CN102581856B - Robot arm - Google Patents
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- CN102581856B CN102581856B CN201110446795.5A CN201110446795A CN102581856B CN 102581856 B CN102581856 B CN 102581856B CN 201110446795 A CN201110446795 A CN 201110446795A CN 102581856 B CN102581856 B CN 102581856B
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- 210000001037 Metacarpus Anatomy 0.000 claims abstract description 64
- 238000010586 diagram Methods 0.000 description 14
- 240000003575 Boesenbergia rotunda Species 0.000 description 12
- 235000016390 Uvaria chamae Nutrition 0.000 description 12
- 238000004519 manufacturing process Methods 0.000 description 9
- 210000004247 Hand Anatomy 0.000 description 8
- 238000003825 pressing Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 230000000875 corresponding Effects 0.000 description 3
- 238000004805 robotic Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000002349 favourable Effects 0.000 description 1
- 235000005035 ginseng Nutrition 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Abstract
A kind of robot arm of the action carrying out being held by object between the multiple fingers being configured to change mutual distance, it is characterized in that, between above-mentioned multiple fingers, it is provided with the metacarpus moved along the direction of the finger tip side referring to root side and the plurality of finger linking the plurality of finger.
Description
Technical field
The present invention relates to catch the robot arm of object.
Background technology
Due to the progress of robotics in recent years, in a lot of work of manufacture onsite application of industrial products
The robot of industry.Such as, promote in the assembly line of industrial products, arrange along production line
There is multiple stage industrial robot, and by robot automatically to the product in the manufacture of flowing on production line
Product install various components, so that production efficiency improves.Or, also promote by such by machine
When the component that device people carries out installing is transported to produce line side, uses robot to carry component, make work
The production efficiency overall for factory improves.
Such industrial robot for assembly line etc., maybe comes carrying at carrying component
Component be installed in the operation of product, need to process the object of various size and shape.
Therefore, part (robot arm) requirement for robot holding object copes with various
The high universalizable of object.Therefore, motion has the structure that can hold various size and shape
The robot arm (patent documentation 1, patent documentation 2) of part.
Patent documentation 1: Japanese Unexamined Patent Publication 2000-117677 publication
Patent documentation 2: Japanese Patent Publication 6-30862 publication
But the robot arm of motion exist be difficult to enough hold hold various size and
The problem of the component of shape.This is because reason below.First, these robot arms be by with
What object carried out holding clamped in the multiple fingers being arranged to the most opposed.Therefore, although energy
Enough by the distance between the big minor change finger of corresponding objects thing hold various size (or
Person's shape) object, but object is only with the state being clipped between finger and finger
Kept by the frictional force of contact portion.Certainly, although strongly pressed object by finger
Can increasing friction force, but be because damaging the danger on the surface hindering object, so there is limitation
Property.Result, it is impossible to enough strength holding objects.Its result, such as, hold relatively carrying out
Primary structural component and in the case of being installed on the operation of certain product, produce because of component when installing born anti-
Active force causes the component held to misplace, the various problems such as can not assemble.
Summary of the invention
This invention is to solve at least some of of above-mentioned problem that existing technology had
Formed, its object is to provide and can hold various size and shape with enough holds
The robot arm of component.
In order to solve at least some of of above-mentioned problem, the robot arm of the present invention uses following knot
Structure.That is,
A kind of carry out object between the multiple fingers being configured to change mutual distance
The robot arm held, it is characterised in that between above-mentioned multiple fingers, is provided with along linking
The metacarpus that the direction of the finger tip side referring to root side and the plurality of finger of the plurality of finger is moved.
In the robot arm with so present invention of composition, it is possible to the size of corresponding objects thing and shape
Shape and change the distance between multiple finger and carry out holding object, and metacarpus can be made to move to refer to
The finger tip side in portion and make metacarpus abut with object.Therefore, not only by object and multiple fingers
Between produce frictional force carry out holding object, additionally it is possible to utilize the metacarpus finger root side bearing from finger
Object.It is as a result, it is possible to hold all size and the object of shape with sufficient hold.
It addition, as it has been described above, because of the object by the robot arm holding of the present invention by metacarpus from finger
The finger root side bearing in portion, so being such as installed on the work of certain product carrying out holding object
In the case of industry, even if object is by counteracting force, object also will not from hold position to
The finger root lateral deviation of finger from.Therefore, it is possible to reliably install the object held by robot arm.
