CN107214721A - A kind of parallel robot delicate adaptively grasped - Google Patents
A kind of parallel robot delicate adaptively grasped Download PDFInfo
- Publication number
- CN107214721A CN107214721A CN201710623980.4A CN201710623980A CN107214721A CN 107214721 A CN107214721 A CN 107214721A CN 201710623980 A CN201710623980 A CN 201710623980A CN 107214721 A CN107214721 A CN 107214721A
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- finger
- bar
- silk thread
- pedestal
- adaptively
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of parallel robot delicate adaptively grasped, including pedestal and finger, finger includes the first finger, second finger and the 3rd finger, every finger includes distally referring to bar and near-end refers to bar, first finger is connected on pedestal, second finger and the 3rd finger can be around the central axis rotations perpendicular to pedestal, during Dextrous Hand grasping, when near-end refers to bar not in contact with to object, distally refer to the motion of bar linear translation and remove parallel grabbing object, also can be after referring to bar when near-end and touching object, according to object different size form adaptive envelope grabbing object.Simultaneously rotatable finger can adjust the position of finger on a large scale and produce a variety of grasping structure states, improve the ability of crawl different shape object.The clever hands deft design of the present invention, small volume, driving is few, and the object of different size shape can be adapted to automatically, and Grasping skill is strong, and scope is big, reliable and stable.
Description
Technical field
The invention belongs to robot technical field, more particularly to a kind of parallel robot delicate adaptively grasped.
Background technology
With the development of robot technology, robot is used in increasing field, increasing actual
The terminal of robot is required in can be engaged in the ability of stable crawl and operation object.Robot delicate, is generally similar to
Human hand is designed as multiple fingers, using force-closed and Shape closed crawl principle, is that robot is used to capturing and operating object
Important terminal.
Common industrial clamper typically using the parallel grasping mode in end, referred to as parallel grip, it is flat pinch, i.e. end
Refer to bar parallel, from the double sided contacts object of object, object is got hold of, the effect of force-closure grasp is reached with this.It is this parallel
Grasping mode can be to small-size object or with opposite large-size object carry out high-quality crawl, the scope of crawl can
With from small-sized to size very big object.
Another common grasping mode is adaptive envelope grasping, i.e., connect using multiple finger bars of robot delicate
Object is touched, so as to reach the effect of Shape closed crawl.This adaptive envelope grasping mode, can be to different sizes, shape
The characteristics of object of shape carries out adaptive envelope crawl, this grasping mode is that grasping is more stable reliable, and can be applied more
Big power.
Existing robot hand device such as Chinese invention patent CN101234489A etc., this device can realize the adaptive of finger
Answer envelope to grasp, reach the effect of Shape closed crawl, but parallel grasping can not be realized.For example middle promulgated by the State Council of existing robot hand device
Bright patent CN102528798A etc., this device can realize parallel grasping, but can not realize that envelope is grasped.A kind of existing drive lacking
Finger apparatus such as Chinese patent CN106272502A etc., can realize parallel grasping and envelope grasping, but mechanism element is more, and redundancy is multiple
Miscellaneous, overall finger size volume is big, heavy un-skill.
The content of the invention
The purpose of the present invention is the deficiency for prior art, proposes a kind of novel parallel adaptive robot delicate
Structure design.The novel robot Dextrous Hand, deft design, structure is simplified, drive lacking, small volume, and grasping ability is strong, scope
Greatly, manufacturing cost is low, reliable and stable, can just stablize with control system without complicated sensing and realize parallel grasping and realization
Adaptive envelope grasping, while finger can be wound on the central axis rotation perpendicular to pedestal, to produce a variety of grasping structure states.
