CN109176586B - Self-adaptive flexible paw based on torsion spring and robot - Google Patents
Self-adaptive flexible paw based on torsion spring and robot Download PDFInfo
- Publication number
- CN109176586B CN109176586B CN201811088831.3A CN201811088831A CN109176586B CN 109176586 B CN109176586 B CN 109176586B CN 201811088831 A CN201811088831 A CN 201811088831A CN 109176586 B CN109176586 B CN 109176586B
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- torsion spring
- flexible
- adaptive
- capstan
- 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.)
- Active
Links
Images
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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of continuous robots and discloses a self-adaptive flexible paw based on a torsion spring and a robot. The self-adaptive flexible paw based on the torsion spring comprises a driving device, a transmission device and a flexible finger, wherein the transmission device comprises a first bevel gear, a second bevel gear, a torsion spring and a capstan shaft, the first bevel gear is connected with the driving device, the second bevel gear is meshed with the first bevel gear, the second bevel gear is sleeved on the bevel gear shaft, one end of the torsion spring is fixedly connected with the bevel gear shaft, the other end of the torsion spring is fixedly connected with the capstan shaft, the flexible finger is provided with a driving rope, the driving rope is wound on the capstan shaft, and the free end of the driving rope is fixedly connected with the end part of the flexible finger. The robot comprises a robot main body and the flexible paw fixedly arranged on the robot main body. The self-adaptive flexible paw based on the torsion spring and the robot have good adaptability and can adapt to an unstructured environment.
Description
Technical Field
The invention relates to the technical field of continuous robots, in particular to a self-adaptive flexible paw based on a torsion spring and a robot.
Background
Nowadays, robot technology has been widely applied in the field of industrial production, and the application of robots brings great benefits to human production and life. At present, robots used in the market are mostly discrete robots. The discrete robot is generally formed by connecting 5 to 7 rigid degree-of-freedom joints through rigid rods, has limited degree of freedom and weak adaptability to non-structural environments, and cannot be competent for work tasks with complex environments.
Compared with a discrete robot, the continuous robot adopts an invertebrate flexible structure similar to an elephant nose, has no discrete joints and rigid connecting rods, can flexibly change the self bending shape, and has strong adaptability to an unstructured environment. However, the application of the continuous robot is very rare at present, and the technology is relatively immature. Therefore, it is very important to design a continuous robot with adaptive capability.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a self-adaptive flexible paw based on a torsion spring, which adopts a continuous structure, has strong self-adaptive capacity and can adapt to an unstructured environment.
In order to overcome the defects of the prior art, the invention also provides a robot which comprises the self-adaptive flexible paw based on the torsion spring, and the robot has strong adaptability and adaptability to an unstructured environment.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a flexible hand claw of self-adaptation based on torsion spring, includes drive arrangement, transmission and flexible finger, transmission includes first bevel gear, second bevel gear, torsional spring and capstan shaft, first bevel gear with drive arrangement connects, second bevel gear with first bevel gear meshing is connected, second bevel gear cover is located on the bevel gear axle, torsional spring one end with bevel gear axle fixed connection, the other end with capstan shaft fixed connection, flexible finger is fixed to be set up, be equipped with the drive rope on the flexible finger, the drive rope twine in the capstan shaft, the free end of drive rope is followed the length direction of flexible finger sets up, and in the end fixing of flexible finger.
As a further improvement of the technical scheme, a winch is sleeved on the winch shaft, and a plurality of grooves for embedding the driving rope are formed in the surface of the winch.
As a further improvement of the technical proposal, the utility model also comprises a frame body which comprises a first fixing plate and a second fixing plate which are oppositely arranged, the driving device is fixedly arranged on the first fixing plate, the flexible finger is fixedly arranged on the second fixing plate, a bevel gear supporting plate, a first winch shaft supporting plate and a second winch shaft supporting plate are connected between the first fixing plate and the second fixing plate, the torsion spring is arranged between the bevel gear support plate and the first winch shaft support plate, the second bevel gear is arranged on one side of the bevel gear support plate far away from the torsion spring, and the bevel gear shaft passes through the bevel gear support plate and is fixedly connected with one end of the torsion spring, the winch is arranged between the first winch shaft supporting plate and the second winch shaft supporting plate, and one end of the winch shaft penetrates through the first winch shaft supporting plate and is fixedly connected with the torsion spring.
As a further improvement of the technical scheme, the flexible finger comprises a flexible column and a plurality of circular plates, one end of the flexible column is fixed on the second fixing plate, the other end of the flexible column is freely arranged, the circular plates are arranged along the length direction of the flexible column, and the driving rope sequentially penetrates through the circular plates and is fixedly connected with the free end of the flexible column.
