CN107243919A - Adaptive dexterity type manipulator - Google Patents
Adaptive dexterity type manipulator Download PDFInfo
- Publication number
- CN107243919A CN107243919A CN201710424015.4A CN201710424015A CN107243919A CN 107243919 A CN107243919 A CN 107243919A CN 201710424015 A CN201710424015 A CN 201710424015A CN 107243919 A CN107243919 A CN 107243919A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- finger
- types
- neck
- type
- 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.)
- Withdrawn
Links
Classifications
-
- 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
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
-
- 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present patent application is divisional application.The application number of original bill is:201610126285.2.The present invention relates to a kind of paw, more particularly to a kind of adaptive dexterous type manipulator.Adaptive dexterity type manipulator, including finger and wrist;The wrist includes:Skeleton, direct current generator, potentiometer, capstan winch, the direct current generator are fixed on the motor mounting surface of the skeleton, and the potentiometer is fixed on the potentiometer mounting surface of the skeleton through motor output shaft, and the capstan winch is fixed on the end of motor output shaft;The finger quantity is 3, and the finger is embedded in the neck or multidigit neck of the skeleton by the protruding block of rotary body.The end that adaptive dexterous type manipulator of the invention is assemblied in industrial robot is used to assist Automatic manual transmission or machine-building process, automation loading and unloading for completing workpiece, finger can the flexible geometric shape for adapting to product, adjust automatically realized according to the geometry of workpiece, so as to realize stable crawl.
Description
Technical field
Present patent application is divisional application.The application number of original bill is:201610126285.2, the applying date is:2016
On March 7, in.The present invention relates to a kind of paw, more particularly to a kind of adaptive dexterous type manipulator.
Background technology
Paw is as one of robot key components and parts, and it is final tache and the execution of machine man-environment interaction
Part, the quality of its performance largely determines the service behaviour of whole robot.
The design of the mechanical part of industrial robot is the pith of industrial robot design, although industrial robot is not
Special equipment is same as, it has stronger flexibility, and still, it is unpractical for designing and manufacture universal robots.Difference should
It is much bigger with the difference in the other systems design of the diversity ratio industrial robot of Industrial robots Mechanical's system design in field.
End-effector is commonly referred to as with the hand of robot industrially, it is that robot is directly used in crawl and held with a firm grip(Absorption)
Specific purpose tool(Such as spray gun, spanner, soldering set, shower nozzle)The part operated, it has the function of imitating human hand action, and pacifies
Front end loaded on robot arm.In paw application, the hand of robot is typically made up of the palm in direction and the finger of nodular.
Finger is the part directly contacted with workpiece.Receipts are not unclamped and step up workpiece, are exactly realized by the opening and closing of finger
's.The hand structure form of robot is often dependant on the shape and characteristic of clamped workpiece.
In order to preferably capture object, it is necessary to paw capture object when with certain adaptivity, under-actuated robot
People's paw device can preferably realize the control difficulty for mitigating robot hand, while taking into account with crawl different shape, chi
The adaptivity of very little object.Although various paws have been widely applied in each field simultaneously, enterprise has to face
One problem, is how make it that the structure of paw is more simple, cost is lower.Therefore, the adaptive drive lacking of design robot
Robot hand has very important realistic meaning.
The content of the invention
Object of the present invention is to provide a kind of adaptive dexterous type manipulator, the present invention is applied to machine-building process
In, realize the carrying transmission of material;The end that adaptive dexterous type manipulator of the invention is assemblied in industrial robot is used to assist
Automatic manual transmission or machine-building process, the automation loading and unloading for completing workpiece, finger flexible can adapt to the several of product
What profile, adjust automatically realized according to the geometry of workpiece, so as to realize stable crawl.
A kind of adaptive dexterous type manipulator, including finger and wrist;The wrist includes:Skeleton, direct current generator, current potential
Device, capstan winch, the direct current generator are fixed on the motor mounting surface of the skeleton, and the potentiometer is connected through motor output shaft
In on the potentiometer mounting surface of the skeleton, the capstan winch is fixed on the end of motor output shaft;The finger quantity is 3,
The finger is embedded in the neck or multidigit neck of the skeleton by the protruding block of rotary body;The quantity of the multidigit neck is
Two, the quantity of the neck is one, and the sum of the neck or multidigit neck is three and its central point constitutes equilateral triangle
Layout;The multidigit neck includes:Central Symmetry position, 30 ° of positions, 60 ° of positions, 30 ° of positions and 60 ° of positional symmetries
It is arranged in Central Symmetry position both sides.
