CN209380760U - End effector of robot with the adaptive finger of three segments - Google Patents
End effector of robot with the adaptive finger of three segments Download PDFInfo
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- CN209380760U CN209380760U CN201821806658.1U CN201821806658U CN209380760U CN 209380760 U CN209380760 U CN 209380760U CN 201821806658 U CN201821806658 U CN 201821806658U CN 209380760 U CN209380760 U CN 209380760U
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Abstract
The utility model discloses a kind of end effector of robot with the adaptive finger of three segments, including the symmetrical three-stage finger of main body cover with cover and two, wherein, centering reducing plate is set in main body cover, worm screw, worm gear and actuating arm drive for opponent's fingering row；Each three-stage finger is made of the first transmission arm, the second transmission arm, third transmission arm, first knuckle, second knuckle and third knuckle；The end effector of the utility model can realize parallel crawl, and the crawl of two segment envelopes and the crawl of three segment envelopes, the three-stage finger of the utility model further improve the envelope function and grippage to object.
Description
Technical field
The utility model relates to a kind of end effector of robot with the adaptive finger of three segments, belong to intelligence machine
People's end effector technical field.
Background technique
Current existing end effector adaptive structure can be clamped by the flexible deformation of actuator finger material itself
Object, but its grasp force is smaller；And the end effector of rigidity be typically all simple two rigid fingers realize open in parallel and,
It has a single function, the end effector with adaptation function is considerably less.In adaptive actuator structure, two sections of finger adaptive structures
It is easier to realize.But segment is more under normal conditions, and finger is better to the envelope function of object, grippage is stronger, more holds
Easily carry out the grasping of rule and irregularly shaped object.
Utility model content
The purpose of this utility model is to provide a kind of end effector of robot with the adaptive finger of three segments, mention
High envelope function and grippage to object.
In order to achieve the above objectives, the technical solution adopted in the utility model is as follows:
End effector of robot with the adaptive finger of three segments, including symmetrical point of main body cover with cover and two
The three-stage finger of cloth, the main body cover is interior to be arranged centering reducing plate, worm screw, worm gear and actuating arm；Each three-stage finger
By the first transmission arm, the second transmission arm, third transmission arm, first knuckle, second knuckle and third knuckle are constituted；
The lower part of the main body cover is the cavity of cylindrical type；The top of the main body cover is in prolate type and both upper ends thereof
For arc-shaped and it is equipped with the movable opening of actuating arm；
The upper end of the cylindrical cavity opens up centering reducing plate mounting hole；It opens the center of the centering reducing plate
Hole, and raise upward to form hollow centering column in the position, the centering column runs through the centering reducing plate mounting hole；It is described
Driving motor is installed on centering reducing plate lower part, and drive motor shaft penetrates from centering post holes；
The lower part of the first knuckle bearing pin mounting hole and centering reducing plate mounting hole concentric position offer worm screw installation
Hole；Boss is symmetrically distributed between the centering reducing plate mounting hole and worm screw mounting hole；
The underface of the boss is installed by actuating arm；The actuating arm be connecting lever disk and connecting lever integral structure, it is described to turn
Arm disk is placed in worm wheel surface and diameter is less than worm-gear toothing outer diameter；The other side of the connecting lever disk is connecting lever；
The worm gear is non-wholecircle structure, only with teeth within the scope of circular configuration；
The upper end of the worm screw is installed on worm screw mounting hole, and drive motor shaft is installed in lower end；
One end of first transmission arm is connect with connecting lever end, and the other end is connect with the second transmission arm lower end；
The upper end of second transmission arm is connect with one end of third transmission arm；Middle lower end and the distal end of first knuckle connect
It connects；Lower end is connect with the first transmission arm；
One end of the third transmission arm is connect with the upper end of the second transmission arm；The middle-end of the other end and third knuckle connects
It connects；
The first knuckle sets three ends, wherein installs and at the top of main body cover in proximal end；Middle upper end and second knuckle
Wide end connection；Distal end is connect with the middle lower end of the second transmission arm；
One end of the second knuckle and the respective end of third knuckle connect；The middle upper end of the other end and first knuckle connects
It connects；
The middle-end of the third knuckle is connect with the respective end of third transmission arm；The connection of the narrow end of lower end and second knuckle.