Technical scheme is as follows：
A kind of parallel robot delicate adaptively grasped disclosed by the invention, including pedestal and finger, the finger include
First finger, second finger and the 3rd finger, first finger are connected on the pedestal, the second finger and the 3rd hand
Referring to can be around the central axis rotation perpendicular to the pedestal, first finger, second finger and the 3rd finger structure phase
Together, finger includes distally referring to bar and near-end refers to bar, and the distal end refers to bar and refers to bar with near-end to be connected by distal end cradle head, described
Near-end refers to bar and the pedestal is rotatedly connected by near-end cradle head；The finger motion is driven by silk thread, in the hand
Refer to upper rotating around dynamic silk thread, dorsad silk thread, passive silk thread, the passive silk thread and described dorsad silk thread one end are wound on distally
Refer to bar tail end, the other end is wound on base end, described power silk thread one end, which is wound on, distally refers to bar tail end, the other end by centre bore around
To motor shaft end.
Wherein, the second finger and the 3rd finger can be around the central axis rotations perpendicular to the pedestal, first
Affixed first shaft coupling on motor output shaft, affixed first multi-diameter shaft of the first shaft coupling other end, first multi-diameter shaft
The other end gear is connected by key, first motor provides power, and torque is delivered to the gear, then passes through the gear
Transmission drives the second finger and the 3rd finger around the central axis rotation perpendicular to the pedestal.
Wherein, the second finger and the 3rd finger can rotate around the central axis perpendicular to the pedestal, with reference to
First finger, can produce three kinds of common grasping structure states, and two refer to just to structure state, and three refer to uniform structure state, and three refer to alternate parallel structure state.
Wherein, the finger motion is driven by silk thread, affixed second shaft coupling on the second motor output shaft, the finger
Drives line is wrapped in the second shaft coupling, and the second shaft coupling is fixed on the second multi-diameter shaft, second multi-diameter shaft
The other end is rotated by bearing and pedestal and connected.Such a configuration obviates the generation of cantilever beam so that described dexterous robot
Rigidity is strong during hand grasping, stable, and stress performance is good.
Wherein, the finger actuation line is wrapped on the shaft coupling, is rotated the second shaft coupling and be can be carried out institute
The pretension of finger actuation line is stated, without other pre-tightening apparatus, pretensioning operation is simple and convenient.
Wherein, the second shaft coupling is divided into three parts of upper, middle and lower, the 3rd finger, second finger and the first finger
Drives line be respectively wound around three parts of upper, middle and lower of the second shaft coupling so that the drives line of three fingers can be distinguished
Pre-tensioner and adjustment, facilitates the demarcation of the initial pose of robot delicate.
Wherein, the pedestal is the structure of the palm surface similar to human hand, and palm surface can conduct during grasping
Contact point, so as to improve the ability that described robot delicate grasps weight body.
Wherein, passive silk thread is wound with the finger, the passive silk thread is connected to that one end for distally referring to bar tail end
There is the structure that can carry out length adjustment, the passive filament length degree can be adjusted, referred to so that distally referring to bar relative to near-end
The initial position of bar can be adjusted.
Wherein, passive silk thread is wound with finger, thus ensure that grasping during the distal end refer to bar all the time will not phase
Refer to bar to the near-end to move backward, and the selected passive silk thread requires that creep properties is small, so as to ensure distally to refer to bar relative
The initial position for referring to bar in near-end is always ensured that constant.
Wherein, dorsad silk thread is wound with the finger, the dorsad silk thread is connected to the distal end by the first spring
Refer on bar, and first spring rate will choose suitably, such a structure ensure that grasp during when the near-end refers to bar not
When touching object, the distal end refers to the motion of bar linear translation and removes parallel grabbing object, and object is touched when near-end refers to bar
Afterwards, according to object different size form adaptive envelope grabbing object.
Wherein, the first torsion spring and the second torsion spring are separately installed with the distal end cradle head and near-end cradle head,
The stretching, extension return motion of the finger is ensure that by the torsion spring and the dorsad silk so that the finger is returned to initial bit
Put.