The finger mainly includes:Upper spring, lower spring, middle spring, JC2 types connecting rod, K-type connecting rod, L-type connecting rod, A1 types
Connecting rod, rotary body, B1 types connecting rod, C1A2 types connecting rod, B2 types connecting rod, steel wire rope;Activity connects respectively for the end of the JC2 types connecting rod
The K-type connecting rod and B2 type connecting rods are connected to, the B2 types connecting rod is movably connected on the C1A2 types connecting rod, the upper both ends of the spring
It is respectively fixedly connected in clamp button of the spring, K-type connecting rod and C1A2 the types connecting rod is movably connected on the L-type connecting rod, the middle spring
Two ends are respectively fixedly connected in clamp button of the spring, and the other end of the L-type connecting rod is movably connected on the middle-end of the A1 types connecting rod, the B1
Type connecting rod two ends are movably connected with middle-end and the A1 types connecting rod in the C1A2 types connecting rod, and the rotary body is flexibly connected
In the middle-end of the A1 types connecting rod, the lower spring two ends are respectively fixedly connected in clamp button of the spring;
The steel wire rope is inserted by intake, outlet is drawn, and is adhesively fixed by epoxide-resin glue in steel wire traction groove, described
The exit of steel wire rope is fixed on steel wire rope bayonet socket, and axis hole is fixed on motor output shaft.
More specifically, the end face of the JC types connecting rod, the K-type connecting rod and the L-type connecting rod is bonded with pad respectively.
More specifically, the direct current generator is the DC speed-reducing for being integrated with decelerator.
Compared with conventional art, the adaptive dexterous type manipulator of the present invention has following positive role and beneficial effect:
Adaptive dexterous type manipulator of the invention, when Clamp blocks, the direct current generator is rotated clockwise, passes through institute
State motor output shaft and pass motion to the capstan winch, the capstan winch turns clockwise so that the steel wire rope is by tensile force,
The A types connecting rod is driven to rotate in an anti-clockwise direction, the A types connecting rod drives the Type B connecting rod to rotate counterclockwise, while under described
Spring elongation, the Type B connecting rod drives the CA types connecting rod to rotate counterclockwise, and the CA types connecting rod drives the Type B connecting rod inverse
Hour hands are rotated, while the upper spring elongation, the Type B connecting rod drives the JC types connecting rod to rotate counterclockwise, the JC types connect
Bar drives the K-type connecting rod to rotate counterclockwise, and the K-type connecting rod drives the L-type connecting rod to rotate clockwise, while described be hit by a bullet
Spring compresses.Now three fingers are simultaneously to contract, so as to realize that part is clamped.
When unclamping part, the direct current generator is rotated counterclockwise, will be moved and passed by the motor output shaft
The capstan winch is passed, the capstan winch rotates counterclockwise such that the steel wire rope looseness, the upper spring, the elastic potential energy of lower spring
Release, initial equilibrium conditionses are returned to by extended state, and the elastic potential energy release of the middle spring is returned to just by compressive state
Beginning poised state so that the A types connecting rod is rotated clockwise, the A types connecting rod drives the Type B connecting rod to rotate clockwise, institute
Stating Type B connecting rod drives the CA types connecting rod to rotate clockwise, and the CA types connecting rod drives the Type B connecting rod to rotate clockwise, institute
Stating Type B connecting rod drives the JC types connecting rod to rotate clockwise, and the JC types connecting rod drives the K-type connecting rod to rotate clockwise, institute
Stating K-type connecting rod drives the L-type connecting rod to rotate counterclockwise.Now three fingers are flared out simultaneously, so as to realize part
Unclamp.
Type manipulator of the invention adaptive dexterous uses the single DC motor Driver, using the rope traction and
Spring realizes that part is firmly grasped and discharged to paw, and the real-time angular of the direct current generator is detected using the potentiometer, so that
Obtain the open configuration for taking the finger, it is ensured that while kinematic accuracy, delicate structure is flexible movements, reliable.In addition, institute
State direct current generator and drive planetary reducer drive mechanism for brushed DC motor, compact conformation, moment of torsion is big, it is ensured that height is negative
Crawl work under carrying.In addition the JC types connecting rod, the K-type connecting rod and the L-type connecting rod end face be bonded respectively pad,
With so that scratch is not produced to piece surface in Clamp blocks, while the frictional force of finger end is also increased, so as to more preferable
Stronger crawl part.
Brief description of the drawings
Fig. 1 is the structural representation of adaptive dexterous type manipulator of the invention;
Fig. 2 is structural representation of the wrist of adaptive dexterous type manipulator of the invention under dismounting state;
Fig. 3 is structural representation of the finger of adaptive dexterous type manipulator of the invention under dismounting state;
Fig. 4 and Fig. 5 are structural representation of the skeleton under different visual angles.
