft 30, thick sleeve 31, taper hole gear 32, tapered sleeve 33
Round nut 34 forms rotor；Gear 24 engages with taper hole gear 32, and taper hole gear 32 has tapered sleeve 33 in hole, screws oblate nut
34, so as to by the oblique effect of carving of conical contact surfaces, transfer torque on driven shaft 30；Driven the another of crank 21 that slot
On the set driven shaft 30 of end, the cutting on flat face of the one end of driven shaft 30 is fastened on by screw, the driving torque of driven shaft 30 pass to again from
Dynamic fluting crank 21；Reversely unscrew oblate nut 34, taper hole gear 32 and tapered sleeve 33 disengage, and the fluting that can adjust active is bent
Phase angle between handle 21 and driven fluting crank 21, that is,：The fluting crank 21 and driven fluting crank 21 of active can
, can also be asymmetric with symmetrical in horizontal plane direction；
It is actively on the left of the utility model dual drive crank block parallel institution palm-type manipulator as shown in accompanying drawing 2,3
Driven slider-crank mechanism, right side be driven slider-crank mechanism, rotating guide-bar 11 is located at right side, rotating guide-bar 11
The variable length link of driven slider-crank mechanism is equivalent to the follower link 39 on right side；The fluting crank 21 of active and from
Dynamic fluting crank 21 while powerdriven purpose, it is to ensure that flange of the rotating guide-bar 11 in the follower link 39 on right side is straight
Bobbin is held can rotate under 16 guiding while and can moves, without stuck；
On the width and bottom plate 1 of long finger block 37 clearance fit relationship, long finger block are formed between the width of wide kidney slot
37 thread segment passes through narrow kidney slot on bottom plate 1, fixed with nut, therefore long finger block 37 can be on bottom plate 1 in kidney slot
Adjustment position, a flat spring curved surface finger 19 is also installed on long finger block 37；Opened on the horizontal plane of the drive link 17 on right side
There is kidney slot, one section of face of cylinder diameter of the width of kidney slot and the middle end of thread of finger block 38 is clearance fit relationship, middle finger
Seat 38 can be rotated relative to drive link 17 and appointed in the kidney slot optional position of right side drive link 17 and middle finger block 38
Meaning angle, then drive link 17 is fixed on nut, flat spring curved surface finger 19 is housed on middle finger block 38；All three springs
The structure snd size of curved surface finger 19 are identical, and the structure of this manipulator must ensure short finger block 18, middle finger block 38, long hand
Refer to the co-planar of these three the installation flat spring curved surface fingers 19 of seat 37.
Compared with the prior art the present invention has advantages below：
1. the adaptability of shape：The driving collaboration of two stepper motors, for the shape such as rectangle, circle, ellipse, trapezoidal
Adaptability is good.
2. size adaptability：Manipulator has three fingers, manually adjusts, thus it is possible to vary the eccentricity of crank, two hands
Refer to the position on two connecting rods and angle, and the position of another fixed finger respectively, size adaptability is good.
3. operating flexibility：During three finger crawls, fixed finger contact surface line of symmetry is the elements of a fix origin of manipulator；Two
After individual motion finger hand-turning, when two fingers capture, the elements of a fix origin of manipulator is the two contact surface line of symmetries.
4. capture agility：Connecting rod Driving Stepping Motor mainly plays the role of positioning, and crank Driving Stepping Motor, which mainly rises, grabs
The effect of holding, crank angle displacement are rapid.
5. use energy saving：Crank, which rotates, uses worm-and-wheel gear decelerator self-locking, and length of connecting rod adjustment motion uses
Screw-nut body self-locking, two Driving Stepping Motors power off during grasping.