As a further improvement of the above technical solution, a conduit for the driving rope to pass through is further fixedly arranged on the second fixing plate.
As a further improvement of the technical scheme, the material of the conduit is polytetrafluoroethylene.
As a further improvement of the technical scheme, the flexible column is made of silica gel.
As a further improvement of the above technical solution, the second bevel gear, the torsion spring, the capstan shaft, the flexible fingers and the driving rope include three positions, the three positions of the second bevel gear are uniformly distributed along the circumferential direction of the first bevel gear, and the flexible fingers are uniformly distributed along the circumferential direction of the second fixing plate.
The invention also provides a robot, which comprises a robot main body and the self-adaptive flexible paw based on the torsion spring, wherein the self-adaptive flexible paw based on the torsion spring is fixedly arranged on the robot main body.
The invention has the beneficial effects that:
the self-adaptive flexible paw based on the torsion spring adopts a continuous structure, when the paw works, the second bevel gear is driven to rotate through the first bevel gear in sequence, the second bevel gear drives the torsion spring to work, then the winch shaft is driven to rotate through the torsion spring, and then the driving rope on the winch shaft drives the flexible fingers to work.
The robot comprises the self-adaptive flexible paw based on the torsion spring, and the robot has strong self-adaptive capacity and can adapt to an unstructured environment.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a torsion spring based adaptive flexible gripper according to one embodiment of the present invention;
FIG. 2 is a schematic structural diagram of one embodiment of the transmission of the present invention;
FIG. 3 is a side view of FIG. 2;
FIG. 4 is a schematic structural view of one embodiment of the flexible finger of the present invention.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the descriptions of up, down, left, right, front, rear, etc. used in the present invention are only relative to the positional relationship of the respective components of the present invention with respect to each other in the drawings.
Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any combination of one or more of the associated listed items.
Referring to fig. 1, a schematic diagram of a torsion spring based adaptive flexible gripper according to an embodiment of the present invention is shown. An adaptive flexible paw based on a torsion spring comprises a driving device 100, a transmission device 200 and a flexible finger 300.
The drive means 100 is preferably a stepper motor.
Referring to fig. 2 and 3, the transmission 200 includes a capstan shaft 240, a first bevel gear 250, a second bevel gear 260, and a torsion spring 270. The first bevel gear 250 is fixedly connected with an output shaft 230 of the stepping motor, the second bevel gear 260 is meshed with the first bevel gear 250, the second bevel gear 260 is sleeved on a bevel gear shaft 261, the bevel gear shaft 261 is fixedly connected with one end of a torsion spring 270, and the other end of the torsion spring 270 is fixedly connected with the winch shaft 240.
The capstan shaft 240 is sleeved with a capstan 290, and the capstan 290 is provided with a plurality of grooves for embedding the driving rope 320.
Referring to fig. 1 to 3, the adaptive flexible gripper based on a torsion spring of the present invention further includes a frame body, the frame body includes a first fixing plate 210 and a second fixing plate 280, the first fixing plate 210 and the second fixing plate 280 are oppositely disposed, the stepping motor is fixed on the first fixing plate 210, the flexible finger 300 is fixed on the second fixing plate 280, a bevel gear supporting plate 220, a first capstan shaft supporting plate 221 and a second capstan shaft supporting plate 222 are further connected between the first fixing plate 210 and the second fixing plate 280, a torsion spring 270 is disposed between the bevel gear supporting plate 220 and the first capstan shaft supporting plate 221, a second bevel gear 260 is disposed on a side of the bevel gear supporting plate 220 away from the torsion spring 260, a bevel gear shaft 261 passes through the bevel gear supporting plate 220 and is fixedly connected to one end of the torsion spring 260, a capstan 290 is disposed between the first winding spiral supporting plate 221 and the second winding spiral supporting plate 222, two ends of the capstan shaft 240 are rotatably disposed on the first capstan shaft supporting plate 221 and the second capstan shaft supporting plate 222, and one end of the capstan shaft 240 passes through the first capstan shaft support plate 221 and is fixedly connected with the other end of the torsion spring 270, when the flexible finger 300 is subjected to resistance, the capstan shaft 240 is difficult to continue to rotate, and the second bevel gear 260 still rotates, so that the torsion spring 270 generates certain deformation to adapt to asynchronous rotation of the two shafts connected with the torsion spring 270.
Referring to fig. 4, the flexible finger 300 includes a flexible column 310, a driving rope 320 and a plurality of circular plates 330, the flexible column 310 is preferably a tubular structure made of silicone, one end of the flexible column 310 is fixedly disposed on the second fixing plate 280, and the other end is freely disposed, in operation, the free end of the flexible column 310 is bent by the driving rope 320, so as to achieve the function of clamping an object, the plurality of circular plates 330 are distributed along the length direction of the flexible column 310, the plurality of circular plates 330 are tightly fitted on the flexible column 310 at equal intervals through shaft holes, small circular holes for the driving rope 320 to pass through are disposed on the circular plates 330, the driving rope 320 is wound on the winch 290, and the free end of the driving rope 320 passes through the circular holes on the plurality of circular plates 330 and is fixedly disposed at the free end of the flexible column 310, when the driving rope 320 is subjected to a pulling force, a moment is generated on the flexible column 310, so that the flexible finger 300 is bent, the object grabbing action is realized.
According to the structure, a plurality of second bevel gears 260, torsion springs 270, the winch shafts 240, the winches 290 and the flexible fingers 300 are arranged to meet the requirements of different conditions. In this embodiment, the second bevel gears 260, the torsion springs 270, the capstan shafts 240, the winches 290 and the flexible fingers 300 are preferably arranged at 3 positions, wherein the 3 second bevel gears 260 are uniformly distributed along the circumferential direction of the first bevel gear 250, and the corresponding torsion springs 270, the capstan shafts 240, the winches 290 and the flexible fingers 300 are sequentially connected, so that 3 fingers uniformly distributed along the circumferential direction are used for grabbing an object.
In the grabbing process, when one of the flexible fingers 300 contacts the object first and abuts against the object, the corresponding second bevel gear 260 and the winch shaft 240 rotate asynchronously under the action of the torsion spring 270, at this time, the grabbing force of the flexible finger 300 on the object cannot be increased continuously, and the other two flexible fingers 300 are waited to grab the object continuously, so that the whole grabbing process has better adaptability.
The invention also provides a robot, which comprises a robot main body and the self-adaptive flexible paw based on the torsion spring, wherein the self-adaptive flexible paw based on the torsion spring is fixedly arranged on the robot main body, and the robot adopts a continuous structure and has good adaptability to non-structural environments.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. The self-adaptive flexible paw based on the torsion spring is characterized by comprising a driving device, a transmission device and a flexible finger, wherein the transmission device comprises a first bevel gear, a second bevel gear, a torsion spring and a winch shaft, the first bevel gear is connected with the driving device, the second bevel gear is meshed with the first bevel gear, the second bevel gear is sleeved on a bevel gear shaft, one end of the torsion spring is fixedly connected with the bevel gear shaft, the other end of the torsion spring is fixedly connected with the winch shaft, the flexible finger is fixedly arranged, a driving rope is arranged on the flexible finger and is wound on the winch shaft, the free end of the driving rope is arranged along the length direction of the flexible finger and is fixed at the end part of the flexible finger, the self-adaptive flexible paw based on the torsion spring further comprises a frame body, and the frame body comprises a first fixing plate, a second fixing plate and a second fixing plate which are oppositely arranged, The second fixed plate, drive arrangement set firmly in on the first fixed plate, flexible finger includes flexible post and a plurality of plectane, flexible post one end is fixed on the second fixed plate, the other end freely sets up, and is a plurality of the plectane is followed the length direction of flexible post sets up, the drive rope passes a plurality of in proper order the plectane, and with the free one end fixed connection of flexible post.
2. The adaptive flexible gripper based on torsion springs as claimed in claim 1, wherein a capstan is sleeved on the capstan shaft, and a plurality of grooves for the driving rope to be embedded in are arranged on the surface of the capstan.
3. The adaptive flexible gripper based on a torsion spring according to claim 2, wherein a bevel gear support plate, a first capstan shaft support plate and a second capstan shaft support plate are connected between the first fixing plate and the second fixing plate, the torsion spring is arranged between the bevel gear support plate and the first capstan shaft support plate, the second bevel gear is arranged on one side of the bevel gear support plate away from the torsion spring, the bevel gear shaft penetrates through the bevel gear support plate and is fixedly connected with one end of the torsion spring, the capstan is arranged between the first capstan shaft support plate and the second capstan shaft support plate, and one end of the capstan shaft penetrates through the first capstan shaft support plate and is fixedly connected with the torsion spring.
4. The adaptive flexible torsion spring-based gripper according to claim 1, wherein a conduit through which the drive cable passes is further secured to the second securing plate.
