CN107175681A - A kind of flexible three-finger configuration manipulator - Google Patents
A kind of flexible three-finger configuration manipulator Download PDFInfo
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- CN107175681A CN107175681A CN201710500168.2A CN201710500168A CN107175681A CN 107175681 A CN107175681 A CN 107175681A CN 201710500168 A CN201710500168 A CN 201710500168A CN 107175681 A CN107175681 A CN 107175681A
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- finger
- finger joint
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- bracing wire
- joint
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- 210000001145 finger joint Anatomy 0.000 claims abstract description 113
- 238000004891 communication Methods 0.000 claims abstract description 24
- 239000000463 material Substances 0.000 claims description 17
- 238000012546 transfer Methods 0.000 claims description 8
- 230000006870 function Effects 0.000 claims description 7
- 238000011084 recovery Methods 0.000 claims description 5
- 239000011347 resin Substances 0.000 claims description 5
- 229920005989 resin Polymers 0.000 claims description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 238000013461 design Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 239000007787 solid Substances 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- RKTYLMNFRDHKIL-UHFFFAOYSA-N copper;5,10,15,20-tetraphenylporphyrin-22,24-diide Chemical compound [Cu+2].C1=CC(C(=C2C=CC([N-]2)=C(C=2C=CC=CC=2)C=2C=CC(N=2)=C(C=2C=CC=CC=2)C2=CC=C3[N-]2)C=2C=CC=CC=2)=NC1=C3C1=CC=CC=C1 RKTYLMNFRDHKIL-UHFFFAOYSA-N 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012940 design transfer Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 229920005570 flexible polymer Polymers 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
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- 230000001360 synchronised effect Effects 0.000 description 1
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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the technical field of robotic gripping device, more particularly to a kind of flexible three-finger configuration manipulator, including three fingers and finger base, finger base is detachably arranged on palm shell, and drive device is provided with palm shell；Finger includes nearly finger joint, flexible finger joint and remote finger joint, and nearly finger joint is movably connected in finger base；Drive device includes steering wheel, pulley and bracing wire, and one end of bracing wire is fixed on pulley, and servos control pulley is rotated forward or inverted；The other end of bracing wire passes palm shell and is flexibly connected nearly finger joint and remote finger joint successively；Finger realizes holding with a firm grip and opening for finger by one-to-one drive device respectively, communication interface connection control device is provided with palm shell, communication interface is connected one by one by circuit is provided with power interface on steering wheel, palm shell, power interface connection external power supply.Realize the flexible crawl for grasping, completing complexity；Grasp force is adjusted by pressure sensor；Passage, electrical equipment high temperature consumption are set.
Description
Technical field
The present invention relates to the technical field of robotic gripping device, more particularly to a kind of flexible three-finger configuration manipulator.
Background technology
As " iterative method of the national strategy of made in China 2025 ", it is (computer, logical that industrial robot is widely used in 3C
News, consumer electronics), the crawl of logistic industry and assembling etc. be in automated job.Manipulator captured as industrial robot,
The execution instrument of assembling work, its grippage, operational stability etc. have important to the efficiency and reliability of operation process
Influence.The manipulator used at present mainly has two kinds：A kind of is the mechanical grip of the single degree of freedom, and action is simple, reliability is high,
But flexible and autgmentability is poor；Another is the flexible manipulator of class human hand, with very strong grippage and operational stability,
But its structure and control algolithm are complicated, price costly, so as to limit its extensive use.
In order to realize the function of crawl object, existing mechanical paw is grabbed generally directed to specific dimensions and given shape
Thing, is designed as two fingers (two pawls) plane mechanism and uses linear drives.But this mechanical paw Shortcomings：(1) it can not fit
Answer the thing of being grabbed of a wide range of size, such as size 5mm~200mm；(2) do not adapt to various shapes is grabbed thing, such as cylinder
Shape, prismatic, spherical, irregular shape.And in order to realize more complicated action, mechanical paw is often designed to structure and answered
It is miscellaneous, bulky, the various drive shaft of usage quantity.In the building ring of the working environment of robot, particularly service robot
Border, is not that the fixed object of processing is only needed to as in production line, but need crawl all size, the thing of shape
Part, and it is desirable that paw is compact in itself, it is simple to drive, existing mechanical paw can not often meet requirement.