Brief description of the drawings：
Fig. 1 is the A-A sectional stretch-out views of the utility model parallel institution palm-type manipulator
Fig. 2 is the front view of the utility model parallel institution palm-type manipulator
Fig. 3 is the B-B sectional stretch-out views of the utility model parallel institution palm-type manipulator
Fig. 4 is the bottom plate part front view of the utility model parallel institution palm-type manipulator
Fig. 5 is the hinge axis part front view of the utility model parallel institution palm-type manipulator
Fig. 6 is the drive shaft part front view of the utility model parallel institution palm-type manipulator
Fig. 7 is the driven shaft part front view of the utility model parallel institution palm-type manipulator
Fig. 8 is the rotating guide-bar part right view of the utility model parallel institution palm-type manipulator
Fig. 9 is the rotating guide-bar part front view of the utility model parallel institution palm-type manipulator
Figure 10 is the short finger block part right view of the utility model parallel institution palm-type manipulator
Figure 11 is the short finger block part front view of the utility model parallel institution palm-type manipulator
Figure 12 is the short finger block part left view of the utility model parallel institution palm-type manipulator
Figure 13 is the middle finger block part right view of the utility model parallel institution palm-type manipulator
Figure 14 is the middle finger block part front view of the utility model parallel institution palm-type manipulator
Figure 15 is the middle finger block part left view of the utility model parallel institution palm-type manipulator
Figure 16 is the long finger block part right view of the utility model parallel institution palm-type manipulator
Figure 17 is the long finger block part front view of the utility model parallel institution palm-type manipulator
Figure 18 is the long finger block part left view of the utility model parallel institution palm-type manipulator
Figure 19 is the rotation seat part front view of the utility model parallel institution palm-type manipulator
Figure 20 is the drive link part front view of the utility model parallel institution palm-type manipulator
Figure 21 is the drive link part top view of the utility model parallel institution palm-type manipulator
Figure 22 is the flat spring curved surface finger front view of the utility model parallel institution palm-type manipulator
Figure 23 is the flat spring curved surface finger left view of the utility model parallel institution palm-type manipulator
Figure 24 is the structure simplified pinciple figure of the utility model parallel institution palm-type manipulator
Figure 25 is that the utility model parallel institution palm-type manipulator three refers to the simplified pinciple figure for capturing big rectangle
Figure 26 is that the utility model parallel institution palm-type manipulator three refers to the simplified pinciple figure for capturing small rectangle
Figure 27 is the simplified pinciple figure that the utility model parallel institution palm-type manipulator three refers to crawl small circular
Figure 28 is that the utility model parallel institution palm-type manipulator three refers to the big circular simplified pinciple figure of crawl
Figure 29 refers to the big oval simplified original of crawl draw ratio for the utility model parallel institution palm-type manipulator three
Reason figure
Figure 30 is that the utility model parallel institution palm-type manipulator three refers to the small oval simplified original of crawl draw ratio
Reason figure
Figure 31 is that the utility model parallel institution palm-type manipulator two refers to the simplified pinciple figure for capturing big rectangle
Figure 32 is that the utility model parallel institution palm-type manipulator two refers to the simplified pinciple figure for capturing small rectangle
Figure 33 is the simplified pinciple figure of the utility model parallel institution palm-type manipulator the eccentricity of crank state such as not
Figure 34 is the simplified pinciple figure of the utility model parallel institution palm-type machinery hand crank asymmetrical state
Embodiment：
It is below the operation principle and the course of work of the present invention：
As shown in Figure 24, the structure of the utility model parallel institution palm-type manipulator is reduced to mechanism principle figure.This
Utility model finger conjugates and the dual drive crank block parallel institution palm-type manipulator of indexing, in implementation process, except silk
Bar stepper motor 13 and with the Collaborative Control of worm reducer stepper motor 23 capture object outside, manually adjust, Ke Yigai
Become：1. the eccentricity of crank, the 2. asymmetric degree of the axial line of left and right sides crank relative rectilinear guide rail 3,3. two fingers of crank point
Position not on two connecting rods, 4. two fingers angle on two connecting rods, 5. and another fixed finger respectively
Position, totally five kinds of manual setting approach；This five kinds of approach can individually change, and can also change in any combination, be formed
Embodiment.The simply some of embodiments of act set forth below：
Embodiment one is in the case of five kinds of manual approach do not use, only by the Collaborative Control of two stepper motors,
It can realize：As shown in Figure 25, the grasping effect for capturing big rectangle is referred to for the utility model parallel institution palm-type manipulator three
Fruit；As shown in Figure 26, the grasping effect for capturing small rectangle is referred to for the utility model parallel institution palm-type manipulator three；It is such as attached
Shown in Figure 27, refer to the grasping effect of crawl small circular for the utility model parallel institution palm-type manipulator three；Such as the institute of accompanying drawing 28
Show, refer to the big circular grasping effect of crawl for the utility model parallel institution palm-type manipulator three；As shown in Figure 29, it is this
Utility model parallel institution palm-type manipulator three refers to the big oval grasping effect of crawl draw ratio；As shown in Figure 30,
Refer to the small oval grasping effect of crawl draw ratio for the utility model parallel institution palm-type manipulator three.
Embodiment two is：Manual adjustment, short finger block 18 and the opposite direction of middle finger block 38 on left and right sides connecting rod turn
Equal angular has been moved, as shown in Figure 31, has referred to for the utility model parallel institution palm-type manipulator two and captures grabbing for big rectangle
Holding effect fruit；As shown in Figure 32, the grasping effect for capturing small rectangle is referred to for the utility model parallel institution palm-type manipulator two.
Embodiment three is：Manual adjustment, the eccentric throw of two cranks is different, is the utility model as shown in Figure 33
The simplified pinciple figure of the parallel institution palm-type manipulator the eccentricity of crank state such as not, it is possible to achieve the crawl of asymmetric object.
Embodiment four is：Manual adjustment, the asymmetry of two axial lines of crank relative rectilinear guide rail 3, such as the institute of accompanying drawing 34
Show, be the simplified pinciple figure of the utility model parallel institution palm-type machinery hand crank asymmetrical state, it is possible to achieve it is irregular
The crawl of object.
Above description is to explanation of the present utility model, is not that restriction of the present utility model, the utility model are limited
Scope referring to claim.It is appreciated that those skilled in the art are not departing from the premise of basic conception of the present utility model
The oher improvements and changes for directly exporting or associating down, it is considered as being included within the scope of protection of the utility model.
Claims (1)
1. finger displacement and the dual drive crank block parallel institution palm-type manipulator of indexing, it is characterized in that：Line slideway (3)
Both ends it is fixed by two guide rail bearings (2), two guide rail bearings (2) are arranged on bottom plate (1), and the both ends of installing plate (4) are each
On two guide rail bearings (2), the hole system that installing plate (4) has diverse location is linked self-retaining with robot body, hole system chi
It is very little to correspond to robot body, it is conveniently adjusted connection to adapt to the different hole systems by the center of gravity of grabbing object, diverse location；Directly
Bobbin holds (5) and moved through line slideway (3), and Mobile base (6) is fixed on linear bearing (5), and hinge axis (8) is consolidated by nut
It is scheduled on Mobile base (6), bearing (9) is housed on hinge axis (8), the shaft shoulder face and the inner ring of bearing (9) on hinge axis (8) connects
Touch, rotation seat (7) is housed on the outer ring of bearing (9), the gravity that axial direction is produced by grabbing object is delivered to bearing by rotation seat (7)
(9) on outer ring；There are wear washer (10), nut and rotating guide-bar between the inner ring of rotating guide-bar (11) and bearing (9)
(11) also there is wear washer (10) between, nut is tightened on hinge axis (8), is limited bearing (9), wear washer (10), is turned
Dynamic guide rod (11) axial movement, but reach ensure that axial gap, so as to ensure that bearing (9), rotating guide-bar (11)
It can relatively rotate, nut is locking with split pin (12) after tightening；
Screw mandrel stepper motor (13) is used for controlling the length of connecting rod in slider-crank mechanism, and the band worm gear rotated with driving crank subtracts
Fast device stepper motor (23) Collaborative Control, constitutes the parallel institution of dual drive, the feed screw nut in screw mandrel stepper motor (13)
Structure and worm reducer with worm reducer stepper motor (23) play self-locking action；Than screw mandrel stepper motor (13) power
Mainly driving clamps object to big band worm reducer stepper motor (23)；
Screw mandrel stepper motor (13) is fixed on rotation seat (7), and rotation seat (7) top nut is fixed with and screw mandrel stepper motor (13)
The coplanar and parallel guide pillar (14) of leading screw, the end of thread of guide pillar (14) has one section of face of cylinder, the face of cylinder and rotation seat (7) on pair
The assembly relation for answering hole is that small―gap suture or slight interference coordinate；Leading screw is accordingly housed on the vertical plane of the drive link (17) of L-shaped
Nut (15) and flange linear bearing (16), are provided with kidney slot on the horizontal plane of drive link (17), the width of kidney slot with it is short
One section of face of cylinder diameter of finger block (18) end of thread is clearance fit relationship, and short finger block (18) can be in drive link (17)
Kidney slot optional position and short finger block (18) any angle can be rotated relative to drive link (17), then will be short with nut
Finger block (18) is fixed in drive link (17), and flat spring curved surface finger (19) is housed on short finger block (18), and flat spring is bent
The finger tip curved portion of face finger 19 be used for pinch take mode to capture, median curved surface position captures for envelope mode；
With slotting on crank (21) the coaxial inner conductor Milling Process different kidney slot of two layers of width, for manual adjustment crank
Eccentric throw, between hole it is that running clearance coordinates on the face of cylinder of crank connecting link bearing pin (20) and drive link (17), crank connecting link
The diameter on the face of cylinder of bearing pin (20) is also that gap coordinates between the width of the wide kidney slot on fluting crank (21), eel-like figure shape
The width of groove is more bigger than the diameter of thread of crank connecting link bearing pin (20), and nut is fastened crank connecting link bearing pin (20) thread root