It addition, in the robot arm of the above-mentioned present invention, it is also possible to metacarpus is configured to many
The action of individual finger independently moves.So, because can reliably make multiple finger and metacarpus with
The object of all size or shape abuts and holding object, it is possible to improve the logical of robot arm
The property used.
It addition, in the robot arm of the above-mentioned present invention, it is also possible to metacarpus metacarpus is configured to
Mobile until the position the most coplanar relative to the finger tip of multiple fingers.
Like this, it is possible to make metacarpus expose in the position of the finger tip of finger.It is thus possible, for instance entering
During the operation that row is installed with robot arm, by being located in industrial products etc. by object with metacarpus pressing
The object of thing, it is possible to carry out the operation being pressed into by object.
It addition, in the robot arm of the above-mentioned present invention, it is also possible to metacarpus is configured to many
The action of individual finger is moved in linkage.Like this, such as by being set as between multiple fingers
Distance close to time metacarpus divide to the finger tip side shifting of finger, additionally distance between multiple fingers
From time metacarpus to the finger root side shifting of finger such that it is able to hold all size and the object of shape
Thing.It addition, by the action of multiple fingers is controlled together with the action of metacarpus, it is possible to simplify machine
The control of device hands.
It addition, in the robot arm of the above-mentioned present invention, it is also possible to it is formed at handle in multiple fingers
The holding face abutted with object when holding object, and be provided with from metacarpus side to finger in holding face
The part that narrows of the space ends holding face of the mutually opposing finger of finger tip.
In such manner, it is possible to the part narrowed at end by the holding face of metacarpus Yu finger clamps object
And hold.It is as a result, it is possible to be firmly secured to machine by the object of all size and shape
The inside of device hands.
It is it addition, no matter which structure of the robot arm of the above-mentioned present invention is the simplest, the most small-sized
Change and lightweight.If if the robot arm therefore using these present invention constitutes robot, then can
Enough constitute small-sized and high performance robot.
Accompanying drawing explanation
Fig. 1 is the explanatory diagram of the structure of the robot arm representing the present embodiment.
Fig. 2 is the explanatory diagram of the metacarpus action representing robot arm.
Fig. 3 is the explanatory diagram of the situation of the robot arm holding object representing the present embodiment.
Fig. 4 is favourable in the case of the object that held of robot arm representing and installing the present embodiment
The explanatory diagram of effect.
Fig. 5 is the explanatory diagram of other Application way of the robot arm representing the present embodiment.
Fig. 6 is the explanatory diagram of the structure of the robot arm representing variation.
Fig. 7 is the explanatory diagram representing the robot with robot arm.
Detailed description of the invention
Hereinafter, for the content of the most above-mentioned the present application, in the following order to enforcement
Example illustrates
A. the structure of the robot arm of the present embodiment:
B. the holding action of the robot arm of the present embodiment:
C. variation:
A. the structure of the robot arm of the present embodiment:
Fig. 1 is the explanatory diagram of the structure of the robot arm 10 representing the present embodiment.As it can be seen, this
The robot arm 10 of embodiment is by for substantially rectangular plate-shaped member the base portion that constitutes robot arm 10
Point hands base portion 100, be installed on the above finger unit 110 of hands base portion 100, be arranged at finger
Metacarpus 130 grade of the middle position of portion's unit 110 is constituted.
Finger unit 110 is provided with four fingers 112 (finger 112a, 112b, 112c, 112d),
These fingers 112 are configured at the position of the corner of hands base portion 100, and adjacent finger 112 that
This is connected with each other in the part referring to root and is integrally constituted.It addition, there is no spy in the following description
Not in the case of necessity, the position by configuring is not distinguished finger 112 and is expressed as finger 112.
In above-mentioned four fingers 112, in two fingers (finger 112a, 112d) of paper nearby side
Between, and between two fingers (finger 112b, 112c) inside paper, be respectively provided with
There is the guide portion 120 of substantially box-shaped, from each finger 112 adjacent with guide portion 120 to guiding
The leading axle 122 being arranged at differing heights is extended in portion 120.Further, by leading axle 122 points
It is not passed through the bullport that the correspondence position of guide portion 120 is arranged, with guide portion 120 adjacent two
(finger 112a and finger 112b or finger 112b and finger 112c) is connected as in root finger
Can be at square upward sliding that is close to each other or that be separated from each other.