The present invention compared with prior art, with advantages below and high-lighting effect：
Robot delicate of the present invention by mechanical structure smart design, power silk thread, passive silk thread, dorsad silk thread on finger
Special winding mode and silk thread mechanical property Rational choice, and the first torsion spring, the second torsion spring, the rigidimeter of the first spring
Calculate and choose, realize the grasping of robot delicate straight line parallel and the function of adaptively grasping.Finger is around perpendicular to institute simultaneously
The central axis rotation of pedestal is stated, three kinds of common grasping structure states can be produced, two refer to just to structure state, the three uniform structure states of finger, three fingers
Alternate parallel structure state, expands it and grasps adaptability.By rationally designing second shaft coupling, the second multi-diameter shaft so that three hands
The driving silk thread of finger can very easily distinguish pre-tensioner and adjustment, so as to facilitate the regulation of the initial pose of robot delicate
And demarcation.Passive silk thread, which is connected to, distally to be referred to that one end of bar tail end and has the structure that can carry out length adjustment so that passive silk
Length conveniently can be tensioned and adjust, so that distally referring to bar can be adjusted relative to the initial position that near-end refers to bar.Pass through
One motor realizes the grasping closure of ternary sequential circuit and stretches opening movement, drive lacking.
Generally speaking, the novel robot Dextrous Hand, deft design, structure is simplified, drive lacking, small volume, grasping ability
By force, scope is big, adjusts easy to operate, manufacturing cost is low, reliable and stable, can just stablize without complicated sensing and control system
Realize parallel grasping and realize adaptive envelope grasping, while finger can be wound on the central axis rotation perpendicular to pedestal,
To produce a variety of grasping structure states.
Brief description of the drawings
Fig. 1 is dexterous manual force silk thread winding mode figure；
Fig. 2 is the passive silk thread winding mode figure of Dextrous Hand；
Fig. 3 is Dextrous Hand dorsad silk thread winding mode figure；
Fig. 4 is the parallel grasping procedure chart of Dextrous Hand；
Fig. 5 is Dextrous Hand envelope grasping procedure chart；
Fig. 6 is Dextrous Hand torsion spring connection figure；
Fig. 7 is Dextrous Hand palm power transmission structure figure；
Fig. 8 Dextrous Hands two refer to just to structure state figure；
Fig. 9 Dextrous Hands three refer to uniform structure state figure；
Figure 10 Dextrous Hands three refer to alternate parallel structure state figure；
Figure 11 Dextrous Hands front stereo appearance figure；
Figure 12 Dextrous Hands rod member replaces passive silk thread figure.
Main element explanation：
100th, pedestal 101, the first finger
102nd, second finger 103, the 3rd finger,
104th, driving silk thread 105, passive silk thread
106th, dorsad silk thread 107, the first spring
108th, the first motor 109, first shaft coupling
110th, the first multi-diameter shaft 111, gear
112nd, the second motor 113, second shaft coupling
114th, the second multi-diameter shaft 115, palm surface
116th, the first torsion spring 117, the second torsion spring
201st, near-end refers to bar 202, distally refers to bar
203rd, pulley 204, by grabbing object
301st, near-end cradle head 302, distal end cradle head
401st, the first rod member 402, sliding block
403rd, spring 404, the second rod member.
Embodiment
In order to more clearly state the present invention, the present invention is further described below in conjunction with the accompanying drawings.In order that this hair
Bright object, technical solution and advantage are more clearly understood, and below in conjunction with drawings and Examples, the present invention are carried out further detailed
Describe in detail bright, it will be appreciated that the specific embodiments described herein are merely illustrative of the present invention, be not intended to limit the present invention.
It should be noted that when element is referred to as " being installed on " or " being arranged at " another element, it can directly or
It is connected on another element.When an element is known as " connected " another element, it can be directly or indirectly connected to
Another element.
It should also be noted that, inferior orientation term on left and right in the embodiment of the present invention, be only each other relative concept or
It is that, using the normal operating condition of product as reference, and should not be regarded as restrictive.
In order to further understand the content, features and effects of the present invention, hereby enumerating following examples, and coordinate accompanying drawing
Describe in detail as follows：
Fig. 1 is referred to Fig. 2, a kind of novel parallel adaptive robot Dextrous Hand, including pedestal 100, the first finger 101,
Two fingers 102 and the 3rd finger 103, wherein, first finger 101 is connected on the pedestal 100, the second finger
102 and the 3rd finger 103 can around perpendicular to the pedestal 100 central axis rotation.First finger 101, second
Finger 102 and the structure of the 3rd finger 103 are identical, and its structure is specifically introduced by taking the structure of the first finger 101 as an example, described first-hand
Finger includes near-end and refers to bar 201 and distally refer to bar 202, and the distal end refers to bar 202 and the near-end refers to bar 201 and rotates pass by distal end
Section 302 is connected, and the near-end refers to bar 201 and the pedestal 100 is rotatedly connected by near-end cradle head 301.It is described first-hand
Refer to the motion of the 101, finger 103 of second finger 102 and the 3rd to be driven by silk thread, by taking the first finger 101 as an example, refer to Fig. 3, figure
Rotating around dynamic silk thread 104 on 4 and Fig. 5, first finger 101, passive silk thread 105, dorsad silk thread 106, described passive
Silk thread 105 and described one end of dorsad silk thread 106 are wound on the distal end and refer to the tail end of bar 202, and the other end is wound on the end of pedestal 100, described
The one end of power silk thread 104, which is wound on, distally refers to the tail end of bar 202, and the other end is by centre bore around to motor shaft end.
The passive silk thread 105 is wound with first finger 101, so that the distal end refers to during ensure that grasping
Bar 202 all the time will not relatively described near-end refer to bar 201 and move backward, and the passive silk thread 105 is connected to and distally refers to the tail of bar 202
There is the structure that can carry out length adjustment that one end at end, and the passive wire length 105 can be adjusted, so that distally referring to
Bar 202 can be adjusted relative to the initial position that near-end refers to bar 201.
Fig. 1 to Fig. 8 is referred to, dorsad silk thread 106 are wound with first finger, the dorsad silk thread 106 passes through
One spring 107 is connected to the distal end and referred on bar 202, and the rigidity of the first spring 107 will be chosen suitably, power silk thread
104th, the Rational choice of passive silk thread 105, dorsad special winding mode and silk thread mechanical property of the silk thread 106 on finger, when
During the grasping that motor driving silk thread is moved downward, when the near-end refers to bar 201 not in contact with to object, the distal end
Refer to the motion of the linear translation of bar 202 and remove parallel grabbing object, it is different big according to object after near-end, which refers to bar 201, touches object
Small form adaptive envelope grabbing object.When needing to unclamp object, without increase power in addition, turn by the distal end
The first torsion spring 116 and the second torsion spring 117 that are respectively mounted at movable joint 302 and near-end cradle head 301 and dorsad silk 106
Ensure the stretching, extension return motion of the finger so that the finger is returned to initial position.
Refer to Fig. 1, Fig. 2 and to Fig. 9-Figure 10, drive the first motor 108, the first motor 108 drive it is affixed thereon
First shaft coupling 109, the first shaft coupling 109 drives the first multi-diameter shaft 110 of affixed its one end, first multi-diameter shaft
110 drive the gear 111 of affixed its one end, then drive the finger of second finger 102 and the 3rd by the gear 111 transmission
103 around the central axis rotary motion perpendicular to the pedestal 100, by the angle for controlling first motor 108 to rotate,
So as to control the second finger 102 and the 3rd finger 103 around the central axis rotation perpendicular to the pedestal 100
Angle, so that Dextrous Hand can produce a variety of grasping structure states, produces three kinds of common grasping structure states, two refer to just to structure state,
Three refer to uniform structure state, and three refer to alternate parallel structure state.Two fingers are deformed to just to structure state, the second finger 102 and the 3rd hand
Refer to 103 in just to state, be adapted to pinching, twist etc. and operating for Dextrous Hand, such as the turn of the screw；The uniform structure state of three fingers is deformed to cause
Finger is evenly distributed with object contact point, improves the quality of Dextrous Hand grasping；The alternate parallel structure state of three fingers is deformed to, is adapted to spirit
Dab hand captures the object of sheet goods or small volume.
Referring to Fig. 9, pedestal 100 has the palm surface 115 similar to human hand, the palm surface can during grasping
As contact point, so as to improve the ability that described robot delicate grasps weight body.
Affixed second shaft coupling 113 on Figure 11, the output shaft of the second motor 112 is referred to, the second shaft coupling 113 is fixed
On the second multi-diameter shaft 114, the other end of the second multi-diameter shaft 114 is rotated by bearing and pedestal 100 and connected.This structure is kept away
The generation of cantilever beam is exempted from so that rigidity is strong during described robot delicate grasping, and stable, stress performance is good.
Figure 11 is referred to, 113 points of the second shaft coupling is three parts of upper, middle and lower, the 3rd finger 103, second-hand
The driving silk thread of the finger 101 of finger 102 and first is respectively wound around three parts of upper, middle and lower of the second shaft coupling 113, respectively
Rotate three parts of upper, middle and lower of second shaft coupling 113 so that the identical or different angle of the partial turn of upper, middle and lower three, then make
Three parts are fixed tightly on the second multi-diameter shaft 114 respectively, it is possible to pretension and adjustment respectively are carried out to finger actuation silk thread, without
Other pretensions and position regulator, it is simple to operate.
Figure 12 is referred to, passive silk thread 105 can be replaced with rod member, and the first rod member 401 is sequentially connected sliding block 402, spring
403, another second rod member 404, it is ensured that during grasping the distal end refer to bar 202 all the time will not relatively described near-end refer to bar
201 move backward, reliable and stable.
Beneficial effects of the present invention are：
1）Robot delicate of the present invention is by mechanical structure smart design, and power silk thread, passive silk thread, dorsad silk thread is in finger
On special winding mode and silk thread mechanical property Rational choice, and the first torsion spring, the second torsion spring, the rigidity of the first spring
Calculate and choose, realize the grasping of robot delicate straight line parallel and the function of adaptively grasping；
2）Multiple fingers can produce three kinds of common grasping structure states around the central axis rotation perpendicular to the pedestal, and two refer to
Just structure state, three are referred to uniform structure state, the alternate parallel structure state of three fingers, expands its and grasps adaptability；
3）By rationally designing second shaft coupling, the second multi-diameter shaft so that the driving silk thread of three fingers can be very easily
Pre-tensioner respectively and adjustment, so as to facilitate the regulation and demarcation of the initial pose of robot delicate；
4）Passive silk thread, which is connected to, distally to be referred to that one end of bar tail end and has the structure that can carry out length adjustment so that passive filament length
Degree conveniently can be tensioned and adjust, so that distally referring to bar can be adjusted relative to the initial position that near-end refers to bar；
5）Ternary sequential circuit is realized by a motor, the grasping of every finger closes and stretched opening movement, drive lacking；
6）The novel robot Dextrous Hand, deft design, structure is simplified, drive lacking, small volume, and grasping ability is strong, scope is big, is adjusted
Section is easy to operate, and manufacturing cost is low, reliable and stable, can just stablize with control system without complicated sensing and realize parallel grasping
And adaptive envelope grasping is realized, while finger can be wound on the central axis rotation perpendicular to pedestal, to produce a variety of grab
Hold structure state.
Disclosed above is only several specific embodiments of the present invention, but the present invention is not limited to this, any ability
What the technical staff in domain can think change should all fall into protection scope of the present invention.
Claims (10)
1. a kind of parallel robot delicate adaptively grasped, including pedestal and finger；The finger includes the first finger, the
Two fingers and the 3rd finger, it is characterised in that
First finger is connected on the pedestal, and the second finger and the 3rd finger are around in the pedestal
Heart axis rotates；
First finger, second finger and the 3rd finger structure are identical, include distally referring to bar on each finger and near-end refers to
Bar, the distal end refers to bar and refers to bar with near-end to be connected by distal end cradle head, and the near-end refers to bar and the pedestal passes through near-end
Cradle head is rotatedly connected；
The finger motion is driven by silk thread, rotating around dynamic silk thread on the finger, dorsad silk thread, passive silk thread,
The passive silk thread and described dorsad silk thread one end are wound on and distally refer to bar tail end, and the other end is wound on base end, the power silk thread
One end, which is wound on, distally refers to bar tail end, and the other end is by centre bore around to motor shaft end.
2. the parallel robot delicate adaptively grasped according to claim 1, it is characterised in that on the finger
Dorsad silk thread is wound with, the dorsad silk thread is connected to the distal end by the first spring and referred on bar；Do not connect when the near-end refers to bar
When contacting object, the distal end refer to bar linear translation motion remove parallel grabbing object, when near-end refer to bar touch object it
Afterwards, according to object different size form adaptive envelope grabbing object.
3. the parallel robot delicate adaptively grasped according to claim 1, it is characterised in that turn in the distal end
The first torsion spring and the second torsion spring are separately installed with movable joint and near-end cradle head, makes hand by torsion spring and the dorsad silk thread
The stretching, extension return motion of finger is to initial position.
4. the parallel robot delicate adaptively grasped according to claim 1, it is characterised in that the second finger
And the 3rd finger around the central axis rotation perpendicular to the pedestal, affixed first shaft coupling, institute on the first motor output shaft
Affixed first multi-diameter shaft in one end of first shaft coupling is stated, first multi-diameter shaft also connects gear, first motor by key
Power is provided, the torque of the first motor is delivered on the gear, then drives the second finger and the 3rd by gear drive
Finger is around the central axis rotation perpendicular to the pedestal.
5. the parallel robot delicate adaptively grasped according to claim 1, it is characterised in that the second finger
And the 3rd finger around perpendicular to the pedestal central axis rotation, with reference to the first finger, three kinds of common graspings can be produced
Structure state, two refer to just to structure state, and three refer to uniform structure state, and three refer to alternate parallel structure state.
6. the parallel robot delicate adaptively grasped according to claim 1, it is characterised in that finger motion passes through
Silk thread is driven, and affixed second shaft coupling on the second motor output shaft, the finger actuation line is wrapped in the second shaft coupling,
The second shaft coupling is fixed on the second multi-diameter shaft, and the second multi-diameter shaft other end is rotated by bearing and pedestal and connected.
7. according to the parallel robot delicate adaptively grasped described in claim 6, it is characterised in that the finger actuation line
It is wrapped in second shaft coupling, rotates the second shaft coupling, the finger actuation line realizes pretensioning operation.
8. the parallel robot delicate adaptively grasped according to claim 7, it is characterised in that second shaft coupling
Device is divided into three parts of upper, middle and lower, the 3rd finger, and the drives line of second finger and the first finger is respectively wound around described
Three parts of upper, middle and lower of two shaft couplings so that the drives line difference of three fingers is pre-tensioner and adjusts, and demarcates dexterous robot
Hand initial position.
9. the parallel robot delicate adaptively grasped according to claim 1, it is characterized in that being, the pedestal shape
Shape is similar to the palm surface of human hand, and contact point, support weight are used as during grasping as the pedestal of palm surface
Body.
10. the parallel robot delicate adaptively grasped according to claim 1, it is characterised in that be wound with finger
Passive silk thread, the passive silk thread, which is connected to, distally to be referred to one end of bar tail end and is provided with structure of adjusting length, the passive silk thread
For adjustable in length structure so that distally referring to bar can be adjusted relative to the initial position that near-end refers to bar.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710623980.4A CN107214721B (en) | 2017-07-27 | 2017-07-27 | A kind of robot delicate adaptively grasped in parallel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710623980.4A CN107214721B (en) | 2017-07-27 | 2017-07-27 | A kind of robot delicate adaptively grasped in parallel |
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| CN107214721A true CN107214721A (en) | 2017-09-29 |
| CN107214721B CN107214721B (en) | 2019-08-23 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932549A (en) * | 2018-01-16 | 2018-04-20 | 深圳市大寰机器人科技有限公司 | Adaptive drive lacking turns to three and refers to robot clamping jaw |
| CN108748254A (en) * | 2018-06-20 | 2018-11-06 | 哈尔滨工业大学 | A kind of drive lacking variation rigidity manipulator based on variation rigidity elastic joint |
| CN109178914A (en) * | 2018-09-21 | 2019-01-11 | 常州机电职业技术学院 | A kind of thumb type grasping mechanism |
| CN109591038A (en) * | 2019-01-22 | 2019-04-09 | 北京邮电大学 | A kind of humanoid dextrous hand and its operating method with passive rotary joint |
| CN111185897A (en) * | 2020-03-27 | 2020-05-22 | 苏州钧舵机器人有限公司 | Intelligent manipulator with rotating and clamping functions |
| CN111390946A (en) * | 2020-03-25 | 2020-07-10 | 江南大学 | Friction pair transmission flexible shaft-based agile flexible claw for transferring arthropod-simulated fingers |
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
| CN111805570A (en) * | 2019-04-12 | 2020-10-23 | 北京京东尚科信息技术有限公司 | Gripping device |
| CN112720545A (en) * | 2021-01-04 | 2021-04-30 | 北京交通大学 | Humanoid parallel robot dexterous hand |
| CN113427501A (en) * | 2021-06-23 | 2021-09-24 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN113973551A (en) * | 2021-10-29 | 2022-01-28 | 浙江理工大学 | Garlic clove steering vertical grabbing device |
| CN114055510A (en) * | 2022-01-11 | 2022-02-18 | 长沙理工大学 | Gripper of transfer robot, gripping system and gripping method |
| EP4034351A4 (en) * | 2019-11-20 | 2022-12-07 | Shanghai Flexiv Robotics Technology Co., Ltd. | Grasping mechanism, robot and grasping device |
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| EP4034351A4 (en) * | 2019-11-20 | 2022-12-07 | Shanghai Flexiv Robotics Technology Co., Ltd. | Grasping mechanism, robot and grasping device |
| CN111390946A (en) * | 2020-03-25 | 2020-07-10 | 江南大学 | Friction pair transmission flexible shaft-based agile flexible claw for transferring arthropod-simulated fingers |
| CN111390946B (en) * | 2020-03-25 | 2021-08-03 | 江南大学 | Friction pair transmission flexible shaft-based agile flexible claw for transferring arthropod-simulated fingers |
| CN111185897A (en) * | 2020-03-27 | 2020-05-22 | 苏州钧舵机器人有限公司 | Intelligent manipulator with rotating and clamping functions |
| CN111185897B (en) * | 2020-03-27 | 2023-06-27 | 苏州钧舵机器人有限公司 | Intelligent mechanical arm with rotation and clamping functions |
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
| CN112720545A (en) * | 2021-01-04 | 2021-04-30 | 北京交通大学 | Humanoid parallel robot dexterous hand |
| CN113427501B (en) * | 2021-06-23 | 2022-08-09 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN113427501A (en) * | 2021-06-23 | 2021-09-24 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN113973551B (en) * | 2021-10-29 | 2022-12-16 | 浙江理工大学 | Garlic clove steering vertical grabbing device |
| CN113973551A (en) * | 2021-10-29 | 2022-01-28 | 浙江理工大学 | Garlic clove steering vertical grabbing device |
| CN114055510A (en) * | 2022-01-11 | 2022-02-18 | 长沙理工大学 | Gripper of transfer robot, gripping system and gripping method |
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Inventor after: Xu Shuangjia Inventor after: Wan Changxiong Inventor after: Sun Jie Inventor after: Zhang Xinsheng Inventor after: Dai Jiansheng Inventor before: Zhang Xinsheng Inventor before: Wan Changxiong Inventor before: Sun Jie Inventor before: Xu Shuangjia Inventor before: Dai Jiansheng |