Centering reducing plate above-mentioned integrally assumes diamond in shape, it is described centering post holes top be with the matched aperture of flange bearing,
Lower part is and the matched aperture of drive motor shaft.
The center of connecting lever disk above-mentioned sets hole corresponding with worm wheel aperture, and the connecting lever disk and worm gear have along the circumferential direction
The screw hole of distribution, and it is corresponding one by one, connecting lever disk and worm gear are fastened by screw.
Pin shaft column mounting holes are set on boss above-mentioned, pivot pin column passes through hole and the worm wheel aperture of connecting lever disk center.
The lower end of worm screw above-mentioned is step-like structure, and the top at step with post holes of feeling relieved matches, and center is opened
If driving motor shaft mounting hole, and be radially in 90 degree of cloth, two top wire holes.
Worm screw mounting hole above-mentioned, the hole of connecting lever disk center and worm wheel aperture are respectively mounted flange bearing.
Main body cover above-mentioned is split type removable lid structure.
The connecting lever end of actuating arm above-mentioned opens up screw hole installation limited block close to the position of bearing pin mounting hole.
There are limiting slot, the lower end of the third knuckle in the narrow end of second knuckle above-mentioned, the position for closing on bearing pin mounting hole
Extend strip, forms hard limit, matched with the limiting slot.
The first torsional spring is installed in first transmission arm above-mentioned and actuating arm connecting lever end junction；The second knuckle narrow end and the
Three finger joint junctions are installed by the second torsional spring.
The utility model it is achieved the utility model has the advantages that
The utility model provides the end effector of a kind of three-stage, adaptive finger structure, and the finger of three-stage is into one
Step improves envelope function and grippage to object.
Detailed description of the invention
Fig. 1 is the front view of the end effector of robot of the utility model；
Shell mechanism schematic diagram based on Fig. 2；
Fig. 3 is centering reducing plate structural schematic diagram；
Fig. 4 is centering reducing plate and driving motor assembling schematic diagram；
Fig. 5 is actuating arm structural schematic diagram；
Fig. 6 is worm gear arrangement schematic diagram；
Fig. 7 is actuating arm and worm gear assembling schematic diagram；
Fig. 8 is worm structure schematic diagram；
Fig. 9 is main body case, actuating arm and worm gear assembling schematic diagram；
Figure 10 is main body case, centering reducing plate, driving motor actuating arm and worm gear assembling schematic diagram；
Figure 11 is that Figure 10 covers the assembling schematic diagram after outer cover；
Figure 12 is the first transmission arm structural schematic diagram；
Figure 13 is the second transmission arm structural schematic diagram；
Figure 14 is third transmission arm structural schematic diagram；
Figure 15 is first knuckle structural schematic diagram；
Figure 16 is second knuckle structural schematic diagram；
Figure 17 is third knuckle structural schematic diagram；
Figure 18 is the first transmission arm, the second transmission arm, third transmission arm, first knuckle, second knuckle and third knuckle group
Fill schematic diagram；
Figure 19 is schematic diagram after the assembling of structure shown in structure shown in Figure 18 and Figure 11；
Figure 20 is parallel crawl process schematic；(a) it is the schematic diagram of open configuration, (b) is clamp position schematic diagram；
Figure 21 is that envelope grabs process schematic；(a) first knuckle and object contact schematic diagram when starting for crawl, (b)
Schematic diagram when being contacted for second knuckle and object；(c) schematic diagram is completed for envelope movement；
Figure 22 is that various forms of envelopes grab schematic diagram；(a) it grabs for two segment envelopes, (b) is grabbed for three segment envelopes
It takes；
Figure 23 is gripper pad schematic diagram；(a) it is planar structure, (b) has perpendicular thorn structure for surface, (c) have circle for surface
Bulge-structure；
Specific embodiment
It is right with reference to the accompanying drawings and examples in order to make those skilled in the art that the utility model may be better understood
Technical solutions of the utility model further illustrate.
As shown in Figure 1, the end effector of robot with the adaptive finger of three segments of the utility model, including it is with cover
Main body cover 1 and two symmetrical three-stage fingers, wherein centering reducing plate 2, worm screw 3, snail are set in main body cover
Wheel 4 and actuating arm 5 drive for opponent's fingering row；Each three-stage finger is by the first transmission arm 6, the second transmission arm 7, third
Transmission arm 8, first knuckle 9, second knuckle 10 and third knuckle 11 are constituted.
It is specific as follows,
Referring to fig. 2, main body cover is split type removable lid structure, and the lower part of main body cover is the cavity of cylindrical type, is used for
Centering reducing plate 2 and driving motor be installed, top in prolate type for installing actuating arm 5 and worm gear 4, and both ends be arc-shaped simultaneously
Equipped with the movable opening of actuating arm.Wherein, the upper end of cylindrical cavity opens up centering reducing plate mounting hole.Referring to Fig. 3, centering becomes
Diameter plate integrally assumes diamond in shape, and the center aperture of diamond shape and raises upward to form hollow cylinder, and cylinder is known as column of feeling relieved, fixed
It is known as centering post holes in stem, centering column passes through centering reducing plate mounting hole.Centering post holes top is matched with flange bearing
Aperture, lower part are and the matched aperture of drive motor shaft.Driving motor is installed on centering reducing plate lower part, and drive motor shaft from
Centering column penetrates, and flange bearing is socketed on to the top of centering post holes, ultimately forms package assembly shown in Fig. 4.Further,
Screw hole is set in two diagonal angles of centering reducing plate, the relative position of driving motor also sets screw hole, in centering reducing plate and driving
After motor is installed, the two is fastened by screw.
Referring to fig. 2, the top of main body cover, is symmetrically distributed with bearing pin mounting hole, for installing first knuckle 9.The
The lower part of one finger joint bearing pin mounting hole and centering reducing plate mounting hole concentric position offer worm screw mounting hole, for installing snail
Bar.Boss is symmetrically distributed between centering reducing plate mounting hole and worm screw mounting hole, for fixing actuating arm, specifically
To set pin shaft column mounting holes on boss, for installing pin shaft column, pivot pin column is passed through in connecting lever disk during actual assembled
The hole of heart position and worm wheel aperture.
Actuating arm 5 is installed in the underface of boss, and actuating arm 5 is symmetrically installed for the left and right sides, drives arm configuration such as Fig. 5 institute
Show, actuating arm is connecting lever disk integral structure, and dish-type side disk diameter is slightly less than worm-gear toothing outer diameter, it is ensured that connecting lever disk is placed in snail
It is not in contact above wheel and with worm-gear toothing, the center of disk is hole corresponding with worm wheel aperture, and the surface of disk is circumferentially
There are six screw holes for directional spreding, and the screw hole that the screw hole is distributed with worm wheel surface is corresponding one by one, can pass through screw
Connecting lever disk and worm gear are fastened, as shown in Figure 7.The dish-type other side is connecting lever, and has bearing pin mounting hole in the end of connecting lever.It is real
In the assembling process of border, the hole of connecting lever disk center position and worm wheel aperture are respectively mounted flange bearing.
Referring to Fig. 6, worm gear 4 be non-wholecircle structure, only it is with teeth within the scope of circular configuration, as far as possible loss of weight and can become drive
Arm is spaced apart.Six screw holes are circumferentially evenly arranged in non-wholecircle structure, the center of worm gear is flange bearing mounting hole,
And pin shaft column at the two of main body cover boss is each passed through in lower part mounting flange bearing.
For worm screw as shown in figure 8, the upper end matches the worm screw mounting hole at the top of main body cover, the other end is step-like structure,
The top of matching centering post holes at step, centre bit installs drive motor shaft mounting hole, for installing drive motor shaft, and in diameter
It is in 90 degree of cloth, two top wire holes to appropriate location.Worm screw mounting hole at the top of the upper end insertion main body cover of worm screw, lower end passes through
Centering post holes, and install into drive motor shaft.
The assembling mode of main body cover 1, centering reducing plate 2, driving motor, worm screw 3, worm gear 4 and actuating arm 5 is as follows:
Firstly, the top mounting flange bearing of centering post holes, drive motor shaft is inserted into from centering post holes, makes driving motor
It is combined with centering reducing board group, such as Fig. 4；
Then, the hole of connecting lever disk center position and worm wheel aperture are respectively mounted flange bearing, and the connecting lever disk of actuating arm is placed in worm gear
On, and fastened the connecting lever disk of actuating arm and worm gear by screw, combine actuating arm and worm gear, such as Fig. 7；
Subsequently, the worm screw mounting hole mounting flange bearing at the top of main body cover, pin shaft column is installed on boss
Bearing pin mounting hole in, then install actuating arm and worm gear composite structure, make pin shaft column pass through worm gear and actuating arm method
Blue bearing, and the connecting lever of actuating arm is outwardly, such as Fig. 9；
Subsequently, the upper end of worm screw is passed through into the worm screw mounting hole at the top of main body cover, then driving motor and centering is become
The composite structure of diameter plate is inserted upwardly by centering reducing plate mounting hole, guarantees the drive motor shaft peace of drive motor shaft insertion worm screw
Fill hole, and the flange bearing on worm screw step end opposite direction insertion centering post holes top；After this part is compressed upwards, worm screw is fastened
Jackscrew at the two of step end finally tightens centering reducing board ends screw, this process, which need to engage, screws in worm gear such as Figure 10；
Finally, covering outer cover, it is completed, such as Figure 11.
It is identical as actuating arm 5, the first transmission arm 6, the second transmission arm 7, third transmission arm 8, first knuckle 9, second knuckle
10, third knuckle 11 is symmetrically installed, specific as follows:
Referring to Figure 12, the first transmission arm 6 is in H-type, and there is bearing pin mounting hole at both ends, and due to being H-type, then there are two pins for one end
Shaft mounting hole；The bearing pin mounting hole of 6 one end of the first transmission arm and the bearing pin mounting hole of connecting lever end match, and by pin shaft and drive
The connection of swing arm connecting lever end, when installation, actuating arm connecting lever end is located between two bearing pin mounting holes of the first transmission arm 6.It is another
The bearing pin mounting hole at end and the bearing pin mounting hole of the second transmission arm 7 match, and are connect by pin shaft with the second transmission arm 7, installation
When, the end of the second transmission arm 7 is located between two bearing pin mounting holes of the first transmission arm 6.In the first transmission arm 6 and actuating arm
First torsional spring 14 is installed, torsional spring provides torsion to keep structural configuration, makes two interconnecting pieces when connecting lever end connects in the middle part of pin shaft
Realize adaptive movement.Meanwhile to realize envelope movement, in the connecting lever end of actuating arm 5, opened close to the position of bearing pin mounting hole
If screw hole installs limited block 12, realize that torsional spring is moved in restriction range.
Referring to Figure 13,7 structure of the second transmission arm is rod-type, if three ends, there is bearing pin mounting hole at each end.Upper end is to open
Mouthful forked type structure has two opposite bearing pin mounting holes, and upper end is connect by pin shaft with third transmission arm 8, when installation, third biography
The end of swing arm 8 is located between two bearing pin mounting holes.Middle lower end is opening forked type structure, and there are two opposite pin shafts to install
Hole, middle lower end and the distal end of first knuckle 9 match, when installation, the distal end of first knuckle 9 be located at two bearing pin mounting holes it
Between.Lower end bearing pin mounting hole is connect by pin shaft with the first transmission arm 6.
Referring to Figure 14, third transmission arm 8 is curved structure, it is ensured that without interference in partial structurtes motion range.Both ends are equal
There is bearing pin mounting hole, one end is connect with the second transmission arm 7, and the other end is connect by pin shaft with the middle-end of third knuckle 11, is installed
When, the end of third transmission arm is located between two bearing pin mounting holes of 11 middle-end of third knuckle.
Referring to Figure 15, first knuckle 9 sets three ends, and there is bearing pin mounting hole at three ends, and one end is in outside opening forked type, with main body
Match at the top of shell, the bearing pin mounting hole at the top of main body cover is installed on by pin shaft, which is known as proximal end, main when installation
It is placed between two bearing pin mounting holes of the proximal end at the top of body case；Middle upper end is connected by the wide end of pin shaft and second knuckle 10
It connects, when installation, which is located between two bearing pin mounting holes of second knuckle；The other end is known as distal end, with the second transmission arm 7
Middle lower end connection.
Referring to Figure 16, the both ends of second knuckle 10 are opening forked type structure, and the wide lower end in upper end is narrow, and both ends have
Bearing pin mounting hole.Narrow end is connect by pin shaft with the respective end of third knuckle 11, and when installation, the narrow end of second knuckle 10 is positioned at the
Between two bearing pin mounting holes of three finger joints, 11 respective end；Wide end is connect with the middle upper end of first knuckle 9 by pin shaft.Narrow end is faced
There is limiting slot 16 in the position of nearly bearing pin mounting hole, and the hard limit with third knuckle matches.Narrow end and third knuckle junction are sold
The second torsional spring 15 is installed at axis middle part, and torsional spring provides torsion to keep structural configuration, realizes two interconnecting pieces adaptively and act,
Limit realizes that torsional spring is moved in restriction range.
Referring to Figure 17,11 plan structure of third knuckle is U-shaped, and there are bearing pin mounting hole at two in middle-end and lower end, wherein middle-end
It is connect by pin shaft with the respective end of third transmission arm 8；Lower end passes through the narrow of pin shaft and second knuckle 10 in opening forked type structure
End connection；There is a hard limit 17 in the lower end of third knuckle, i.e. the strip extended of end, it is corresponding with second knuckle narrow end to limit
Slot matching is worked.
First transmission arm 6, the second transmission arm 7, third transmission arm 8, first knuckle 9, second knuckle 10,11 groups of third knuckle
Such as Figure 18 after the completion of dress.
Structure shown in the Figure 18 being completed is fitted together with structure shown in Figure 11 finally, it is practical new to form this
The final assembled state of the end effector of robot of type, such as Figure 19.
The end effector of the utility model can realize that function includes parallel crawl and envelope crawl, it can be achieved that two segment packets
Network crawl and the crawl of three segment envelopes.
Embodiment 1
The realization of parallel crawl function referring to fig. 20 (a) and (b), in figure, intermediate strip is the object being crawled.Figure 20
(a) be the schematic diagram for referring to open configuration, in figure, actuator without under clamp position by torsional spring active force and position-limiting action, can be by the
Two finger joints 10 and 11 integrator of third knuckle are regarded as single piece, indicate torsional spring power, circled amplification in figure at dark circles arrow
Position is spacing place, at this time the middle lower end bearing pin mounting hole of the second transmission arm 7, the bearing pin mounting hole at 8 both ends of third transmission arm, the
The bearing pin mounting hole of two finger joints, 10 distal end, center are successively linked to be line and form a parallelogram.Actuator is without under clamp position
When closure, because of parallelogram principle, actuator can be kept to grab in parallel, such as Figure 20 (b).