Based on this, the present invention devises a kind of flexible three-finger configuration manipulator, can realize to different shape, size objects
Grasping, have the advantages that it is cheap, crawl process stability it is high.
The content of the invention
The present invention provides a kind of flexible three-finger configuration manipulator to overcome defect that above-mentioned prior art is present, can be with
Different shape, the grasping of size objects are realized, with cheap, the advantages of stability is high is grasped.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of flexible three-finger configuration manipulator, including three
Finger and the finger base for installing three fingers, it is characterised in that：The finger base is removably arranged on institute
State in the top of palm shell, the palm shell and be provided with three drive devices；
The finger includes nearly finger joint, flexible finger joint and remote finger joint, and the nearly finger joint, flexible finger joint and remote finger joint are lived successively
Dynamic connection, the nearly finger joint is movably connected in the finger base by bearing pin；
The drive device includes steering wheel, pulley and bracing wire, and one end of the bracing wire is fixedly installed on the pulley, institute
Pulley described in servos control is stated to rotate forward or invert；The other end of the bracing wire passes the palm shell and is flexibly connected institute successively
State nearly finger joint and remote finger joint；
The finger realizes holding with a firm grip and opening for finger by one-to-one drive device respectively, on the palm shell
Be provided with communication interface, the outer end of the communication interface by the external control device of connection, the communication interface it is interior
End passes through is provided with power interface on steering wheel described in connection, the palm shell, and the outer end of the power interface passes through line
Road connects external power supply, and the inner of the power interface passes through steering wheel described in connection.By the structure design of drive device,
Crawl task of different shapes can be completed, it is not necessary to set special in gripping tool, the machinery for the thing to be grabbed of solid shape
The structure design scope of application of hand is wider.And three fingers of the manipulator can provide more clamping actions for grasping manipulation
Point and bigger chucking power, ensure that the stability of crawl；Three pivoting fingers can ensure when capturing complex appearance object
It can fully be contacted with being crawled the surface of object, improve its Grasping skill and application.It can realize and more flexibly grab
Action is held, the crawl operation of complex task is completed.
Further：One of them described finger is fixedly connected in the finger base, and two other described finger can revolve
What is turned is movably connected in the finger base.It is on the one hand increased by designing a fixed finger and two movable fingers
Grasping stability effect to capturing thing, on the other hand, increases crawl contact surface, can reduce crawl dynamics, captures better.
Further：Two other described finger is movably arranged in the finger base by transfer.Pass through design
Transfer realizes the activity steering of finger, is easy to capture object of different shapes.
Further：The transfer includes a steering-engine and three gears, and three gears are an active
Wheel and two driven pulleys, two driven pulleys are engaged with driving wheel respectively, and the steering-engine is arranged in the palm shell, institute
The bottom for stating two movable fingers is fixedly installed on the central shaft of described two driven pulleys, and the steering-engine controls the master
Driving wheel rotates, the inner that the steering-engine passes through communication interface described in connection.Steering-engine control driving wheel rotate forward or
Person's reversion drives the rotation of two driven pulleys, so that the synchronous rotary of two fingers is realized, original state, the bottom of three fingers
It is disposed in parallel relation to one another, two of which activity finger constitutes isosceles triangle with fixed finger, fixed finger is located at summit, this state
Mechanical finger can be used for crawl cylinder type or tetragonal body object, and the controllable two driven pulleys rotation of steering-engine, so that
Realize that two movable fingers rotate in 0 °~90 ° of angular range, now, mechanical finger can capture spheroid or other are not advised
The then object of shape.
Further：The nearly finger joint and remote finger joint are bent and stretched on inside and outside direction and the remote finger joint is away from the flexibility
One end of finger joint is provided with bracing wire hole, and the other end of the bracing wire sequentially passes through bracing wire hole on the inside of the nearly finger joint, described remote
The bracing wire hole on the one end of bracing wire hole, the remote finger joint away from the flexible finger joint on the inside of finger joint, on the outside of the remote finger joint
Bracing wire hole, and be finally fixed on the bracing wire hole on the outside of the nearly finger joint.Bracing wire hole is set in nearly finger joint and remote finger joint, is easy to
The regulation and control of bending and stretching situation of the bracing wire for nearly finger joint and remote finger joint.
Further：Passage is additionally provided with the palm shell, the internal and external environment of palm shell is connected, in time radiating,
Prevent that circuit board and other electric device temperature are too high when the steering wheel of palm enclosure from operating, caused electrical equipment loss.