Step surface between shaft shoulder face and width kidney slot compresses, and ensures the axle that drive link (17) rotates in handle pitman pin (20)
Gap in the heart；
The other end of the fluting crank (21) of active is enclosed in drive shaft (26), and cutting for drive shaft (26) one end is fastened on by screw
On flat face, drive shaft (26) driving torque is transmitted；Drive shaft (26) is usherd to seat equipped with fluting crank (21), long sleeve (27), two
Band worm gear is ordinatedly injected in bearing (28), short sleeve (29), gear (24), the oblate shell of column gap of cutting of drive shaft (26) other end
In the hole of decelerator stepper motor (23) drive shaft, band worm reducer stepper motor (23) transmits moment of torsion by cutting oblate shell of column
To drive shaft (26), the flat key (25) in drive shaft (26) is transferred torque on gear (24)；One rolling bearing units (28) is solid
It is scheduled on gear cover plate (22), the gravity that axial direction is produced by grabbing object is delivered to rolling bearing units by the shaft shoulder face of drive shaft (26)
(28) inner ring is born, and another rolling bearing units (28) of coaxial inner conductor are fixed on bottom plate (1), and gear cover plate (22) is led by two
It is coupled to overall structure, guiding screw pole (36) both ends Jun You faces of cylinder, the face of cylinder and bottom plate (1) to stud (36) and bottom plate (1)
With the respective aperture clearance fit relationship on gear cover plate (22)；
Driven shaft (30) is supported by rolling bearing units (28) and small rolling bearing units (35), rolling bearing units (28) and small rolling bearing units (35)
It is separately fixed on gear cover plate (22) and bottom plate (1), axially by the shaft shoulder face of driven shaft (30), thick sleeve (31), taper hole tooth
(32), tapered sleeve (33) are taken turns, oblate nut (34) forms rotor；Gear (24) engages with taper hole gear (32), taper hole gear
(32) there is tapered sleeve (33) in hole, screw oblate nut (34), so as to by the oblique effect of carving of conical contact surfaces, transfer torque to
On driven shaft (30)；On the other end set driven shaft (30) of driven fluting crank (21), driven shaft (30) is fastened on by screw
One end is cut on flat face, and driven shaft (30) driving torque passes to driven fluting crank (21) again；Reversely unscrew oblate nut
(34), taper hole gear (32) and tapered sleeve (33) disengage, and can adjust the fluting crank (21) of active and driven fluting crank
(21) phase angle between, that is,：The fluting crank (21) of active and driven fluting crank (21) can be in horizontal plane directions
Symmetrically, can also be asymmetric；
On the width and bottom plate (1) of long finger block (37) clearance fit relationship, long finger block are formed between the width of wide kidney slot
(37) thread segment passes through narrow kidney slot on bottom plate (1), fixed with nut, therefore long finger block (37) can be on bottom plate (1)
Adjustment position in kidney slot, a flat spring curved surface finger (19) is also installed on long finger block (37)；The drive link on right side
(17) kidney slot is provided with horizontal plane, between one section of face of cylinder diameter of the width of kidney slot and middle finger block (38) end of thread is
Gap matching relationship, middle finger block (38) can be in the kidney slot optional position of right side drive link (17) and middle finger blocks (38)
Any angle can be rotated relative to drive link (17), then drive link (17) is fixed on nut, filled on middle finger block (38)
There is flat spring curved surface finger (19)；The structure snd size of all three spring curved surface fingers (19) are identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720352689.3U CN207127886U (en) | 2017-04-06 | 2017-04-06 | Finger displacement and the dual drive crank block parallel institution palm-type manipulator of indexing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720352689.3U CN207127886U (en) | 2017-04-06 | 2017-04-06 | Finger displacement and the dual drive crank block parallel institution palm-type manipulator of indexing |
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| Publication Number | Publication Date |
|---|---|
| CN207127886U true CN207127886U (en) | 2018-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720352689.3U Expired - Fee Related CN207127886U (en) | 2017-04-06 | 2017-04-06 | Finger displacement and the dual drive crank block parallel institution palm-type manipulator of indexing |
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| CN (1) | CN207127886U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048991A (en) * | 2018-10-15 | 2018-12-21 | 常州大学 | A kind of flexible multi-freedom joint device can be used for clean robot |
-
2017
- 2017-04-06 CN CN201720352689.3U patent/CN207127886U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048991A (en) * | 2018-10-15 | 2018-12-21 | 常州大学 | A kind of flexible multi-freedom joint device can be used for clean robot |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180323 Termination date: 20190406 |
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| CF01 | Termination of patent right due to non-payment of annual fee |