5. The adaptive flexible torsion spring-based gripper according to claim 4, wherein the conduit is made of Teflon.
6. The adaptive flexible paw based on the torsion spring as claimed in claim 1, wherein the flexible column is made of silicone.
7. The adaptive torsion spring-based flexible gripper according to any one of claims 1 to 6, wherein the second bevel gear, the torsion spring, the capstan shaft, the flexible fingers, and the drive cable comprise three positions, wherein the three positions of the second bevel gear are uniformly distributed along the circumferential direction of the first bevel gear, and the flexible fingers are uniformly distributed along the circumferential direction of the second fixing plate.
8. A robot comprising a robot body and the torsion spring based adaptive flexible gripper of any of claims 1-7, the torsion spring based adaptive flexible gripper being fixedly attached to the robot body.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088831.3A CN109176586B (en) | 2018-09-18 | 2018-09-18 | Self-adaptive flexible paw based on torsion spring and robot |
| PCT/CN2019/086327 WO2020057144A1 (en) | 2018-09-18 | 2019-05-10 | Self-adaptive flexible gripper based on torsion springs, and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088831.3A CN109176586B (en) | 2018-09-18 | 2018-09-18 | Self-adaptive flexible paw based on torsion spring and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109176586A CN109176586A (en) | 2019-01-11 |
| CN109176586B true CN109176586B (en) | 2021-11-12 |
Family
ID=64908284
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811088831.3A Active CN109176586B (en) | 2018-09-18 | 2018-09-18 | Self-adaptive flexible paw based on torsion spring and robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109176586B (en) |
| WO (1) | WO2020057144A1 (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110465965A (en) * | 2019-08-06 | 2019-11-19 | 李泽铭 | Fluid force balances elastic component array adaptive robot arm device |
| CN111015646A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven under-actuated self-adaptive flexible manipulator |
| JP2021159999A (en) | 2020-03-30 | 2021-10-11 | 国立研究開発法人産業技術総合研究所 | Mechanism for driving robot hand having multiple fingers |
| CN112045406A (en) * | 2020-09-28 | 2020-12-08 | 广东惠而浦家电制品有限公司 | Automatic torsion spring assembling mechanism |
| CN112248018A (en) * | 2020-10-13 | 2021-01-22 | 武汉轻工大学 | Flexible paw and manipulator |
| CN112594830A (en) * | 2020-12-18 | 2021-04-02 | 北京东方华脉工程设计有限公司 | Indoor fresh air ventilation and haze removal system |
| CN113154001B (en) * | 2021-02-26 | 2022-07-05 | 北京大学 | Super-input flexible driver based on rope driving |
| CN113291790B (en) * | 2021-05-25 | 2022-08-30 | 武汉理工大学 | Self-adaptive grabbing mechanism |
| CN113696213B (en) * | 2021-09-18 | 2022-03-01 | 安徽理工大学 | Mechanical arm |
| CN114012713B (en) * | 2021-11-24 | 2022-12-27 | 上海大学 | Continuum robot driving assembly |
| CN114833861B (en) * | 2022-04-29 | 2024-05-17 | 北京科技大学 | Variable finger root space line driving soft hand |
| CN115256362B (en) * | 2022-07-27 | 2024-06-21 | 西南科技大学 | Multistage flexible modularized continuum robot and control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8894117B1 (en) * | 2013-12-03 | 2014-11-25 | Korea Institute Of Science And Technology | Robot finger driving module using differential gear characteristics and robot hand including the same |
| CN105563513A (en) * | 2016-03-07 | 2016-05-11 | 戴毅 | Flexible self-adaption under-actuated robot hand |
| CN107097246A (en) * | 2017-05-25 | 2017-08-29 | 凯钠迪（上海）科技有限公司 | A kind of adaptive rope drive formula drive lacking three refers to manipulator |
| CN107225587A (en) * | 2017-06-27 | 2017-10-03 | 哈尔滨工程大学 | It is a kind of to be used for the lossless form adaptive robot manipulator structure fished for of benthon |
| CN108247656A (en) * | 2017-12-30 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of deformable ternary sequential circuit |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5650704A (en) * | 1995-06-29 | 1997-07-22 | Massachusetts Institute Of Technology | Elastic actuator for precise force control |
| US8918212B2 (en) * | 2009-06-24 | 2014-12-23 | Intuitive Surgical Operations, Inc. | Arm with a combined shape and force sensor |
| ES2671971T3 (en) * | 2012-12-11 | 2018-06-11 | Enhance Technologies, LLC | Adaptive arm support systems and methods of use |
| CN104924315B (en) * | 2015-05-11 | 2020-09-25 | 清华大学 | Magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device |
| WO2018033716A1 (en) * | 2016-08-15 | 2018-02-22 | Heriot-Watt University | An Improved Gripper |
| CN106272526B (en) * | 2016-09-19 | 2019-02-26 | 上海未来伙伴机器人有限公司 | A kind of Dextrous Hand |
| CN106378788A (en) * | 2016-10-19 | 2017-02-08 | 上海未来伙伴机器人有限公司 | Grabbing hand device of unmanned aerial vehicle |
| US11198213B2 (en) * | 2016-11-10 | 2021-12-14 | Shenzhen Milebot Robotics Co., Ltd. | Flexible driver, robot joint, robot and exoskeleton robot |
| CN107127771A (en) * | 2017-06-28 | 2017-09-05 | 吕梁学院 | A kind of underwater electric flexible manipulator |
| CN207656716U (en) * | 2017-11-10 | 2018-07-27 | 香港中文大学（深圳） | A kind of novel catching robot |
| CN207522597U (en) * | 2017-12-01 | 2018-06-22 | 深圳光启合众科技有限公司 | Bionic flexible structure and with its robot |
| CN108527434B (en) * | 2018-06-19 | 2024-03-22 | 苏州大学 | Snatch diameter self-adaptation regulation formula software tongs |
| 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 |
-
2018
- 2018-09-18 CN CN201811088831.3A patent/CN109176586B/en active Active
-
2019
- 2019-05-10 WO PCT/CN2019/086327 patent/WO2020057144A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8894117B1 (en) * | 2013-12-03 | 2014-11-25 | Korea Institute Of Science And Technology | Robot finger driving module using differential gear characteristics and robot hand including the same |
| CN105563513A (en) * | 2016-03-07 | 2016-05-11 | 戴毅 | Flexible self-adaption under-actuated robot hand |
| CN107097246A (en) * | 2017-05-25 | 2017-08-29 | 凯钠迪（上海）科技有限公司 | A kind of adaptive rope drive formula drive lacking three refers to manipulator |
| CN107225587A (en) * | 2017-06-27 | 2017-10-03 | 哈尔滨工程大学 | It is a kind of to be used for the lossless form adaptive robot manipulator structure fished for of benthon |
| CN108247656A (en) * | 2017-12-30 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of deformable ternary sequential circuit |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109176586A (en) | 2019-01-11 |
| WO2020057144A1 (en) | 2020-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109176586B (en) | Self-adaptive flexible paw based on torsion spring and robot | |
| CN109278034B (en) | Rope-driven flexible paw and robot | |
| CN109176587B (en) | Multi-finger flexible manipulator based on volute spiral spring | |
| US20120067150A1 (en) | Robotic arm assembly | |
| US20130081502A1 (en) | Robot with reducer | |
| CN111376287B (en) | Robot and finger thereof | |
| CN109591001B (en) | Transmission device | |
| CN107984484B (en) | Self-adaptive robot finger device with end accurate compensation and linear parallel clamping | |
| CN113370245B (en) | Mechanical arm clamp holder capable of automatically bending and returning | |
| JPWO2011118646A1 (en) | Robot hand and robot device | |
| CN110640782A (en) | Single-drive flexible mechanical control system and method adopting stay wire drive and robot | |
| CN107363856B (en) | Self-adaptive finger, two-claw mechanical arm and robot | |
| CN113799162B (en) | Robot grabbing paw for special-shaped objects | |
| CN101628416B (en) | Biarticulate sliding block type directly driving robot finger device with variable holding force | |
| CN106826885B (en) | Variable-rigidity underactuated robot dexterous hand finger | |
| CN112809721B (en) | Flexible cable traction under-actuated humanoid hand based on non-uniform elastomer configuration | |
| CN113211480B (en) | Two-finger manipulator based on one-way transmission | |
| US6299228B1 (en) | Gripper apparatus for robots | |
| CN112692822B (en) | Wire-driven soft mechanical arm capable of realizing winding motion | |
| CN107363857B (en) | Manipulator and robot | |
| CN212287680U (en) | Sliding block flexible piece flat clamping indirect self-adaptive robot hand device | |
| CN210161180U (en) | Toothed belt connecting rod series-parallel hybrid composite grabbing robot finger device | |
| CN116652999B (en) | Underwater soft manipulator | |
| CN109366517A (en) | A kind of bio-robot lightweight apery five-needle pines blister rust mechanism | |
| CN112809727B (en) | Rope traction rigid-flexible coupling variable-rigidity clamp holder |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |