CN210414574U - Connecting rod belt wheel stepless variable coupling self-adaptive robot finger device - Google Patents
Connecting rod belt wheel stepless variable coupling self-adaptive robot finger device Download PDFInfo
- Publication number
- CN210414574U CN210414574U CN201920694864.6U CN201920694864U CN210414574U CN 210414574 U CN210414574 U CN 210414574U CN 201920694864 U CN201920694864 U CN 201920694864U CN 210414574 U CN210414574 U CN 210414574U
- Authority
- CN
- China
- Prior art keywords
- shaft
- connecting rod
- belt wheel
- transmission mechanism
- finger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000008878 coupling Effects 0.000 title claims abstract description 34
- 238000010168 coupling process Methods 0.000 title claims abstract description 34
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 238000000034 method Methods 0.000 claims description 11
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
A connecting rod belt wheel stepless variable coupling self-adaptive robot finger device belongs to the technical field of robot hands and comprises a base, two finger sections, two joint shafts, two motors, a connecting rod transmission mechanism, a belt wheel transmission mechanism, a self-locking transmission mechanism, a spring part, a limiting block, a push plate and the like. The device comprehensively realizes the functions of finger coupling pinching and self-adaptive envelope grabbing of the double-joint robot: the two finger sections can be coupled and linked to pinch small-size objects, the grabbing is quick, and the first finger section and the second finger section can be rotated successively to grab objects with different shapes and sizes in a self-adaptive enveloping manner; the coupling ratio can be adjusted, the performance of fast grabbing objects and large-range grabbing can be switched, better grabbing stability is obtained, and the grabbing range is large; an under-actuated mode is adopted, and one motor is used for driving two joints during grabbing, so that a complex sensing and control system is not needed. The device has compact structure, small volume, light weight and low manufacturing and maintenance cost.
Description
Technical Field
The utility model belongs to the technical field of the robot hand, in particular to structural design of connecting rod band pulley stepless variable coupling self-adaptation robot finger device.
Background
The human hand is the main component of a person grasping and moving an object. As the demand for robots from humans increases, there is an increasing desire for robotic hands. The existing robot hands are mainly divided into two categories of human-simulated multi-finger hands and special hands, wherein the human-simulated multi-finger hands are robot hands with fingers and are further divided into industrial clamps, dexterous hands and under-actuated hands. The under-actuated hand has a coupling mode, a horizontal clamping mode or a self-adaptive grabbing mode, can reduce the control difficulty, improves the grabbing stability, and has wide grabbing application range and low cost.
The flat clamping under-actuated finger is mainly used in the field of industrial grabbing, the coupling under-actuated finger is mainly used in the field of humanoid service robots, and because the coupling grabbing process is personified, the action is natural, the small-size object can be grabbed by pinching in a coupling multi-joint linkage mode, the grabbing is accurate, the large-size object can be grabbed by adopting a self-adaptive grabbing mode, the adaptability to objects with different shapes and sizes is realized, and the grabbing stability is high.
The prior coupling under-actuated integrated double-joint robot finger device (Chinese invention patent CN101664930B) comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a motor, a speed reducer, four connecting rods and the like. Although the device can realize coupling grabbing and self-adaptive grabbing and has a self-adaptive effect on a grabbed object, in the coupling grabbing process, the rotating angle of the second finger section around the far joint shaft and the rotating angle of the first finger section around the near joint shaft are always in a fixed proportion, the coupling proportion cannot be changed, and the contradiction between quick grabbing and large-scale grabbing cannot be met in the coupling grabbing process.
Disclosure of Invention
The utility model aims at prior art's weak point, provide a connecting rod band pulley stepless variable coupling self-adaptation robot finger device, have the multiple mode of snatching to can adjust the coupling proportion, snatch fast and snatch on a large scale and switch over between the performance, obtain the better stability of snatching.