Further：The curved interior of the nearly finger joint and remote finger joint sets pressure sensor, and the pressure sensor passes through
Communication interface described in connection.Set pressure sensor can immediately monitoring manipulator in the curved interior of nearly finger joint and remote finger joint
Crawl dynamics, and control device is fed back to by communication interface, grasp force can be adjusted immediately by control device, on the one hand may be used
Prevent the surface of power macrolesion thing to be grabbed, on the other hand slipped prevented also from power thing hour to be grabbed, make crawl thing and manipulator it
Between be constantly in optimal crawl dynamics.
Further：The material of the nearly finger joint and remote finger joint is photosensitive resin material.Photosensitive resin material, which should have, to be easy to
The characteristics of shaping, high intensity, which is easy to make surface after complicated nearly finger joint and remote finger joint, and photosensitive resin material shaping, to be had
Higher coefficient of friction, is easy to the crawl of thing to be grabbed, and is difficult to slip.
Further：The material of the flexible finger joint is the flexible PMC materials with memory recovery function, using with memory
The flexible polymer matrix of recovery function meets material, when flexible finger joint by the active force of bracing wire is bending, is returned automatically when not stressing
Spring-go position, PMC materials, with higher pliability and memory recovery function, are the more excellent materials as flexible finger joint.
Further：The finger base is fixedly installed on the palm cover plate, and the palm cover plate is removably set
At the top of the palm shell, the bottom of the palm shell is provided with chassis flange.Realized by palm cover plate outside palm
The sealing of shell, the palm cover plate dismantled by the palm pedestal and do-it-yourself class that are fixedly installed, is easy to integral demounting to safeguard, and uses
The structure design of chassis flange, is easy to be directly connected to mechanical arm, improves installation effectiveness.
Based on above-mentioned technical proposal, the beneficial effects of the invention are as follows：The present invention relates to the technology of robotic gripping device neck
Domain, more particularly to a kind of flexible three-finger configuration manipulator, including three fingers and finger base, finger base are removably set
Three drive devices are provided with the top of palm shell, palm shell；Finger includes nearly finger joint, flexible finger joint and far referred to
Section, nearly finger joint, flexible finger joint and remote finger joint are flexibly connected successively, and nearly finger joint is movably connected in finger base by bearing pin；Drive
Dynamic device includes steering wheel, pulley and bracing wire, and one end of bracing wire is fixedly installed on pulley, and servos control pulley is rotated forward or anti-
Turn；The other end of bracing wire passes palm shell and is flexibly connected nearly finger joint and remote finger joint successively；Finger is respectively by one-to-one
Drive device realizes holding with a firm grip and opening for finger, communication interface is provided with palm shell, the outer end of communication interface passes through circuit
The external control device of connection, the inner of communication interface is connected one by one by circuit to be provided with power supply on steering wheel, palm shell and connects
Mouthful, the outer end of power interface is by connection external power supply, and the inner of power interface passes through connection steering wheel.Pass through driving
The structure design of device and transfer, can complete crawl task of different shapes, it is not necessary to for the thing to be grabbed of solid shape
Set special in gripping tool, the structure design scope of application of the manipulator is wider.And three fingers of the manipulator can be
Grasping manipulation provides more clamping action points and bigger chucking power, ensure that the stability of crawl；Three pivoting fingers
It can ensure that it can fully be contacted with being crawled the surface of object when capturing complex appearance object, improve its Grasping skill with answering
Use scope.More flexible grasp motion can be realized, the crawl operation of complex task is completed.Can IMU by pressure sensor
Cross control device adjustment grasp force；Passage is set, loss caused by the hot operation of palm enclosure electrical equipment is reduced,
Improve service life.