It addition, the right nearby finger 112a of side and the finger 112b of paper Right Inboard of paper is by linking
Parts 114 connect to be integrated, the finger 112d of paper front side in the vicinity and the finger of the left inside side of paper
Portion 112c also connects to be integrated.In the finger unit 110 of the present embodiment so constituted,
When driving, to the direction of regulation, the not shown actuating mechanism being built in guide sections 120, as
Shown in Fig. 1 (a), with the finger (finger 112a, finger 112b) on the right side of the paper of robot arm 10,
And the finger (finger 112c, finger 112d) on the left of paper is respectively in the state of one, right
The finger 112 of side and the finger 112 in left side are moved to the direction being separated from each other.Further, when at this
Under the state (state of Fig. 1 (a)) that finger 112 about sample is mutually left, to above-mentioned regulation
The opposite direction in direction when driving actuating mechanism (not shown) in guide portion 120, such as Fig. 1 (b)
Shown in, the finger 112 on right side and the finger 112 in left side respectively become one and to close to each other
Direction move.
In the robot arm 10 of such the present embodiment, by making the finger 112 of opposed left and right
Close to or separate, it is possible to correspondence wants the size and shape of object held to change finger
Distance between 112.Further, moreover, in the robot arm 10 of the present embodiment, it is arranged at
The metacarpus 130 of the middle position of finger unit 110 can move as follows.
Fig. 2 is the explanatory diagram of the action of the metacarpus 130 of the robot arm 10 representing the present embodiment.Fig. 2
Middle expression situation when robot arm 10 shown in nearly front side Fig. 1.As shown in Fig. 2 (a),
The metacarpus 130 of robot arm 10 is when non-holding object, and metacarpus 130 is contained in finger
Near the finger root of 112, at the back side face of root side (finger 112 refer to) of metacarpus 130 from hands base portion
The ball-screw 132 that 100 lateral metacarpus 130 are arranged is installed with the state that can rotate.
It addition, ball-screw 132 is in the opposition side abutting side with metacarpus 130, with not shown
Driving motor connects.Further, by utilizing driving motor to make ball-screw 132 rotate, it is possible to make
Metacarpus 130 moves (with reference to Fig. 2 (b)) to the finger tip direction of finger 112 or makes metacarpus 130
To the finger root side shifting (with reference to Fig. 2 (a)) of finger 112.So by metacarpus 130 can be moved,
The robot arm 10 of the present embodiment is compared with existing robot arm can be right with the holding of sufficient hold
As thing.Hereinafter this point is illustrated.
B. the holding action of the robot arm of the present embodiment:
Fig. 3 is the explanatory diagram of the situation of robot arm 10 holding object representing the present embodiment.Separately
Outward, as with reference to illustrating the feelings with existing robot arm 20 holding object W in Fig. 3 (a)
Condition, it addition, with the robot arm 10 of the present embodiment shown in Fig. 3 (b) and Fig. 3 (c)
Hold the situation of object W.
In the existing robot arm 20 shown in Fig. 3 (a), being provided above with of metacarpus 230
Opposed pairs finger 212, these fingers 212 can be by not shown drive mechanism phase mutual connection
Near or be separated from each other.As shown in Fig. 3 (a), in such existing robot arm 20, pass through
Object W is sandwiched in holding object W between finger 212.At this moment, object W utilizes
Frictional force that contact portion in object W and finger 212 produces and be held in finger 212 it
Between.
On the other hand, in the case of the robot arm 10 holding object W using the present embodiment,
As shown in Fig. 3 (b), first pass through make left and right finger 112 close, by with object W pair
Object W is clamped, in this condition in the face (holding face 113) of the inner side of the finger 112 put
Metacarpus 130 is made to move to the finger tip direction of finger 112, so that metacarpus 130 and object W
Abut.It addition, it is less than the object W shown in Fig. 3 (b) right holding with robot arm 10
In the case of thing W, as shown in Fig. 3 (c), in the holding face 113 of the finger 112 making left and right
Under the state being more nearly and clamp less object W, make metacarpus 130 more to finger 112
Finger tip side shifting and abut with less object W.
It addition, in the robot arm 10 of the present embodiment, as it has been described above, although the description of with finger
Portion 112 makes metacarpus 130 abut with object W after clamping object W, but can also be
With finger 112, object W is clamped after making metacarpus 130 abut with object W, it is also possible to
The action simultaneously carrying out clamping object W with finger 112 is supported with object W with making metacarpus 130
The action connect.
The robot arm 10 of such the present embodiment passes through can be by the metacarpus 130 finger root in finger 112
Move between side and finger tip side, it is possible to make the palm regardless of the size (or shape) of object W
Portion 130 abuts with object W.Therefore, for object W, not only apply and finger 112
Between produce frictional force, also act through the metacarpus 130 finger root side bearing object from finger 112
The power of thing W.Its result, and above-mentioned existing robot arm 20 is like that by object W
And the frictional force that the contact portion between finger 212 produces carrys out the situation (ginseng of holding object W
According to Fig. 3 (a)) compare, it is possible to hold the right of various size and shape with sufficient hold
As thing W.
It addition, on the finger 112 of the robot arm 10 of the present embodiment, observe from metacarpus 130, if
It is placed in the finger tip along with tending to finger 112 and holds the part that face 113 end narrows.By in finger
112 arrange such part, it is possible to by with metacarpus 130 and object W is held face 113
The part that end is narrow holds clampingly.Therefore, it is possible to reliably by all size and shape
Object W is fixed on the inside of robot arm 10.
Therefore, as existing robot arm 20, object W finger 212 is being clamped and handle
In the case of holding, if the strongly increasing friction force for object W pressing finger 212, then
Can be with sufficient power holding object W.But, if finger 212 is pressed against object W
Power increase, then have and damage the dangerous institute on the surface of object W due to the pressure of finger 212
With the most preferred.In this, the robot arm 10 of the present embodiment is because honouring with metacarpus 130
As thing W, even if so the most strongly pressing finger 112, also can holding object fully
W.It, as a result, it is possible to guarantee sufficient hold, will not damage again object W.
It addition, as it has been described above, the metacarpus 130 of the robot arm 10 of the present embodiment, because only in finger
(with reference to Fig. 2) is moved in the direction referring to root side and the link of finger tip side of 112 point-blank, it is possible to logical
Cross simple control and make metacarpus 130 action.Therefore, by metacarpus 130 can be made to move and can
Holding object W fully, and the control of robot arm 10 also will not complicate.
Further, owing to robot arm 10 is simple structure, it is possible to by robot arm 10 miniaturization
And lightweight.Therefore, even if in order to improve the feelings making robot arm 10 high-speed mobile cycle time
Under condition, it is also possible to suppress the increase of the energy for this necessity, it is possible to avoid as robot whole
The efficiency of body (or production line overall) low.Further, because the structure of robot arm 10
Simply, so also being able to provide the robot arm 10 with these good characteristics at a low price.
If it addition, use the present embodiment robot arm 10 if, be not limited to above-mentioned hold right
As the situation of thing W, such as, even if producing carrying out being installed to the object W of holding manufacturing
In the case of the operation of the product etc. on line, it is also possible to obtain following advantageous effects.
In the case of Fig. 4 is the object W that the robot arm 10 representing and installing the present embodiment is held
The explanatory diagram of advantageous effects.It addition, as with reference to being shown with above-mentioned showing in Fig. 4 (a)
The situation that object W is installed in product P by some robot arms 20, shows in Fig. 4 (b)
Go out to use the situation of the robot arm 10 mounting object thing W of the present embodiment.
As shown in Fig. 4 (a), install at the object W that will be held with existing robot arm 20
In the case of the recess arranged in product P, between object W and the recess of product P
Contact portion produce frictional force.Therefore, to object W effect with by object W to recess
The counteracting force (the most indicated by an arrow) in the direction in opposite direction installed.Here, as above
Stating, existing robot arm 20 is only by producing in the contact portion of finger 212 with object W
Object W is held between finger 212 (with reference to Fig. 3 (a)) by raw frictional force.Therefore,
Put on when mounting object thing W the counteracting force of object W big the most to a certain degree time, object
Thing W can to the finger root lateral deviation of finger 212 from, object W can not be installed to product P by result.
Here, as shown in Fig. 4 (b), right by held with the robot arm 10 of the present embodiment
In the case of being installed to product P as thing W, also with the above-mentioned feelings using existing robot arm 20
Condition is the same, the counteracting force to object W effect with the direction in opposite direction installed.
But, according to the robot arm 10 of the present embodiment, because by the metacarpus 130 finger root from finger 112
Side bearing object W, even if so in the bigger situation of the counteracting force putting on object W
Under, also can prevent object W to the finger root lateral deviation of finger 112 from.It is as a result, it is possible to by right
As thing W is reliably mounted on the recess of product P.It addition, the robot arm 10 of the present embodiment exists
Beyond the purposes of above-mentioned holding object W, it is possible to for following purposes.
Fig. 5 is the explanatory diagram of other purposes of the robot arm 10 representing the present embodiment.The present embodiment
Robot arm 10, as described below, it is possible to carry out the assigned position being positioned product P
Object W carries out pressing and being pressed into the operation of product P.In this case, first, left and right is made
Finger 112 be sufficiently separated, make metacarpus 130 move to finger tip direction from the finger root of finger 112.
And after metacarpus 130 moves to the position more forward than the finger tip of finger 112 the most at last, make
The finger 112 of the left and right separated is close and returns to original position (middle position of robot arm 10).
So, as shown in Fig. 5 (a), the tip portion of robot arm 10 becomes flat due to metacarpus 130
Smooth.In this condition, make the finger tip (i.e. metacarpus 130) of robot arm 10 and be positioned product P
Assigned position object W abut, if making the entirety of robot arm 10 to object W further
The direction of installation site move, then as shown in Fig. 5 (b), it is possible to carry out pressing object W
Enter the operation of product P.
If using the robot arm 10 of such the present embodiment, then a robot arm 10 can be utilized to enter
The operation (and installing the operation of the object W held) of row holding object W and pressing are right
Both sides as the operation of thing W.It is thus possible, for instance because additionally do not arrange and carry out being pressed into object
Necessity of the robot of the operation of W, it is possible to simplify manufacturing line.
It addition, the operation of object W press-in product P also is able to by the finger by finger 112
Point performs directly against in object W, but is because contacting of finger 112 and object portion W
Partly (finger tip of finger 112) area is little, so having, object W is applied bigger pressure
And damage the danger of object W.In this, if utilizing the finger tip phase specific surface with finger 112
If object W is pressed into by long-pending bigger metacarpus 130, then because can make to be applied to object
The pressure dissipation of W, it is possible to prevent owing to object is damaged by bigger pressure in local
The situation of W.Further, because metacarpus 130 is relatively big with the contact area of object W, so i.e.
Make object W is applied bigger pressure, it is also possible to act on making pressure stability.Its result,
The object W that can will be positioned in product P is reliably pressed into.
C. variation:
In the robot arm 10 of embodiments illustrated above, illustrate by making finger 112 and the palm
Portion 130 abuts holding object W with object W.Here, can also be right with detection holding
For the purpose of the situation of thing W, pressure transducer is set in finger 112 and metacarpus 130.Separately
Outward, in the variation of following description, mark symbol same as the previously described embodiments, omit it detailed
Describe in detail bright.
Fig. 6 is the explanatory diagram of the structure of the robot arm 10 representing variation.Variation in diagram
The finger 112 of robot arm 10 and metacarpus 130, and supporting with object when holding object
The face connect is provided with pressure transducer 140.In the robot arm 10 of such variation, if holding
Object W, then contacted with object W by pressure transducer 140, detect object W
Situation about abutting with finger 112 (or object W and metacarpus 130).Therefore according to by pressing
The testing result of force transducer 140, it is possible to judge robot arm 10 whether holding object W.
Robot arm 10 according to such variation, has not held object W's judging
In the case of, robot arm 10 can carry out the holding action of object W again, or carries out machine
The inspection of device hands 10 and place under repair according to necessity.Itself as a result, it is possible to by robot arm 10 can
By ground holding object W.
If it addition, use pressure transducer 140, having held object W when, also can
Enough detection finger 112 or metacarpus 130 press the pressure of object W.Therefore, by according to inspection
The pressure measured is to finely tune the distance between finger 112 or the position of metacarpus 130 such that it is able to regulation
The power of holding object W.
Above the robot arm of various embodiments is illustrated, but the present invention is not limited to above-mentioned
Embodiment and variation, it is possible to implementing in a variety of manners without departing from the range of its purport.Example
As, about above-mentioned various embodiments and the robot arm of variation, illustrate to be arranged at four directions
The most every two of finger adjacent in finger is one group, and connects a direction (left and right directions)
Situation that is near or that separate, but other the finger that these fingers also may be configured as adjoining is the most every
Two is one group, and can in the direction (fore-and-aft direction) being substantially orthogonal with an above-mentioned direction
Close to or separate.
It addition, the robot arm of above-mentioned various embodiments and variation is because structure is very simple,
Easily miniaturization and lightweight.Therefore, if as it is shown in fig. 7, in the front end of robotic arm 12
Install these robot arms and constitute robot 500, then can obtain can be corresponding various right
As shortening thing W, small-sized and light weight and cycle time and that efficiency is also difficult to decline is high performance
Robot 500.
Label declaration:
10... robot arm；12... robotic arm；20... robot arm；100... hands base portion；110... refer to
Portion's unit；112... finger；113... face is held；114... connecting member；120... guide portion；122...
Leading axle；130... metacarpus；140... pressure transducer；212... finger；230... metacarpus；500...
Robot；W... object；P... product.
Claims (5)
1. a robot arm, it is characterised in that
Described robot arm carries out the action of holding object between multiple fingers, the plurality of finger quilt
It is set to mutual distance can change,
Being provided with metacarpus between above-mentioned multiple fingers, this metacarpus can be along linking the plurality of finger
Refer to that the direction of root side and the finger tip side of the plurality of finger is moved,
Above-mentioned metacarpus is arranged to can at least move for any finger in above-mentioned multiple fingers
Move the position coplanar relative to the finger tip of this finger,
Between a pair finger, be provided with guide portion, the pair of finger with can close to each other or
The mode of the square upward sliding being separated from each other is connected with described guide portion.
Robot arm the most according to claim 1, it is characterised in that
Above-mentioned metacarpus is configured to independently move with the action of above-mentioned multiple fingers.
Robot arm the most according to claim 1, it is characterised in that
Above-mentioned metacarpus is arranged to move in linkage with the action of above-mentioned multiple fingers.
4. according to the robot arm according to any one of claims 1 to 3, it is characterised in that
The handle abutted when holding above-mentioned object it is formed with this object in above-mentioned multiple fingers
Hold face,
In the holding face of mutually opposing above-mentioned finger, it is provided with from above-mentioned metacarpus side to this finger
The part that the space ends in this holding face of finger tip narrows.
5. a robot, it is characterised in that have according to any one of Claims 1 to 4
Robot arm.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011-000982 | 2011-01-06 | ||
| JP2011000982A JP5993539B2 (en) | 2011-01-06 | 2011-01-06 | Robot hand and robot |
Related Child Applications (5)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410105336.4A Division CN103991084A (en) | 2011-01-06 | 2011-12-28 | Robot hand |
| CN201410105180.XA Division CN103991083A (en) | 2011-01-06 | 2011-12-28 | Robot hand |
| CN201410105372.0A Division CN103991085A (en) | 2011-01-06 | 2011-12-28 | Robot hand |
| CN201410104353.6A Division CN103978490A (en) | 2011-01-06 | 2011-12-28 | Robot hand |
| CN201410104454.3A Division CN103978491A (en) | 2011-01-06 | 2011-12-28 | Robot hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102581856A CN102581856A (en) | 2012-07-18 |
| CN102581856B true CN102581856B (en) | 2016-12-14 |
Family
ID=
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4479673A (en) * | 1980-09-30 | 1984-10-30 | Fujitsu Fanuc Limited | Hand of an industrial robot |
| US4984951A (en) * | 1988-01-20 | 1991-01-15 | The Board Of Trustees Of The Leland Stanford Junior University | Mechanical prehensor |
| DE29902968U1 (en) * | 1999-02-19 | 1999-07-15 | Demel | Gripping device for a robot |
| US6244644B1 (en) * | 1999-01-25 | 2001-06-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Compact dexterous robotic hand |
| CN201109115Y (en) * | 2007-12-14 | 2008-09-03 | 华南理工大学 | Anthropomorphic manipulator having distribution tactility |
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4479673A (en) * | 1980-09-30 | 1984-10-30 | Fujitsu Fanuc Limited | Hand of an industrial robot |
| US4984951A (en) * | 1988-01-20 | 1991-01-15 | The Board Of Trustees Of The Leland Stanford Junior University | Mechanical prehensor |
| US6244644B1 (en) * | 1999-01-25 | 2001-06-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Compact dexterous robotic hand |
| DE29902968U1 (en) * | 1999-02-19 | 1999-07-15 | Demel | Gripping device for a robot |
| CN201109115Y (en) * | 2007-12-14 | 2008-09-03 | 华南理工大学 | Anthropomorphic manipulator having distribution tactility |
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