In order to realize the purpose, the utility model adopts the following technical scheme:
the utility model relates to a connecting rod belt wheel stepless variable coupling self-adaptive robot finger device, which comprises a base, a first finger section, a second finger section, a near joint shaft and a far joint shaft; the proximal joint shaft is sleeved in the base; the first finger section is fixedly sleeved on the proximal joint shaft; the far joint shaft is sleeved in the first finger section; the second finger section is fixedly sleeved on the distal joint shaft; the centerline of the proximal joint axis is parallel to the centerline of the distal joint axis;
the connecting rod belt wheel stepless variable coupling self-adaptive robot finger device further comprises a first shaft, a second shaft, a third shaft, a first connecting rod, a second connecting rod, a first movable belt wheel, a first fixed belt wheel, a second movable belt wheel, a second fixed belt wheel, a first spring piece, a first motor, a second motor, a first transmission mechanism, a second spring piece, a limiting block and a push plate; the first motor is fixedly connected with the base; the output shaft of the first motor is connected with the input end of the first transmission mechanism; the output end of the first transmission mechanism is connected with the first connecting rod; one end of the first connecting rod is sleeved on the first shaft, and the other end of the first connecting rod is hinged with one end of the second connecting rod through the second shaft; the other end of the second connecting rod is sleeved on a third shaft; the first shaft is sleeved on the base; the third shaft is sleeved on the second finger section; the second motor is fixedly connected with the base; the output shaft of the second motor is connected with the input end of the second transmission mechanism; the second transmission mechanism is a self-locking transmission mechanism, and the output end of the second transmission mechanism is connected with the push plate; the push plate is connected with the first movable belt wheel; one end of the first spring piece is connected with the first finger section, and the other end of the first spring piece is connected with the first fixed belt wheel; the first movable belt pulley and the first fixed belt pulley are sleeved on the near joint shaft; the second movable belt pulley and the second fixed belt pulley are fixedly sleeved on the far joint shaft; the belt wheels are respectively connected with a first movable belt wheel, a first fixed belt wheel, a second movable belt wheel and a second fixed belt wheel, a transmission belt is in an O shape, and the transmission belt, the first movable belt wheel, the first fixed belt wheel, the second movable belt wheel and the second fixed belt wheel form a belt wheel transmission relation; two ends of the second spring are respectively connected with the first connecting rod and the second connecting rod; the limiting block is fixedly connected with the second connecting rod; in an initial state, the limiting block is in contact with the first connecting rod;
the proximal joint shaft, the distal joint shaft, the third shaft, the second shaft and the first shaft conform to the following relations: the central points of the proximal joint shaft, the distal joint shaft, the third shaft, the second shaft and the first shaft are respectively A, B, C, D, E; the line segments AB, BC, CE and EA form a 8 shape; point D, A is on one side of segment EC and point B is on the other side of segment EC.
Furthermore, the second transmission mechanism comprises a screw rod and a nut, an output shaft of the second motor is connected with the screw rod, the screw rod is in threaded connection with the nut, and the nut is fixedly connected with the push plate.
Further, the first spring element is a coil spring.
Furthermore, the second spring piece adopts a tension spring, a pressure spring or a torsion spring.
Compared with the prior art, the utility model, have following advantage and outstanding effect:
the utility model discloses utilize two motors, connecting rod drive mechanism, band pulley drive mechanism, auto-lock drive mechanism etc. to synthesize and realized that the finger coupling of double joint robot is held between the fingers and is held between the fingers the function of snatching with the self-adaptation envelope: the two finger sections can be coupled and linked to pinch small-size objects and grab quickly, and the first finger section and the second finger section can be rotated successively to grab objects with different shapes and sizes in a self-adaptive envelope mode. The device can adjust the coupling ratio, and can switch between the quick object grabbing and large-range object grabbing performances, so that better grabbing stability is obtained, and the grabbing range is large; an under-actuated mode is adopted, and one motor is used for driving two joints during grabbing, so that a complex sensing and control system is not needed. The device has compact structure, small volume, light weight and low manufacturing and maintenance cost.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a perspective external view of an embodiment of the present invention, which is a finger device of a connecting rod-pulley stepless variable coupling adaptive robot.