Embodiment 2
Envelope grabs the realization referring to fig. 21 (a) of function, (b) and (c), only shows what central axis side singly referred in figure
Crawl process, the other side realize that process is the same.In figure, irregular curve is the profile for being crawled object.Referring to fig. 21 (a),
Corresponding component stops after touching object in actuator closing course, and envelope function starts to execute, and the stain in figure is to touch a little,
Actuating arm 5 and the first transmission arm 6 are considered as integral structure under the action of limited block and torsional spring, meanwhile, in the second transmission arm 7 under
Bearing pin mounting hole is held, the bearing pin mounting hole at 8 both ends of third transmission arm, the bearing pin mounting hole of 10 distal end of second knuckle, center is successively
It is linked to be line and forms a parallelogram.With the execution of envelope, the more multiposition of actuator, which touches, is crawled object, also,
Actuating arm 5 and the first transmission arm 6 are detached from the limitation of limited block, gradually open, in Figure 21 (b), occur second knuckle 10 with
It is crawled touching a little for object, parallelogram sturcutre still has at this time.In Figure 21 (c), holding action is completed, at this point, the
The limitation for the limited block that two finger joints 10 and third knuckle 11 are detached from, parallelogram state disappear, third knuckle 11 be crawled
Object touches, and actuating arm 5 and 6 opening degree of the first transmission arm are bigger, and each component is finally acted and is finished, and envelope has acted
At success envelope clamps object.
In addition, according to the shape for being crawled object, in the process of grasping, it is understood that there may be the crawl of two segment envelopes and three segments
Envelope crawl in this case, is crawled object in the whole process, does not all have for example, Figure 22 (a) is the crawl of two segment envelopes
Have and contacted with first knuckle 9, and also there is no the contact points with first knuckle 9 after the completion of final envelope clamping, only refer to second
Section 10 and third knuckle 11 contact, this process is known as the crawl of two segment envelopes.Figure 22 (b) is the crawl of three segment envelopes, three fingers
Section all be crawled object and contact, play a role.
In addition, the end face of three finger joints of the utility model sets gripper pad, gripper pad is customizable, can be according to clamping material choosing
With different types of gripper pad, structural reference Figure 23 (a) of gripper pad, (b) and (c).
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without deviating from the technical principle of the utility model, several improvement and deformations can also be made, these change
It also should be regarded as the protection scope of the utility model into deformation.
Claims (10)
1. the end effector of robot with the adaptive finger of three segments, which is characterized in that including main body cover with cover and
Two symmetrical three-stage fingers, the main body cover is interior to be arranged centering reducing plate, worm screw, worm gear and actuating arm；Each
Three-stage finger is made of the first transmission arm, the second transmission arm, third transmission arm, first knuckle, second knuckle and third knuckle；
The lower part of the main body cover is the cavity of cylindrical type；The top of the main body cover is circle in prolate type and both upper ends thereof
Arcuation is simultaneously equipped with the movable opening of actuating arm；
The upper end of the cylindrical cavity opens up centering reducing plate mounting hole；The center aperture of the centering reducing plate, and
It raises upward to form hollow centering column in the position, the centering column runs through the centering reducing plate mounting hole；Driving motor
It is installed on centering reducing plate lower part, the drive motor shaft penetrates from centering post holes；
The lower part of the first knuckle bearing pin mounting hole and centering reducing plate mounting hole concentric position offer worm screw mounting hole；Institute
It states and boss is symmetrically distributed between centering reducing plate mounting hole and worm screw mounting hole；
The underface of the boss is installed by actuating arm；The actuating arm is connecting lever disk and connecting lever integral structure, the connecting lever disk
It is placed in worm wheel surface and diameter is less than worm-gear toothing outer diameter；The other side of the connecting lever disk is connecting lever；
The worm gear is non-wholecircle structure, only with teeth within the scope of circular configuration；
The upper end of the worm screw is installed on worm screw mounting hole, and drive motor shaft is installed in lower end；
One end of first transmission arm is connect with connecting lever end, and the other end is connect with the second transmission arm lower end；
The upper end of second transmission arm is connect with one end of third transmission arm；Middle lower end and the distal end of first knuckle connect；Under
End is connect with the first transmission arm；
One end of the third transmission arm is connect with the upper end of the second transmission arm；The connection of the middle-end of the other end and third knuckle；
The first knuckle sets three ends, wherein installs and at the top of main body cover in proximal end；The wide end of middle upper end and second knuckle
Connection；Distal end is connect with the middle lower end of the second transmission arm；
One end of the second knuckle and the respective end of third knuckle connect；The connection of the middle upper end of the other end and first knuckle；
The middle-end of the third knuckle is connect with the respective end of third transmission arm；The connection of the narrow end of lower end and second knuckle.
2. the end effector of robot with the adaptive finger of three segments according to claim 1, which is characterized in that institute
It states centering reducing plate integrally to assume diamond in shape, the top of the centering post holes is to be and driving with the matched aperture of flange bearing, lower part
The matched aperture of motor shaft.
3. the end effector of robot with the adaptive finger of three segments according to claim 1, which is characterized in that institute
The center for stating connecting lever disk sets hole corresponding with worm wheel aperture, and the connecting lever disk and worm gear have the screw being along the circumferential direction distributed
Hole, and it is corresponding one by one, connecting lever disk and worm gear are fastened by screw.
4. the end effector of robot with the adaptive finger of three segments according to claim 3, which is characterized in that institute
It states and sets pin shaft column mounting holes on boss, pivot pin column passes through hole and the worm wheel aperture of connecting lever disk center.
5. the end effector of robot with the adaptive finger of three segments according to claim 1, which is characterized in that institute
The lower end of worm screw is stated as step-like structure, the top at step with centering post holes matches, and center opens up drive motor shaft
Mounting hole, and be radially in 90 degree of cloth, two top wire holes.
6. the end effector of robot with the adaptive finger of three segments according to claim 3, which is characterized in that institute
Worm screw mounting hole is stated, the hole of connecting lever disk center and worm wheel aperture are respectively mounted flange bearing.
7. the end effector of robot with the adaptive finger of three segments according to claim 1, which is characterized in that institute
Stating main body cover is split type removable lid structure.
8. the end effector of robot with the adaptive finger of three segments according to claim 1, which is characterized in that institute
The connecting lever end for stating actuating arm opens up screw hole installation limited block close to the position of bearing pin mounting hole.
9. the end effector of robot with the adaptive finger of three segments according to claim 1, which is characterized in that institute
There are limiting slot in the narrow end for stating second knuckle, the position for closing on bearing pin mounting hole, and strip, shape are extended in the lower end of the third knuckle
At hard limit, matched with the limiting slot.
10. the end effector of robot with the adaptive finger of three segments according to claim 1, which is characterized in that
The first torsional spring is installed in first transmission arm and actuating arm connecting lever end junction；The second knuckle narrow end is connect with third knuckle
The second torsional spring of place's installation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821806658.1U CN209380760U (en) | 2018-11-02 | 2018-11-02 | End effector of robot with the adaptive finger of three segments |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821806658.1U CN209380760U (en) | 2018-11-02 | 2018-11-02 | End effector of robot with the adaptive finger of three segments |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774300A (en) * | 2019-11-08 | 2020-02-11 | 腾讯科技（深圳）有限公司 | Under-actuated clamp holder and artificial intelligent electronic clamping equipment |
| CN113520075A (en) * | 2021-07-19 | 2021-10-22 | 江西金虎保险设备集团有限公司 | Intelligence rifle cabinet buckle formula encloses foot flange |
-
2018
- 2018-11-02 CN CN201821806658.1U patent/CN209380760U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774300A (en) * | 2019-11-08 | 2020-02-11 | 腾讯科技（深圳）有限公司 | Under-actuated clamp holder and artificial intelligent electronic clamping equipment |
| CN110774300B (en) * | 2019-11-08 | 2022-08-30 | 腾讯科技（深圳）有限公司 | Under-actuated clamp holder and artificial intelligent electronic clamping equipment |
| CN113520075A (en) * | 2021-07-19 | 2021-10-22 | 江西金虎保险设备集团有限公司 | Intelligence rifle cabinet buckle formula encloses foot flange |
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