Fig. 6 is the structural representation of the rotary body of adaptive dexterous type manipulator of the invention;
Fig. 7 is the internal structure diagrammatic cross-section of the capstan winch of adaptive dexterous type manipulator of the invention;
Fig. 8 is the schematic diagram that adaptive dexterous type manipulator of the invention captures column part;
Fig. 9 is the schematic diagram that adaptive dexterous type manipulator of the invention captures sphere part;
Figure 10 is the schematic diagram that adaptive dexterous type manipulator of the invention captures polyhedron parts;
Figure 11 is the kinematic sketch of the grip finger part process of adaptive dexterous type manipulator of the invention.
In figure:
It is finger 1, wrist 2, clamp button of the spring 3, upper spring 4, clamp button of the spring 5, lower spring 6, steel wire rope 7, middle spring 8, skeleton 9, straight
Flow motor 10, potentiometer 11, capstan winch 12, motor output shaft 13, motor mounting surface 14, neck 15, multidigit neck 16,30 ° of positions
17th, Central Symmetry position 18,60 ° of positions 19, potentiometer mounting surface 20, JC2 types connecting rod 21, K-type connecting rod 22, L-type connecting rod 23, A1
Type connecting rod 24, rotary body 25, B1 types connecting rod 26, C1A2 types connecting rod 27, B2 types connecting rod 28, pad 29-30, clamp button of the spring 31, lining
Pad 32, clamp button of the spring 33, steel wire rope bayonet socket 34, clamp button of the spring 35-36, protruding block 37, steel wire traction groove 38, intake 39, draw
Outlet 40, axis hole 41.
Embodiment
Below in conjunction with accompanying drawing to being described in further detail, but do not constitute to any limitation, it is similar in accompanying drawing
Element numbers represent similar element.As above there is provided a kind of adaptive dexterous type manipulator, industrial robot etc. can be used as
End effector, part of different shapes is captured for stable.
Structure composition described in detail below.
Fig. 1 is the structural representation of adaptive dexterous type manipulator of the invention, and Fig. 2 is structure of the wrist under dismounting state
Schematic diagram, Fig. 4 and Fig. 5 are structural representation of the skeleton under different visual angles, and Fig. 6 is the structural representation of rotary body.One kind is certainly
Adapt to dexterous type manipulator, including finger 1 and wrist 2;The wrist 2 includes:Skeleton 9, direct current generator 10, potentiometer 11, strand
Disk 12, the direct current generator 10 is fixed on the motor mounting surface 14 of the skeleton 9, and the potentiometer 11 passes through motor output shaft
13 are fixed on the potentiometer mounting surface 20 of the skeleton 9, and the capstan winch 12 is fixed on the end of motor output shaft 13;The hand
Refer to 1 quantity for 3, the finger 1 is embedded in the neck 15 or multidigit neck of the skeleton 9 by the protruding block 37 of rotary body 25
16;The quantity of the multidigit neck 16 is two, and the quantity of the neck 15 is one, the sum of the neck 15 or multidigit neck 16
For three and the layout of its central point composition equilateral triangle 42;The multidigit neck 16 includes:Central Symmetry position 18,60 ° of positions
Put 19,30 ° of positions 17,60 ° of positions 19 and 30 ° of positions 17 are symmetrically arranged at the both sides of Central Symmetry position 18.
Fig. 3 is structural representation of the finger under dismounting state.The finger 1 mainly includes:Upper spring 4, lower spring 6,
Middle spring 8, JC2 types connecting rod 21, K-type connecting rod 22, L-type connecting rod 23, A1 types connecting rod 24, rotary body 25, B1 types connecting rod 26, C1A2 types
Connecting rod 27, B2 types connecting rod 28;The end of the JC2 types connecting rod 21 is movably connected with the K-type connecting rod 22 and B2 type connecting rods
28, the B2 types connecting rod 28 is movably connected on the C1A2 types connecting rod 27, and the upper two ends of spring 4 are respectively fixedly connected in clamp button of the spring
3 and 5, K-type connecting rod 22 and C1A2 the types connecting rod 27 is movably connected on the L-type connecting rod 23, the middle two ends of spring 8 difference
Clamp button of the spring 31 and 33 is fixed on, the other end of the L-type connecting rod 23 is movably connected on the middle-end of the A1 types connecting rod 24, described
The two ends of B1 types connecting rod 26 are movably connected with middle-end and the A1 types connecting rod 24 in the C1A2 types connecting rod 27, the rotary body
25 are movably connected on the middle-end of the A1 types connecting rod 24, and the two ends of lower spring 6 are respectively fixedly connected in clamp button of the spring 35 and 36.
Fig. 7 is the internal structure diagrammatic cross-section of the capstan winch 12.Steel wire rope 7 is inserted by intake 39, outlet 40 draws
Go out, and be adhesively fixed by epoxide-resin glue in steel wire traction groove 38, the exit of steel wire rope 7 is fixed on steel wire rope bayonet socket 34, axle
Hole 41 is fixed on motor output shaft 13.
More specifically, the end face of the JC2 types connecting rod 21, the K-type connecting rod 22 and the L-type connecting rod 23 is bonded with respectively
Pad 29,30 and 32.
More specifically, the direct current generator 10 is the DC speed-reducing for being integrated with decelerator.
Fig. 8 is the schematic diagram that adaptive dexterous type manipulator of the invention captures column part, and Fig. 9 is of the invention adaptive
Dexterous type manipulator captures the schematic diagram of sphere part, and Figure 10 is adaptive dexterous type manipulator crawl polyhedron parts of the invention
Schematic diagram, Figure 11 is the kinematic sketch of grip finger part process.Fig. 1 to 11 is seen, next, the present invention is described in detail certainly
Adapt to the course of work and operation principle of dexterous type manipulator:
Adaptive dexterous type manipulator of the invention, in the course of the work, one of them described finger 1 passes through the rotary body 25
The protruding block 37 is embedded in constant in the neck 15 of the skeleton 9, and two other described finger 1 is in the multidigit card
Position in groove 16 is according to crawl part shape adjustment:When crawl part shape be spheroid such as ball when, respectively by this two
The protruding block 37 of the individual finger 1 is transposed to the Central Symmetry position 18 in the multidigit neck 16 so that three
The individual finger 1 is clamped to part on substantially symmetrical about its central axis simultaneously;When the part shape of crawl is column such as ring flange
When, the protruding block 37 of the two fingers 1 is transposed to 60 ° of positions in the multidigit neck 16 respectively
19, now three fingers 1 are in parallel position state, and it is same that two fingers 1 in 60 ° of positions 19 are located at part
Side, simultaneously clamps on part edge, and the finger 1 in the neck 15 is located at part opposite side, and Central of the parts is pressed from both sides
Tightly;When the part shape of crawl is polyhedron such as hex nut, respectively by the protruding block 37 of the two fingers 1
30 ° of positions 17 in the multidigit neck 16 are transposed to, two fingers 1 of 30 ° of positions 17 are now in
Part is clamped, and the not Clamp blocks of the finger 1 in the neck 15.Adaptive dexterous type machinery of the invention
The skeleton 15 of hand is supported using the generation of rapid shaping printer using three legs, and supporting ring structure ensure that skeleton is strong
Degree, while using the multidigit neck 16, can conveniently adjust the position of finger 1, realize different shape part and grab
Take.
Adaptive dexterous type manipulator of the invention, when Clamp blocks, the direct current generator 10 is rotated clockwise,
The capstan winch 12 is passed motion to by the motor output shaft 13, the capstan winch 12 turns clockwise so that the steel wire rope
7 by tensile force, drives the A1 types connecting rod 24 to rotate in an anti-clockwise direction, the A1 types connecting rod 24 drives the B1 types connecting rod 26
Rotate counterclockwise, while the lower spring 6 is stretched, the B1 types connecting rod 26 drives the C1A2 types connecting rod 27 to rotate counterclockwise,
The C1A2 types connecting rod 27 drives the B2 types connecting rod 28 to rotate counterclockwise, while the upper spring 4 is stretched, the B2 types connecting rod
28 drive the JC2 types connecting rod 21 to rotate counterclockwise, and the JC2 types connecting rod 21 drives the K-type connecting rod 22 to rotate counterclockwise, institute
Stating K-type connecting rod 22 drives the L-type connecting rod 23 to rotate clockwise, while the middle spring 8 compresses.Now three fingers 1
Simultaneously to contract, so as to realize that part is clamped.
When unclamping part, the direct current generator 10 is rotated counterclockwise, will be transported by the motor output shaft 13
Dynamic to pass to the capstan winch 12, the capstan winch 12 rotates counterclockwise such that the steel wire rope 7 relaxes, the upper spring 4, lower spring
6 elastic potential energy release, initial equilibrium conditionses, the elastic potential energy release of the middle spring 8, by compressing are returned to by extended state
State returns to initial equilibrium conditionses so that the A1 types connecting rod 24 is rotated clockwise, and the A1 types connecting rod 24 drives the B1
Type connecting rod 26 is rotated clockwise, and the B1 types connecting rod 26 drives the C1A2 types connecting rod 27 to rotate clockwise, and the C1A2 types connect
Bar 27 drives the B2 types connecting rod 28 to rotate clockwise, and the B2 types connecting rod 28 drives the JC2 types connecting rod 21 to rotate clockwise,
The JC2 types connecting rod 21 drives the K-type connecting rod 22 to rotate clockwise, and the K-type connecting rod 22 drives the inverse time of L-type connecting rod 23
Pin is rotated.Now three fingers 1 are flared out simultaneously, so as to realize that part unclamps.