Fig. 2 is a side elevational view of the embodiment of fig. 1.
Fig. 3 is a front external view of the embodiment shown in fig. 1.
Fig. 4 is a sectional view taken along line a-a of fig. 3.
Fig. 5 is an internal perspective view of the embodiment of fig. 1 from an angle (not shown with some parts).
Fig. 6 is a front external view of the embodiment shown in fig. 1 (base front plate, base surface plate, first finger section front plate, first finger section surface plate are not shown).
Fig. 7 to 10 are schematic diagrams illustrating the operation process of the embodiment shown in fig. 1 in grabbing an object in an envelope holding manner.
Fig. 11 to 12 are schematic views illustrating a process of gripping and grabbing an object according to the embodiment shown in fig. 1.
[ reference numerals ]
1-base 21-first finger segment 22-second finger segment 31-proximal joint axis
32-distal joint axis 331-first axis 332-second axis 333-third axis
41-first link 42-second link 51-first movable pulley 52-first fixed pulley
53-second movable sheave 54-second fixed sheave 55-transmission belt 56-coil spring
61-first electric machine 62-second electric machine 71-first transmission 72-second transmission
81-spring 82-limiting block 9-push plate 10-object
Detailed Description
The specific structure, operation principle and operation process of the present invention will be further described in detail with reference to the accompanying drawings and embodiments.
The utility model relates to an embodiment of a connecting rod belt wheel stepless variable coupling self-adaptive robot finger device, as shown in fig. 1 to 7, comprising a base 1, a first finger section 21, a second finger section 22, a near joint shaft 31 and a far joint shaft 32; the proximal joint shaft 31 is sleeved in the base 1; the first finger section 21 is fixedly sleeved on the proximal joint shaft 31; the distal joint shaft 32 is sleeved in the first finger section 21; the second finger section 22 is fixedly sleeved on the distal joint shaft 32; the centerline of the proximal joint axis 31 is parallel to the centerline of the distal joint axis 32;
the present embodiment further includes a first shaft 331, a second shaft 332, a third shaft 333, a first link 41, a second link 42, a first movable pulley 51, a first fixed pulley 52, a second movable pulley 53, a second fixed pulley 54, a transmission belt 55, a coil spring 56 (i.e., a first spring member), a first motor 61, a second motor 62, a first transmission mechanism 71, a second transmission mechanism 72, a spring 81 (i.e., a second spring member), a stopper 82, and a push plate 9;
the first motor 61 is fixedly connected with the base 1; the output shaft of the first motor 61 is connected with the input end of a first transmission mechanism 71; the output end of the first transmission mechanism 71 is connected with the first connecting rod 41; one end of the first connecting rod 41 is sleeved on the first shaft 331, and the other end of the first connecting rod 41 is sleeved on the second shaft 332; one end of the second connecting rod 42 is sleeved on the second shaft 332, and the other end of the second connecting rod 42 is sleeved on the third shaft 333; the first shaft 331 is sleeved on the base 1; the third shaft 333 is sleeved on the second finger section 22; the second motor 62 is fixedly connected with the base 1; the output shaft of the second motor 62 is connected with the input end of the second transmission mechanism 72; the second transmission mechanism 72 is a self-locking transmission mechanism, and the output end of the second transmission mechanism is connected with the push plate 9; the push plate 9 is connected 51 with a first movable belt wheel; one end of the coil spring 56 is connected with the first finger section 21, and the other end is connected with the first fixed belt wheel 52; the first movable belt pulley 51 and the first fixed belt pulley 52 are sleeved on the near joint shaft 31, and form a transmission belt pulley together; the second movable belt pulley 53 and the second fixed belt pulley 54 are fixedly sleeved on the far joint shaft 32, and form another transmission belt pulley together; the transmission belt 55 is respectively connected with the first movable belt wheel 51, the first fixed belt wheel 52, the second movable belt wheel 53 and the second fixed belt wheel 54, the transmission belt 55 is O-shaped, and the transmission belt 55, the first movable belt wheel 51, the first fixed belt wheel 52, the second movable belt wheel 53 and the second fixed belt wheel 54 form a belt wheel transmission relationship; two ends of the spring 81 are respectively connected with the first connecting rod 41 and the second connecting rod 42; the limiting block 82 is fixedly connected with the second connecting rod 42, and in an initial state, the limiting block 82 is in contact with the first connecting rod 41;
in this embodiment, the proximal joint axis, the distal joint axis, the first axis, the second axis, and the third axis conform to the following relationship: a, B, C, D, E are respectively set as the central points of the proximal joint shaft 31, the distal joint shaft 32, the third shaft 333, the second shaft 332 and the first shaft 331; the line segments AB, BC, CE and EA form a 8 shape; point D, A is on one side of segment EC and point B is on the other side of segment EC.