Brief description of the drawings
Fig. 1 is a kind of structural representation of flexible three-finger configuration manipulator of the invention；
Fig. 2 is a kind of structural representation of the single finger of flexible three-finger configuration manipulator of the invention；
In accompanying drawing, the list of parts representated by each label is as follows：
1st, finger base, 2, finger, 21, nearly finger joint, 22, flexible finger joint, 23, remote finger joint, 3, palm cover plate, 4, outside palm
Shell, 5, drive device, 51, steering wheel, 52, pulley, 53, bracing wire, 6, bearing pin, 7, communication interface, 8, power interface, 9, turn to dress
Put, 10, passage, 11, pressure sensor, 12, chassis flange.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in Figures 1 and 2, a kind of flexible three-finger configuration manipulator, including three fingers 2 and for install three described in
The finger base 1 of finger 2, the finger base 1 is removably arranged on the top of the palm shell 4, the palm shell 4
Inside it is provided with three drive devices 5；
The finger 2 includes nearly finger joint 21, flexible finger joint 22 and remote finger joint 23, the nearly finger joint 21, the flexible and of finger joint 22
Remote finger joint 23 is flexibly connected successively, and the nearly finger joint 21 is movably connected in the finger base 1 by bearing pin 6；
The drive device 5 includes steering wheel 51, pulley 52 and bracing wire 53, and one end of the bracing wire 53 is fixedly installed on described
On pulley 52, the steering wheel 51 controls the pulley 52 to rotate forward or invert；The other end of the bracing wire 53 passes the palm
Shell 4 is flexibly connected the nearly finger joint 21 and remote finger joint 23 successively；
The finger 2 realizes holding with a firm grip and opening, the palm shell for finger by one-to-one drive device 5 respectively
Communication interface 7 is provided with 4, the outer end of the communication interface 7 passes through the external control device of connection, the communication interface
7 it is inner by steering wheel 51 described in connection, be provided with power interface 8 on the palm shell 4, the power interface 8
Outer end passes through steering wheel 51 described in connection by connection external power supply, the inner of the power interface 8.
Further：One of them described finger 2 is fixedly connected in the finger base 1, and two other described finger 2 can
What is rotated is movably connected in the finger base 1.
Further：Two other described finger 2 is movably arranged in the finger base 1 by transfer 9.
Further：The transfer 9 includes a steering-engine and three gears, and three gears are an active
Wheel and two driven pulleys, two driven pulleys are engaged with driving wheel respectively, and the steering-engine is arranged in the palm shell 4,
The bottom of described two movable fingers 2 is fixedly installed on the central shaft of described two driven pulleys, and the steering-engine controls institute
State driving wheel rotation, the inner that the steering-engine passes through communication interface described in connection 7.
Further：The nearly finger joint 21 and remote finger joint 23 are bent and stretched on inside and outside direction and the remote finger joint 23 is away from institute
State and bracing wire hole is provided with one end of flexible finger joint 22, the other end of the bracing wire 53 sequentially passes through the inner side of nearly finger joint 21
Bracing wire on bracing wire hole, the one end of bracing wire hole, the remote finger joint 23 away from the flexible finger joint 22 of the remote inner side of finger joint 23
Hole, the bracing wire hole in the remote outside of finger joint 23, and be finally fixed on the bracing wire hole in the outside of nearly finger joint 21.Control device leads to
Three steering wheels 51 of control are crossed to drive the pulley 52 to pull bracing wire 53 when rotating forward to drive the curved of nearly finger joint 21 and remote finger joint 23
The state of holding with a firm grip that Qu Shixian manipulators three refer to, completes the promptly process of thing to be grabbed；When controlling the pulley 52 to invert, on the one hand
Mitigate pulling force of the bracing wire to nearly finger joint 21 and remote finger joint 23 by discharging bracing wire 53, on the other hand, pass through flexible finger joint 22 itself
The memory resilience function having realizes stretching out for finger-joint, completes the release process of thing to be grabbed.
Further：Passage 10 is additionally provided with the palm shell 4.
Further：The curved interior of the nearly finger joint 21 and remote finger joint 23 sets pressure sensor 11, the pressure sensing
Device 12 passes through communication interface 7 described in connection.
Further：The material of the nearly finger joint 21 and remote finger joint 23 is photosensitive resin material.
Further：The material of the flexible finger joint 22 is the flexible PMC materials with memory recovery function.
Further：The finger base 1 is fixedly installed on the palm cover plate 3, and the palm cover plate 3 is removably set
Put at the top of the palm shell 4, the bottom of the palm shell 4 is provided with chassis flange 12.
The present invention relates to the technical field of robotic gripping device, more particularly to a kind of flexible three-finger configuration manipulator, bag
Three fingers and finger base are included, finger base is removably arranged in the top of palm shell, palm shell and is provided with three
Individual drive device；Finger includes nearly finger joint, flexible finger joint and remote finger joint, and activity connects successively for nearly finger joint, flexible finger joint and remote finger joint
Connect, nearly finger joint is movably connected in finger base by bearing pin；Drive device includes steering wheel, pulley and bracing wire, one end of bracing wire
It is fixedly installed on pulley, servos control pulley is rotated forward or inverted；The other end of bracing wire passes palm shell, and activity connects successively
Close to finger joint and remote finger joint；Finger realizes holding with a firm grip and opening, palm shell for finger by one-to-one drive device respectively
On be provided with communication interface, the outer end of communication interface is by the external control device of connection, and the inner of communication interface passes through
Circuit connects power interface is provided with steering wheel, palm shell one by one, the outer end of power interface by connection external power supply,
The inner of power interface passes through connection steering wheel.By drive device and the structure design of transfer, not similar shape can be completed
The crawl task of shape, it is not necessary to set special in gripping tool, the structure design of the manipulator for the thing to be grabbed of solid shape
The scope of application is wider.And three fingers of the manipulator can provide more clamping action points and bigger folder for grasping manipulation
Holding force, ensure that the stability of crawl；Three pivoting fingers can ensure it with being crawled thing when capturing complex appearance object
The surface of body can fully be contacted, and improve its Grasping skill and application.More flexible grasp motion can be realized, completes multiple
The crawl operation of miscellaneous task.Grasp force can be adjusted by control device by pressure sensor immediately；Passage is set, reduced
It is lost caused by the hot operation of palm enclosure electrical equipment, improves service life.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of flexible three-finger configuration manipulator, including three fingers (2) and the finger base for installing three fingers (2)
Seat (1), it is characterised in that：The finger base (1) is removably arranged on the top of the palm shell (4), the palm
Three drive devices (5) are provided with shell (4)；
The finger (2) includes nearly finger joint (21), flexible finger joint (22) and remote finger joint (23), and the nearly finger joint (21), flexibility refer to
Section (22) and remote finger joint (23) are flexibly connected successively, and the nearly finger joint (21) is movably connected in the finger base by bearing pin (6)
On seat (1)；
The drive device (5) includes steering wheel (51), pulley (52) and bracing wire (53), and one end of the bracing wire (53) is fixedly installed
On the pulley (52), the steering wheel (51) controls the pulley (52) to rotate forward or invert；The bracing wire (53) it is another
End passes the palm shell (4) and is flexibly connected the nearly finger joint (21) and remote finger joint (23) successively；
The finger (2) realizes holding with a firm grip and opening, the palm shell for finger by one-to-one drive device (5) respectively
(4) communication interface (7) is provided with, the outer end of the communication interface (7) is described logical by the external control device of connection
Communication interface (7) it is inner by steering wheel described in connection (51), be provided with power interface (8), institute on the palm shell (4)
The outer end of power interface (8) is stated by connection external power supply, the inner of the power interface (8) is by described in connection
Steering wheel (51).
2. a kind of flexible three-finger configuration manipulator according to claim 1, it is characterised in that：One of them described finger
(2) it is fixedly connected in the finger base (1), finger (2) is rotatable is movably connected in the finger for two other
On pedestal (1).
3. a kind of flexible three-finger configuration manipulator according to claim 2, it is characterised in that：Two other described finger
(2) it is movably arranged on by transfer (9) in the finger base (1).
4. a kind of flexible three-finger configuration manipulator according to claim 3, it is characterised in that：Transfer (9) bag
A steering-engine and three gears are included, three gears are a driving wheel and two driven pulleys, two driven pulley difference
Engaged with driving wheel, the steering-engine is arranged in the palm shell (4), the bottom of described two movable fingers (2) is consolidated
Surely on the central shaft for being arranged on described two driven pulleys, the steering-engine controls the driving wheel rotation, the steering-engine
Pass through the inner of communication interface described in connection (7).
5. a kind of flexible three-finger configuration manipulator according to claim 1, it is characterised in that：The nearly finger joint (21) and remote
Finger joint (23) is bent and stretched on inside and outside direction and the one end of the remote finger joint (23) away from the flexible finger joint (22) is provided with
Bracing wire hole, the other end of the bracing wire (53) sequentially passes through bracing wire hole, remote finger joint (23) inner side on the inside of the nearly finger joint (21)
Bracing wire hole, the remote finger joint (23) away from the flexible finger joint (22) one end on bracing wire hole, the remote finger joint (23) outside
The bracing wire hole of side, and be finally fixed on the bracing wire hole on the outside of the nearly finger joint (21).
6. a kind of flexible three-finger configuration manipulator according to claim 1, it is characterised in that：On the palm shell (4)
It is additionally provided with passage (10).
7. a kind of flexible three-finger configuration manipulator according to claim 1, it is characterised in that：The nearly finger joint (21) and remote
The curved interior of finger joint (23) sets pressure sensor (11), and the pressure sensor (12) is connect by being communicated described in connection
Mouth (7).
8. a kind of flexible three-finger configuration manipulator according to claim 1, it is characterised in that：The nearly finger joint (21) and remote
The material of finger joint (23) is photosensitive resin material.
9. a kind of flexible three-finger configuration manipulator according to claim 1, it is characterised in that：The flexible finger joint (22)
Material is the flexible PMC materials with memory recovery function.
10. a kind of flexible three-finger configuration manipulator according to claim 1-9 any one, it is characterised in that：The hand
Refer to pedestal (1) to be fixedly installed on the palm cover plate (3), the palm cover plate (3) is removably arranged on outside the palm
The top of shell (4), the bottom of the palm shell (4) is provided with chassis flange (12).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710500168.2A CN107175681A (en) | 2017-06-27 | 2017-06-27 | A kind of flexible three-finger configuration manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710500168.2A CN107175681A (en) | 2017-06-27 | 2017-06-27 | A kind of flexible three-finger configuration manipulator |
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| CN107471244A (en) * | 2017-09-30 | 2017-12-15 | 武汉库柏特科技有限公司 | A kind of logistics captures the method for material with flexible multi-finger manipulator and with it |
| CN108158519A (en) * | 2017-12-27 | 2018-06-15 | 重庆市臻憬科技开发有限公司 | A kind of wiper cleaning machine |
| CN108789414A (en) * | 2018-07-17 | 2018-11-13 | 五邑大学 | Intelligent machine arm system based on three-dimensional machine vision and its control method |
| CN108972607A (en) * | 2018-07-19 | 2018-12-11 | 深圳市慧传科技有限公司 | A kind of Intelligent mechanical arm device |
| CN109986544A (en) * | 2019-04-25 | 2019-07-09 | 河南省祥和康复产业技术研究院有限责任公司 | A kind of mechanical bionic hand |
| WO2020113906A1 (en) * | 2018-12-07 | 2020-06-11 | 南京埃斯顿智能系统工程有限公司 | Robot-special flexible clamp allowing automatic and quick change |
| CN111761595A (en) * | 2020-05-28 | 2020-10-13 | 西南石油大学 | Self-adaptive hand driven by SMA and rope in combined mode |
| CN111805570A (en) * | 2019-04-12 | 2020-10-23 | 北京京东尚科信息技术有限公司 | Gripping device |
| CN111947821A (en) * | 2020-09-02 | 2020-11-17 | 云南电网有限责任公司大理供电局 | Device and method for detecting closed grip strength of cement electric pole clamp |
| CN112478172A (en) * | 2020-11-12 | 2021-03-12 | 西安交通大学 | Passive quick grabbing manipulator suitable for rotor unmanned aerial vehicle |
| CN114952909A (en) * | 2022-05-25 | 2022-08-30 | 合肥学院 | Robot finger's traction structure and robot finger |
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| CN108972607A (en) * | 2018-07-19 | 2018-12-11 | 深圳市慧传科技有限公司 | A kind of Intelligent mechanical arm device |
| WO2020113906A1 (en) * | 2018-12-07 | 2020-06-11 | 南京埃斯顿智能系统工程有限公司 | Robot-special flexible clamp allowing automatic and quick change |
| CN111805570B (en) * | 2019-04-12 | 2023-03-07 | 北京京东乾石科技有限公司 | Gripping device |
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| CN111947821A (en) * | 2020-09-02 | 2020-11-17 | 云南电网有限责任公司大理供电局 | Device and method for detecting closed grip strength of cement electric pole clamp |
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| CN112478172A (en) * | 2020-11-12 | 2021-03-12 | 西安交通大学 | Passive quick grabbing manipulator suitable for rotor unmanned aerial vehicle |
| CN114952909A (en) * | 2022-05-25 | 2022-08-30 | 合肥学院 | Robot finger's traction structure and robot finger |
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