Adaptive dexterous type manipulator of the invention is driven using the single direct current generator 10, is led using the steel wire rope 7
Draw and realize that part is firmly grasped and discharged to paw with spring, the real-time angle of the direct current generator 10 is detected using the potentiometer 11
Degree, so that the open configuration of finger 1 described in indirect gain, it is ensured that while kinematic accuracy, delicate structure, flexible movements, can
Lean on.In addition, the direct current generator 10, which is brushed DC motor, drives planetary reducer drive mechanism, compact conformation, moment of torsion
Greatly, it is ensured that the crawl work under high capacity.In addition in the JC2 types connecting rod 21, the K-type connecting rod 22 and the L-type connecting rod
23 end face is bonded pad 29,30 and 32 respectively so that do not produce scratch to piece surface in Clamp blocks, while also increasing
The frictional force of the end of finger 1, so as to more preferable stronger crawl part.
Finally it is pointed out that above example is only the more representational example of the present invention.It is clear that the invention is not restricted to
Above-described embodiment, can also there is many deformations.Any letter that every technical spirit according to the present invention is made to above example
Single modification, equivalent variations and modification, are considered as belonging to protection scope of the present invention.
Claims (3)
1. a kind of adaptive dexterous type manipulator, it is characterised in that composition is as follows:Including finger and wrist;The wrist includes:
Skeleton, direct current generator, potentiometer, capstan winch, the direct current generator are fixed on the motor mounting surface of the skeleton, the potentiometer
It is fixed on through motor output shaft on the potentiometer mounting surface of the skeleton, the capstan winch is fixed on the end of motor output shaft;
The finger quantity is 3, and the finger is embedded in the neck or multidigit neck of the skeleton by the protruding block of rotary body;Institute
The quantity for stating multidigit neck is two, and the quantity of the neck is one, and the sum of the neck or multidigit neck is three and its center
Point constitutes the layout of equilateral triangle;The multidigit neck includes:Central Symmetry position, 30 ° of positions, 60 ° of positions, described 30 °
It is arranged in the Central Symmetry position both sides position and 60 ° of positional symmetries;
The finger mainly includes:Upper spring, lower spring, middle spring, JC2 types connecting rod, K-type connecting rod, L-type connecting rod, A1 types connecting rod,
Rotary body, B1 types connecting rod, C1A2 types connecting rod, B2 types connecting rod, steel wire rope;The end of the JC2 types connecting rod be movably connected with
K-type connecting rod and B2 the type connecting rod, the B2 types connecting rod is movably connected on the C1A2 types connecting rod, the upper both ends of the spring difference
Clamp button of the spring is fixed on, K-type connecting rod and C1A2 the types connecting rod is movably connected on the L-type connecting rod, the middle both ends of the spring
It is respectively fixedly connected in clamp button of the spring, the other end of the L-type connecting rod is movably connected on the middle-end of the A1 types connecting rod, the B1 types connect
Bar two ends are movably connected with middle-end and the A1 types connecting rod in the C1A2 types connecting rod, and the rotary body is movably connected on institute
The middle-end of A1 type connecting rods is stated, the lower spring two ends are respectively fixedly connected in clamp button of the spring;The steel wire rope is inserted by intake, drawn
Mouth is drawn, and is adhesively fixed by epoxide-resin glue in steel wire traction groove, and the exit of the steel wire rope is fixed on steel wire rope bayonet socket,
Axis hole is fixed on motor output shaft;When the part shape of crawl is polyhedron such as hex nut, respectively by described in the two
The protruding block of finger is transposed to 30 ° of positions in the multidigit neck, is now in two of 30 ° of positions
The finger is clamped to part, and the not Clamp blocks of the finger in the neck.
2. adaptive dexterous type manipulator according to claim 1, it is characterised in that the JC2 types connecting rod, the K-type
The end face of connecting rod and the L-type connecting rod is bonded with pad respectively.
3. adaptive dexterous type manipulator according to claim 1, it is characterised in that the direct current generator subtracts to be integrated with
The DC speed-reducing of fast device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710424015.4A CN107243919A (en) | 2016-03-07 | 2016-03-07 | Adaptive dexterity type manipulator |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610126285.2A CN105563513B (en) | 2016-03-07 | 2016-03-07 | Flexible self adaptation under-actuated robot hand pawl |
CN201710424015.4A CN107243919A (en) | 2016-03-07 | 2016-03-07 | Adaptive dexterity type manipulator |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610126285.2A Division CN105563513B (en) | 2016-03-07 | 2016-03-07 | Flexible self adaptation under-actuated robot hand pawl |
Publications (1)
Publication Number | Publication Date |
---|---|
CN107243919A true CN107243919A (en) | 2017-10-13 |
Family
ID=55874421
Family Applications (6)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610126285.2A Active CN105563513B (en) | 2016-03-07 | 2016-03-07 | Flexible self adaptation under-actuated robot hand pawl |
CN201710424585.3A Withdrawn CN107175680A (en) | 2016-03-07 | 2016-03-07 | Robot delicate |
CN201710424015.4A Withdrawn CN107243919A (en) | 2016-03-07 | 2016-03-07 | Adaptive dexterity type manipulator |
CN201710424589.1A Withdrawn CN107214715A (en) | 2016-03-07 | 2016-03-07 | Flexible ultrahigh speed manipulator |
CN201710424590.4A Active CN107053242B (en) | 2016-03-07 | 2016-03-07 | Robot bionic gripper |
CN201710424591.9A Active CN107053243B (en) | 2016-03-07 | 2016-03-07 | Revolute robot's gripper |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610126285.2A Active CN105563513B (en) | 2016-03-07 | 2016-03-07 | Flexible self adaptation under-actuated robot hand pawl |
CN201710424585.3A Withdrawn CN107175680A (en) | 2016-03-07 | 2016-03-07 | Robot delicate |
Family Applications After (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710424589.1A Withdrawn CN107214715A (en) | 2016-03-07 | 2016-03-07 | Flexible ultrahigh speed manipulator |
CN201710424590.4A Active CN107053242B (en) | 2016-03-07 | 2016-03-07 | Robot bionic gripper |
CN201710424591.9A Active CN107053243B (en) | 2016-03-07 | 2016-03-07 | Revolute robot's gripper |
Country Status (1)
Country | Link |
---|---|
CN (6) | CN105563513B (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108207332A (en) * | 2018-03-27 | 2018-06-29 | 郑州大学 | The full-automatic strawberry picking spider vehicle of this device for picking of flexible strawberry device for picking and application |
CN108393919A (en) * | 2018-03-06 | 2018-08-14 | 哈尔滨工业大学 | Adaptive end gripper based on mobile robot |
CN113561215A (en) * | 2021-09-26 | 2021-10-29 | 西南科技大学 | Posture-changing articulated dexterous hand |
Families Citing this family (37)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105880909B (en) * | 2016-06-08 | 2018-06-08 | 泉州市家园网信息科技有限公司 | A kind of welding fixture clamping head |
CN106428279B (en) * | 2016-10-25 | 2019-05-10 | 绿艺园林建设有限公司 | A kind of intelligence trees climbing pruning robot |
CN106545169B (en) * | 2017-01-19 | 2022-03-18 | 中建海峡建设发展有限公司 | Steel bar fixing device |
WO2018170644A1 (en) * | 2017-03-18 | 2018-09-27 | 深圳市方鹏科技有限公司 | Robot hand with artificial intelligence |
CN106744533A (en) * | 2017-04-07 | 2017-05-31 | 福建新源重工有限公司 | Interlock folder |
CN107639646A (en) * | 2017-09-19 | 2018-01-30 | 苏州浩迈凌机电设备有限公司 | A kind of telescopic magic hand |
CN107414841B (en) * | 2017-09-27 | 2024-02-06 | 合肥哈工图南智控机器人有限公司 | Bionic flexible grabbing manipulator based on multistage metamorphic mechanism |
CN107891434B (en) * | 2017-11-13 | 2020-01-24 | 东北大学 | Underactuated manipulator based on metamorphic principle |
CN108353622B (en) * | 2018-03-15 | 2023-10-03 | 广东工业大学 | Full-automatic pineapple picking method |
CN108527412B (en) * | 2018-04-17 | 2023-09-05 | 西安工业大学 | Industrial clamping platform based on centering grabbing |
CN108934440A (en) * | 2018-06-19 | 2018-12-07 | 新疆农业大学 | Under-actuated finger mechanism and rodlike fruits and vegetables holding picking mechanical arm end effector |
CN108501032B (en) * | 2018-06-19 | 2023-09-19 | 苏州大学 | Adjustable pneumatic soft gripper |
CN109103807A (en) * | 2018-08-31 | 2018-12-28 | 国网北京市电力公司 | Bird's nest removal tool |
CN108839052A (en) * | 2018-08-31 | 2018-11-20 | 无锡百禾工业机器人有限公司 | Multifunctional gravity manipulator |
CN109176586B (en) * | 2018-09-18 | 2021-11-12 | 哈尔滨工业大学(深圳) | Self-adaptive flexible paw based on torsion spring and robot |
CN109877861B (en) * | 2019-03-20 | 2021-05-18 | 燕山大学 | Finger mechanism of robot |
CN109773771A (en) * | 2019-03-22 | 2019-05-21 | 武汉理工大学 | A kind of bionic mechanical hand |
CN109940650B (en) * | 2019-04-13 | 2022-02-15 | 华北理工大学 | Mechanical paw |
CN110171011B (en) * | 2019-04-26 | 2021-06-15 | 湖南大学 | Three-finger robot dexterous hand driven in coordination |
CN110075332A (en) * | 2019-05-13 | 2019-08-02 | 刘峰 | A kind of hospital automation sterilizing equipment decontaminating apparatus |
CN110539257B (en) * | 2019-08-05 | 2021-01-01 | 中山大学 | Multifunctional bionic clamp holder |
TWI704975B (en) * | 2019-10-09 | 2020-09-21 | 和碩聯合科技股份有限公司 | Clamping device |
WO2021101287A1 (en) | 2019-11-22 | 2021-05-27 | 주식회사 한화 | Gripper device for robot arm |
WO2021107900A1 (en) * | 2019-11-30 | 2021-06-03 | Selcuk Universitesi | A three finger robotic gripper design with spherical mechanism |
CN111015716B (en) * | 2019-12-25 | 2022-11-22 | 中国科学院沈阳自动化研究所 | Soft manipulator opening and closing control driver |
CN111226600A (en) * | 2020-03-12 | 2020-06-05 | 浙江大学城市学院 | Under-actuated fruit and vegetable picking manipulator and picking method |
CN111404079B (en) * | 2020-04-07 | 2022-02-11 | 西安交通大学 | Bionic flexible mechanical leg claw for taking off and landing of high-voltage transmission line flight inspection robot |
DE102020207036A1 (en) * | 2020-06-04 | 2021-12-09 | Kuka Deutschland Gmbh | Gripper with a gripper body |
CN111717391B (en) * | 2020-06-28 | 2022-11-22 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
CN112045695A (en) * | 2020-08-21 | 2020-12-08 | 华中科技大学 | Under-actuated self-adaptive mechanical finger |
CN112643713B (en) * | 2020-12-08 | 2022-07-01 | 江苏科技大学 | Robot end effector high-temperature transmission and deformation detection device and method |
CN113510741A (en) * | 2021-07-28 | 2021-10-19 | 华中科技大学 | Under-actuated self-adaptive manipulator based on metamorphic principle |
CN114074336B (en) * | 2021-11-17 | 2023-05-23 | 东北大学 | Terminal pulling force self-adaptive variable speed automatic wire drawing device |
CN114770470B (en) * | 2022-04-21 | 2023-07-28 | 广东工业大学 | Bionic mechanical arm and bionic mechanical arm system |
CN115648261B (en) * | 2022-10-14 | 2023-05-30 | 北京电子科技职业学院 | Flexible rotary joint, mechanical finger and modularized underactuated mechanical arm easy to disassemble and assemble |
CN115744262B (en) * | 2022-12-05 | 2023-08-04 | 西安工业大学 | Mechanical shaft grabbing device for machine manufacturing |
CN116158264B (en) * | 2023-04-25 | 2023-06-23 | 东北林业大学 | Apple picking manipulator |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1964822A (en) * | 2004-04-29 | 2007-05-16 | 伦敦国王学院 | Robotic hand with palm section comprising several parts able to move relative to each other |
CN102632507A (en) * | 2011-02-14 | 2012-08-15 | 精工爱普生株式会社 | Robot hand and robot apparatus |
CN102821918A (en) * | 2010-03-24 | 2012-12-12 | 株式会社安川电机 | Robot hand and robot device |
CN103917338A (en) * | 2011-11-09 | 2014-07-09 | 株式会社安川电机 | Robot hand and robot |
CN203752160U (en) * | 2014-03-25 | 2014-08-06 | 甘肃农业大学 | Quick under-actuated absorbing picking manipulator |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3866966A (en) * | 1973-05-14 | 1975-02-18 | Ii Frank R Skinner | Multiple prehension manipulator |
IT1123216B (en) * | 1979-09-19 | 1986-04-30 | Alberto Rovetta | MULTISCOPE MECHANICAL HAND |
US5280981A (en) * | 1991-02-01 | 1994-01-25 | Odetics, Inc. | End effector with load-sensitive digit actuation mechanisms |
CN102441892A (en) * | 2011-10-25 | 2012-05-09 | 浙江大学 | Under-actuated manipulator claw for picking fruits and vegetables |
CN203313691U (en) * | 2013-05-29 | 2013-12-04 | 西北农林科技大学 | Fruit picking robot three-fingered dexterous hand |
CN104816310A (en) * | 2014-02-04 | 2015-08-05 | 精工爱普生株式会社 | Robot hand, robot, manufacturing method for robot hand |
CN104858884B (en) * | 2015-05-18 | 2016-07-06 | 天津大学 | A kind of fixing palm type flexible bionic mechanical paw realizing passive envelope |
CN104908056B (en) * | 2015-06-29 | 2016-09-21 | 哈尔滨工业大学 | A kind of three finger mechanical paws of variable configuration |
CN105364935B (en) * | 2015-12-08 | 2017-01-25 | 哈尔滨工业大学 | Three-finger three-degree-of-freedom configuration robot gripper |
CN105345826A (en) * | 2015-12-10 | 2016-02-24 | 先驱智能机械(深圳)有限公司 | Mechanical hand, mechanical arm and robot |
-
2016
- 2016-03-07 CN CN201610126285.2A patent/CN105563513B/en active Active
- 2016-03-07 CN CN201710424585.3A patent/CN107175680A/en not_active Withdrawn
- 2016-03-07 CN CN201710424015.4A patent/CN107243919A/en not_active Withdrawn
- 2016-03-07 CN CN201710424589.1A patent/CN107214715A/en not_active Withdrawn
- 2016-03-07 CN CN201710424590.4A patent/CN107053242B/en active Active
- 2016-03-07 CN CN201710424591.9A patent/CN107053243B/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1964822A (en) * | 2004-04-29 | 2007-05-16 | 伦敦国王学院 | Robotic hand with palm section comprising several parts able to move relative to each other |
CN102821918A (en) * | 2010-03-24 | 2012-12-12 | 株式会社安川电机 | Robot hand and robot device |
CN102632507A (en) * | 2011-02-14 | 2012-08-15 | 精工爱普生株式会社 | Robot hand and robot apparatus |
CN103917338A (en) * | 2011-11-09 | 2014-07-09 | 株式会社安川电机 | Robot hand and robot |
CN203752160U (en) * | 2014-03-25 | 2014-08-06 | 甘肃农业大学 | Quick under-actuated absorbing picking manipulator |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108393919A (en) * | 2018-03-06 | 2018-08-14 | 哈尔滨工业大学 | Adaptive end gripper based on mobile robot |
CN108207332A (en) * | 2018-03-27 | 2018-06-29 | 郑州大学 | The full-automatic strawberry picking spider vehicle of this device for picking of flexible strawberry device for picking and application |
CN108207332B (en) * | 2018-03-27 | 2024-01-26 | 郑州大学 | Flexible strawberry picker and full-automatic strawberry picking spider car applying same |
CN113561215A (en) * | 2021-09-26 | 2021-10-29 | 西南科技大学 | Posture-changing articulated dexterous hand |
CN113561215B (en) * | 2021-09-26 | 2021-12-07 | 西南科技大学 | Posture-changing articulated dexterous hand |
Also Published As
Publication number | Publication date |
---|---|
CN107053243A (en) | 2017-08-18 |
CN107053242A (en) | 2017-08-18 |
CN107175680A (en) | 2017-09-19 |
CN107053243B (en) | 2019-08-13 |
CN105563513B (en) | 2017-07-07 |
CN107053242B (en) | 2019-08-13 |
CN105563513A (en) | 2016-05-11 |
CN107214715A (en) | 2017-09-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105563513B (en) | Flexible self adaptation under-actuated robot hand pawl | |
CN206484587U (en) | A kind of Artificial grip module based on flexible shaft | |
CN108994864A (en) | Double tendon rope tandem coupling adaptive finger apparatus | |
CN107053220A (en) | The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line | |
CN113799162B (en) | Robot grabbing paw for special-shaped objects | |
CN104858884A (en) | Fixed-palm type bionic mechanical gripper capable of achieving passive enveloping | |
CN114714383B (en) | Decoupling three-degree-of-freedom finger-palm variable grabbing mechanism | |
CN106564066A (en) | Double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of robot hand | |
CN106426230A (en) | Double-ring rotating multi-finger parallel clamping self-adaptive under-actuated robot hand device | |
CN107775661A (en) | Robot device | |
CN108189055B (en) | Rack cosine telescopic straight-line parallel clamping self-adaptive finger device | |
CN108544510A (en) | A kind of automatic recovery magic square robot mechanical arm | |
CN112720558A (en) | Flexible finger-tip robot hand directly driven by motor | |
CN101664930B (en) | Coupling underactuated integral finger device of double-joint robot | |
CN109176566A (en) | The flat folder adaptive robot finger apparatus of gear sliding slot link linear | |
CN110962150B (en) | Manipulator device with return upset function | |
CN107433607A (en) | It is adapted to the robot finger apparatus of desktop thing crawl | |
CN207522618U (en) | The accurate compensating line in end puts down folder adaptive robot finger apparatus | |
CN110561467A (en) | Multi-sensor feedback control linear parallel clamping self-adaptive robot finger device | |
CN106272496B (en) | The flat adaptive finger apparatus of folder of belt wheel link linear in parallel | |
CN212553914U (en) | Under-actuated dexterous hand with palm capable of being forked and wrist capable of rotating coaxially | |
CN205325673U (en) | Compact triaxial industrial robot | |
JP2007083339A (en) | Automatically opening/closing structure for opening/closing tool | |
CN111452082A (en) | Under-actuated dexterous hand with palm capable of being forked and wrist capable of rotating coaxially | |
CN107160426A (en) | The hydraulic-driven wrist of mechanical arm |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171013 |
|
WW01 | Invention patent application withdrawn after publication |