In this embodiment, the first transmission mechanism 71 is a gear transmission mechanism. The utility model discloses a pair of intermeshing's bevel gear, the output shaft and a bevel gear of first motor 61 are connected, and another bevel gear cup joints on primary shaft 331, and the one end and another bevel gear rigid coupling of first connecting rod 41.
In this embodiment, the second transmission mechanism 72 includes a screw rod and a nut, the output shaft of the second motor 62 is connected to the screw rod installed in the base 1, the screw rod is connected to the nut through a thread, and the nut is fixedly connected to the push plate 9.
The spring of the utility model adopts a tension spring, a pressure spring or a torsion spring. In this embodiment, the spring 81 is a tension spring.
The operation principle of the present embodiment is described below with reference to fig. 8 to 12:
the initial state of this embodiment is shown in fig. 7 and fig. 11, which is similar to the straight state of human fingers.
When the object 10 is grabbed by the present embodiment, the second motor 62 rotates, the push plate 9 is driven by the second transmission mechanism 72 to slide on the base 1, the push plate 9 pushes the first movable belt wheel 51 to move along the proximal joint axis, the belt transmission ratio is changed, the ratio of the rotation angle of the first finger section 21 around the proximal joint axis 31 to the rotation angle of the second finger section 22 around the distal joint axis 32 in the coupling grabbing process is a, and the purpose of variable ratio coupling rotation is achieved. When the push plate 9 moves leftwards (as shown in fig. 5), the ratio a becomes larger; conversely, when the push plate 9 is moved to the right (as shown in fig. 5), the ratio a becomes smaller.
The first motor 61 rotates to drive the first link 41 to rotate counterclockwise (as shown in fig. 5) through the first transmission mechanism 71, the second link 42 drives the second finger segment 22 to rotate counterclockwise by an angle β around the distal joint shaft 32, because the second finger segment is fixed on the distal joint shaft, the distal joint shaft 32 rotates simultaneously, and through the pulley transmission, the first finger segment 21 rotates by an angle α and β: α ═ a around the proximal joint shaft 31, as shown in fig. 8, the following two situations are encountered:
(a) when the second finger segment 22 is blocked from contacting the object first, the grabbing is finished, and the effect of coupling and pinching the small object is achieved, as shown in fig. 12;
(b) when the first finger section 21 contacts the surface of the object before the second finger section 22, the first finger section 21 is blocked from further rotation, as shown in fig. 9, at this time, the pulley continues to transmit, and the coil spring 56 contracts; meanwhile, the first connecting rod 41 continues to rotate anticlockwise, the included angle between the first connecting rod 41 and the second connecting rod 42 is increased, the limiting block 82 leaves the first connecting rod 41, and the spring 81 deforms; the second finger segment 22 continues to rotate counterclockwise around the distal joint axis 32 until the second finger segment 22 also contacts the object, and the grabbing is finished, so that the effect of grabbing the large object with the adaptive envelope is realized, as shown in fig. 10.
Process of releasing the object 10: the first motor 61 rotates reversely, and the subsequent process is just opposite to the process of grabbing the object 10, and is not described again.
The utility model discloses utilize two motors, connecting rod drive mechanism, band pulley drive mechanism, auto-lock drive mechanism etc. to synthesize and realized that the finger coupling of double joint robot is held between the fingers and is held between the fingers the function of snatching with the self-adaptation envelope: the two finger sections can be coupled and linked to pinch small-size objects and grab quickly, and the first finger section and the second finger section can be rotated successively to grab the objects with different shapes and sizes in a self-adaptive envelope mode. The device can adjust the coupling ratio, and can switch between the quick object grabbing and large-range object grabbing performances, so that better grabbing stability is obtained, and the grabbing range is large; an under-actuated mode is adopted, and one motor is used for driving two joints during grabbing, so that a complex sensing and control system is not needed. The device has compact structure, small volume, light weight and low manufacturing and maintenance cost.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention as long as they do not depart from the design and scope of the technical solutions of the present invention.
Claims (4)
1. A connecting rod belt wheel stepless variable coupling self-adaptive robot finger device comprises a base, a first finger section, a second finger section, a near joint shaft and a far joint shaft; the proximal joint shaft is sleeved in the base; the first finger section is fixedly sleeved on the proximal joint shaft; the far joint shaft is sleeved in the first finger section; the second finger section is fixedly sleeved on the distal joint shaft; the centerline of the proximal joint axis is parallel to the centerline of the distal joint axis;
the method is characterized in that: the connecting rod belt wheel stepless variable coupling self-adaptive robot finger device further comprises a first shaft, a second shaft, a third shaft, a first connecting rod, a second connecting rod, a first movable belt wheel, a first fixed belt wheel, a second movable belt wheel, a second fixed belt wheel, a transmission belt, a first spring piece, a first motor, a second motor, a first transmission mechanism, a second spring piece, a limiting block and a push plate; the first motor is fixedly connected with the base; the output shaft of the first motor is connected with the input end of the first transmission mechanism; the output end of the first transmission mechanism is connected with the first connecting rod; one end of the first connecting rod is sleeved on the first shaft, and the other end of the first connecting rod is hinged with one end of the second connecting rod through the second shaft; the other end of the second connecting rod is sleeved on a third shaft; the first shaft is sleeved on the base; the third shaft is sleeved on the second finger section; the second motor is fixedly connected with the base; the output shaft of the second motor is connected with the input end of the second transmission mechanism; the second transmission mechanism is a self-locking transmission mechanism, and the output end of the second transmission mechanism is connected with the push plate; the push plate is connected with the first movable belt wheel; one end of the first spring piece is connected with the first finger section, and the other end of the first spring piece is connected with the first fixed belt wheel; the first movable belt pulley and the first fixed belt pulley are sleeved on the near joint shaft; the second movable belt pulley and the second fixed belt pulley are fixedly sleeved on the far joint shaft; the transmission belt is respectively connected with the first movable belt wheel, the first fixed belt wheel, the second movable belt wheel and the second fixed belt wheel, the transmission belt is O-shaped, and the transmission belt, the first movable belt wheel, the first fixed belt wheel, the second movable belt wheel and the second fixed belt wheel form a belt wheel transmission relationship; two ends of the second spring are respectively connected with the first connecting rod and the second connecting rod; the limiting block is fixedly connected with the second connecting rod, and is contacted with the first connecting rod in an initial state;
the proximal joint shaft, the distal joint shaft, the third shaft, the second shaft and the first shaft conform to the following relations: the central points of the proximal joint shaft, the distal joint shaft, the third shaft, the second shaft and the first shaft are respectively A, B, C, D, E; the line segments AB, BC, CE and EA form a 8 shape; point D, A is on one side of segment EC and point B is on the other side of segment EC.
2. The connecting rod pulley stepless variable coupling adaptive robot finger device according to claim 1, characterized in that: the second transmission mechanism comprises a screw rod and a nut, an output shaft of the second motor is connected with the screw rod, the screw rod is in threaded connection with the nut, and the nut is fixedly connected with the push plate.
3. The connecting rod pulley stepless variable coupling adaptive robot finger device according to claim 1, characterized in that: the first spring element is a coil spring.
4. The connecting rod pulley stepless variable coupling adaptive robot finger device according to claim 1, characterized in that: the second spring piece adopts a tension spring, a pressure spring or a torsion spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920694864.6U CN210414574U (en) | 2019-05-15 | 2019-05-15 | Connecting rod belt wheel stepless variable coupling self-adaptive robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920694864.6U CN210414574U (en) | 2019-05-15 | 2019-05-15 | Connecting rod belt wheel stepless variable coupling self-adaptive robot finger device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210414574U true CN210414574U (en) | 2020-04-28 |
Family
ID=70371690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920694864.6U Expired - Fee Related CN210414574U (en) | 2019-05-15 | 2019-05-15 | Connecting rod belt wheel stepless variable coupling self-adaptive robot finger device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210414574U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986592A (en) * | 2019-05-15 | 2019-07-09 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | The stepless change coupling adaptive robot finger apparatus of connecting rod belt wheel |
-
2019
- 2019-05-15 CN CN201920694864.6U patent/CN210414574U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986592A (en) * | 2019-05-15 | 2019-07-09 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | The stepless change coupling adaptive robot finger apparatus of connecting rod belt wheel |
| CN109986592B (en) * | 2019-05-15 | 2024-02-06 | 清研(洛阳)先进制造产业研究院 | Connecting rod belt wheel stepless variable coupling self-adaptive robot finger device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107081744B (en) | Flexible hose fluid underactuated multi-joint robot finger device | |
| CN107984484B (en) | Self-adaptive robot finger device with end accurate compensation and linear parallel clamping | |
| CN109605404B (en) | Sliding chute parallel connection connecting rod linear parallel clamping self-adaptive robot finger device | |
| CN108247658B (en) | Flat folder coupling adaptive multi-mode grabs robot finger apparatus | |
| CN108481354B (en) | Disk-tooth switching multi-mode fusion self-adaptive robot finger device | |
| CN210414574U (en) | Connecting rod belt wheel stepless variable coupling self-adaptive robot finger device | |
| CN109129530B (en) | Multi-mode grabbing parallel connection rod composite self-adaptive robot finger device | |
| CN107139195B (en) | Robot finger device suitable for pinching and holding | |
| CN109176566B (en) | Self-adaptive robot finger device with gear chute and connecting rod linearly clamped in parallel | |
| CN109129548B (en) | Variable-geometry linear parallel clamping self-adaptive robot finger device | |
| CN108453768B (en) | Rod wheel parallel racing envelope self-adaptive robot finger device | |
| CN107234631B (en) | Self-adaptive robot hand device for parallel clamping, coupling and switching of crankshaft connecting rod | |
| CN109986592B (en) | Connecting rod belt wheel stepless variable coupling self-adaptive robot finger device | |
| CN108189055B (en) | Rack cosine telescopic straight-line parallel clamping self-adaptive finger device | |
| CN107030719B (en) | Multi-joint built-in driving variable gripping force time-delay self-adaptive robot finger device | |
| CN109571520B (en) | Huo Ken connecting rod straight line parallel clamping self-adaptive robot finger device | |
| CN210233032U (en) | Co-circular slide bar linear flat clamping indirect self-adaptive robot finger device | |
| CN107598949B (en) | Gear rack tail end approximate straight line composite grabbing robot finger device | |
| CN107243915B (en) | Parallel-clamping coupling switching self-adaptive robot finger device with duplex racks | |
| CN214724284U (en) | Double-finger linkage displacement parallel clamping self-adaptive robot finger device | |
| CN107891439B (en) | Wave-cutting-off sharp connecting rod straight line parallel clamping self-adaptive robot finger device | |
| CN109605414B (en) | Belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device | |
| CN209007570U (en) | Multi-mode grabs the compound adaptive robot finger apparatus of connecting rod in parallel | |
| CN210161180U (en) | Toothed belt connecting rod series-parallel hybrid composite grabbing robot finger device | |
| CN109571519B (en) | Sliding chute double-transmission belt straight line parallel clamping self-adaptive robot finger device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200428 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |