CN105382844B - Multi-degree-of-freedom mechanical arm based on sequential control - Google Patents
Multi-degree-of-freedom mechanical arm based on sequential control Download PDFInfo
- Publication number
- CN105382844B CN105382844B CN201510981719.2A CN201510981719A CN105382844B CN 105382844 B CN105382844 B CN 105382844B CN 201510981719 A CN201510981719 A CN 201510981719A CN 105382844 B CN105382844 B CN 105382844B
- Authority
- CN
- China
- Prior art keywords
- support
- mechanical
- finger
- steel wire
- mechanical finger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of mechanical arms and particularly relates to a multi-degree-of-freedom mechanical arm based on sequential control. The mechanical arm comprises three auxiliary mechanical fingers, a main mechanical finger, a palm plate, a motor driving mechanism, an arm sleeve and the like. The first auxiliary mechanical finger, the second auxiliary mechanical finger, the third auxiliary mechanical finger and the main mechanical finger are installed on the palm plate. The three auxiliary mechanical fingers have three bending degrees of freedom, the first auxiliary mechanical finger has one swing degree of freedom, the main mechanical finger has one bending degree of freedom and one swing degree of freedom, and six degrees of freedom are achieved in total. The motor driving mechanism with single-power sequential control is used for driving, so that the structure of the mechanical arm is greatly simplified, and high practicability is achieved.
Description
Art
A kind of the invention belongs to mechanical hand technical field, more particularly to Multi-freedom-degreemanipulator manipulator based on sequencing contro.
Background technology
At present using servomotor driving, steel wire driving, hydraulic-driven etc. more than the type of drive of mechanical hand, small part is used
Artificial muscle drives；Wherein artificial muscle drives, although the mode of driving is advanced, but manufacturing cost is very high at present, and hydraulic pressure drives
It is dynamic to need powerful power to drive hydraulic oil supercharging, it will increase equipment weight and technology maturity is required it is higher,
So cost is also higher；So on simulation manipulator drives, servomotor drives and steel wire drives relatively conventional, servomotor
It is driven to a servomotor is installed on each joint, this will cause mechanism on mechanical hand very unsightly, servomotor
Form factor will determine mechanical hand profile and function；At present using it is most, cost is minimum is driven using steel wire, will
During servomotor is installed concentratedly at arm, and mechanical hand and finger mechanism are relatively simple, and control is relatively easy to, but steel wire drives
Easily there is situations such as mechanical specific bit is inaccurate, finger diastema swings.
A kind of Multi-freedom-degreemanipulator manipulator based on sequencing contro of present invention design solves as above problem.
The content of the invention
For solving drawbacks described above of the prior art, the present invention discloses a kind of multi freedom degree mechanical based on sequencing contro
Handss, it employs the following technical solutions to realize.
A kind of Multi-freedom-degreemanipulator manipulator based on sequencing contro, it is characterised in that：It include mechanical 3rd pair refer to, machinery the
Second mate refers to, mechanical first pair refers to, palm plate, mechanical main finger, motor-driven mechanism fixed plate, motor-driven mechanism, arm sleeve,
Main finger side-sway steel wire, main finger side-sway steel wire guide hole are supported, main finger side-sway spring, main finger side-sway spring supporting, main finger swinging block
Support, main finger swinging block, main finger swing straight pin, the first pair and refer to that side-sway spring, the first pair refer to that swinging block, the first pair refer to side-sway steel
Silk, the first pair refer to that side-sway steel wire guide hole is supported, and wherein mechanical second pair refers to, mechanical 3rd pair refers to successively side by side installed in palm plate
Side, on the first pair refers to that swinging block refers to installed in mechanical first pair, the first pair refers to that swinging block is arranged on palm plate by straight pin
On；First pair refers to that side-sway spring one end connects mechanical second pair and refers to side, and the other end connects mechanical first pair and refers to side；First is secondary
Refer to that side-sway steel wire guide hole is supported on palm plate, the first pair refers to that side-sway steel wire one end connects mechanical first pair and refers to side, in
Between through the first pair refer to side-sway steel wire guide hole support on circular hole；Main finger swinging block is arranged on mechanical main finger, main finger swinging block
Support and be arranged on palm plate, by main, main finger swinging block refers to that swinging straight pin supports installed in main finger swinging block；Main finger side
Pendulum spring one end connects mechanical main finger, and the main finger side-sway spring supporting of other end connection, main finger side-sway spring supporting are arranged on palm
On plate；It is main to refer to that side-sway steel wire one end is connected in the middle of mechanical main finger side through the main circular hole for referring to that side-sway steel wire guide hole is supported,
Main finger side-sway steel wire guide hole is supported on palm plate；Motor-driven mechanism fixed plate is arranged on palm plate, Motor drive
Mechanism is arranged in motor-driven mechanism fixed plate, and arm sleeve is arranged in motor-driven mechanism；
In the present invention, mechanical 3rd pair refers to, mechanical second pair refers to and is directly anchored on palm plate, and no oscillating motion can only
Do curvature movement independently of one another, mechanical first pair refers to and can swing and independently can also bend, and main finger can bend machinery
Can also swing；Finger main for machinery and mechanical first pair refer to that side-sway steel wire is interacted with side-sway spring and is adjusted swinging
Amplitude and swing position, four mechanical fingers can imitate the behavior of whole staff substantially, with preferable effect.
The type of drive of the finger body that above-mentioned mechanical first pair refers to, mechanical second pair refers to, mechanical 3rd pair refers to is identical, right
Refer in any one mechanical pair, it includes the 4th support of mechanical finger, the 3rd support of mechanical finger, steel wire guide plate, steel wire, mechanical finger
Two supports, mechanical finger first support, mechanical finger first support threaded hole of steel, mechanical finger support extension spring, mechanical finger second back-moving spring,
The 3rd back-moving spring of mechanical finger, back-moving spring fixed plate, steel wire guiding groove, mechanical finger arm-tie, mechanical finger (the first back-moving spring, machine
Tool refers to support limiting plate, and wherein mechanical finger second support is arranged in mechanical finger first support by straight pin, mechanical finger the 3rd
Support is arranged in mechanical finger second support by straight pin, and the 4th support of mechanical finger is arranged on mechanical finger the 3rd by straight pin
On support, two steel wire guide plates are separately mounted in mechanical finger second support and at mechanical finger the 3rd support and mechanical finger the
On three supports and at the 4th support of mechanical finger, two steel wire guide plates are installed in mechanical clinodactyly side；Three mechanical fingers
Arm-tie is separately mounted on the 4th support of mechanical finger and at the 3rd support of mechanical finger, on the 3rd support of mechanical finger and near machine
Tool refer at second support and mechanical finger second support on and at mechanical finger first support, three mechanical finger arm-ties are installed in
Mechanical clinodactyly side；Steel wire one end is provided with three mechanical fingers through the threaded hole of steel in mechanical finger first support in the middle of steel wire
Support extension spring, three mechanical finger support extension spring one end are separately mounted on three mechanical finger arm-ties；Three back-moving spring fixed plates
It is separately mounted on the 4th support of mechanical finger and at the 3rd support of mechanical finger, on the 3rd support of mechanical finger and near mechanical finger
At second support and in mechanical finger second support and at mechanical finger first support；Three mechanical finger support limiting plates are pacified respectively
It is mounted in the 3rd stent ends of mechanical finger, mechanical finger second support end and mechanical finger first support end；Three back-moving springs are solid
Fixed board and three mechanical finger support limiting plates are installed in the back side of mechanical clinodactyly side；Mechanical finger (the first back-moving spring one end
On mechanical finger support limiting plate in mechanical finger first support, the other end is arranged on the reset in mechanical finger second support
On spring dead plate；Mechanical finger second back-moving spring one end is arranged on the mechanical finger support limiting plate in mechanical finger second support
On, the other end is arranged in the back-moving spring fixed plate on the 3rd support of mechanical finger；Install the 3rd back-moving spring one end of mechanical finger
On mechanical finger support limiting plate on the 3rd support of mechanical finger, the other end is arranged on the back-moving spring on the 4th support of mechanical finger
In fixed plate；
Steel wire guiding groove is provided with the middle of above-mentioned steel wire guide plate；In order to prevent suddenly change position in steel wire stress drawing process
Put, and cause that mechanical finger is unexpected to tremble.
The extension spring of above three mechanical finger support is identical spring；Mechanical finger captures object, when some mechanical finger
When support is subject to object resistance, connect what the support for being not affected by object resistance than other was connected by the extension spring amount of tension of the support
Extension spring amount of tension is big, and big by the support extension spring amount of tension of object resistance, when tension spring tension is with object resistance balance, not
Continued motion under the little amount of tension of extension spring by the support of object resistance, until being subject to object resistance and balancing with tension spring tension
When till, and then make mechanical finger crawl object when support will be under respective resistance and spring tension aggregate balancing state, energy
The shape of object is well adapted to enough.Above-mentioned mechanical finger second back-moving spring coefficient of elasticity, the 3rd back-moving spring of mechanical finger elasticity
Coefficient, mechanical finger (the first back-moving spring coefficient of elasticity increase 2 times successively.When substantially completely imitation staff does not capture object,
The motion of finger natural torsion, back-moving spring coefficient of elasticity are designed as above.
Above-mentioned mechanical second pair refers to and mechanical 3rd pair is referred to,
First pair refers to that swing is fixed in the mechanical finger first support that mechanical first pair refers to soon；
Above-mentioned motor-driven mechanism includes that annular distance cover plate, sheave support wheel, annular distance cover plate support, driver plate, sheave drive electricity
Machine, rocking arm, mechanism's support plate, hexagonal plate pillar, threaded hole of steel, hexagonal plate, steel wire runner, steel wire runner are supported, steel wire runner bores tooth,
Travelling gear cone tooth, travelling gear, steel wire runner rotating shaft, transmission gear rotational shaft, rocking arm straight pin, steel wire motor, sheave,
Sheave rotating shaft, steel wire motor gear, wherein sheave motor are arranged on mechanism's support plate, and driver plate is driven installed in sheave
On machine shaft, rocking arm is arranged on driver plate, and rocking arm straight pin is arranged on one end；Sheave is arranged on sheave support wheel,
Sheave and sheave support wheel are arranged on mechanism's support plate by sheave rotating shaft, and steel wire motor is arranged on sheave support wheel side
Eccentric position on, steel wire motor gear be arranged on steel wire motor on；Annular distance cover plate is by two annular distance cover plates
Support is provided with threaded hole of steel on mechanism's support plate on annular distance cover plate, hexagonal plate pillar one end is fixed on annular distance cover plate central, another
End is fixed on hexagonal plate center, and hexagonal plate is provided with circular hole on six angles；Install on each angle of above-mentioned hexagonal plate
There is identical structure, for each angle on hexagonal plate：Steel wire runner is supported on hexagonal plate angle, steel wire runner rotating shaft
Support installed in steel wire runner, steel wire runner is arranged on steel wire runner rotating shaft one end, steel wire runner is bored tooth and turned installed in steel wire
The wheel rotating shaft other end, transmission gear rotational shaft are arranged in the circular hole on hexagonal plate angle, and travelling gear cone tooth is arranged on travelling gear
Rotating shaft one end, travelling gear are arranged on the transmission gear rotational shaft other end, and travelling gear is bored tooth and engaged with steel wire runner cone tooth；It is above-mentioned
Steel wire motor gear is engaged with each travelling gear alternating.
Used in the present invention design the characteristics of sheave intermittent motion, steel wire motor on sheave support wheel
Entirety is done gap and stops circular motion.The sheave slot number designed in invention is 6, interior in operation one week, and steel wire motor is 6
Stay for some time on individual stop place, on six stop places, corresponding six travelling gears of design are driven with steel wire
Motor gear coordinates.In the same time, one and only one travelling gear is driven.By steel wire one ends wound on steel wire runner,
The other end of steel wire is connected with each support of mechanical finger or the connection of side-sway steel wire, and the rotation of steel wire runner can pull steel
Silk motion, and then drive the motion of mechanical finger.
The motion of steel wire runner has self-locking performance in addition, can just move when travelling gear is by boring tooth group and being driven, not pass
When dynamic, in self-locking state, it is ensured that mechanical hand is able to maintain that specific seized condition.
Above-mentioned annular distance cover plate and mechanism's support plate are arranged in motor-driven mechanism fixed plate, and arm sleeve is installed in mechanism
On plate.Arm sleeve can be fixed on mechanical hand on human arm.
Used as the further improvement of this technology, above-mentioned sheave slot number can be 3-10, according to the mechanical hand of required driving
The finger number of the degree of freedom quantity of finger or mechanical hand can do corresponding design, can drive the degree of freedom of 3-10.Slot number or
The number of degrees of freedom, scope for being driven determines that according to following aspect the minimum slot number of sheave clearance mechanism is 3 first, secondly sheave
When slot number is a lot, rotate one week within the identical time, the time of staying each time will shorten, this reliability that will affect to drive
Property and controllability, so providing the span of slot number in design.
As the further improvement of this technology, balance columns are installed on above-mentioned sheave support wheel, balance mast axis, steel wire drive
Dynamic electrical axis and sheave support wheel axis co-planar.Design balance columns are integrally to do centrifugation gap to offset steel wire motor
Vibrations mechanism produced during rotation.
As the further improvement of this technology, in above-mentioned steel wire runner, steel wire is wound with, each threaded hole of steel one steel of correspondence
Steel wire on silk runner, and each steel wire runner is through threaded hole of steel corresponding on annular distance cover plate.Design is relative with steel wire runner
The threaded hole of steel answered mutually wind and interfere to ensure to occur without between steel wire.
Used as the further improvement of this technology, the angle number of above-mentioned hexagonal plate is consistent with sheave slot number, can be 3-10.
Relative to traditional mechanical hand technology, in the present invention, mechanical first pair refers to, mechanical second pair refers to, machinery the 3rd is secondary
Refer to, the main finger of machinery is arranged on palm plate, three mechanical pairs refer to that, with three bending degree of freedom, mechanical first pair refers to one
Degree of freedom is swung, the main finger of machinery has a bending degree of freedom and a swing degree of freedom, altogether six-freedom degree, by using
The motor-driven mechanism of single-power sequencing contro drives, and its structure is greatly simplified, with stronger practicality.
Refer to body technique relative to traditional mechanical finger, each support of mechanical finger is connected to one by straight pin in the present invention
Composition mechanical finger is played, and ensures the original vertical shape of mechanical finger by back-moving spring being installed at each bracket bent side back side
State, is connected by extension spring in each bracket bent side steel wire and each support, and being pulled by extension spring can be by each of mechanical finger
Individual support is pulled to be occurred mutually to rotate, and realizes the bending of mechanical finger.The coefficient of elasticity of three back-moving springs designed by the present invention
It is different to cause each arthrogryposises resistance of mechanical finger different, in the case where a steel wire drives and mechanical hand does not have external drag,
According to back-moving spring elasticity, mechanical finger shows the state with the finger identical degree of crook of people, and each support passes through in addition
Steel wire pulls extension spring to drive, and extension spring ensure that mechanical hand changes each mechanical hand when object is captured with the shape of object
The degree of crook in joint.Every mechanical finger in the present invention is driven using single-power, with crawl object adaptive faculty is strong and structure
Simple advantage.
Relative to traditional mechanical hand motor-driven mechanism, in the present invention, sheave is arranged on mechanism's support plate, and sheave drives
Motor is arranged on mechanism's support plate, and sheave motor drives sheave to do the fortune of six gap rotations in a circumference by rocking arm
Dynamic, the steel wire motor on sheave support wheel equally does gap rotation；Six groups of travelling gears, cone tooth, steel wire runners
Combination is separately mounted on six angles of hexagonal plate, and steel wire motor has six stops according to sheave slot number, stops each time
Engage with the travelling gear of any one group in six groups at position, the travelling gear of the group drives the steel of the group by boring tooth combination
Silk runner is rotated, and then drives the dilatory of the steel wire on this group of steel wire runner；Move in one week in sheave, six steel wire runners are equal
Driven once, and in by driving time successively, the moment of torsion of regulation motor and rotating speed independent control each steel wire runner
Corner and rotating speed, and then multiple steel wire runner motions are driven by sequencing contro using little motor, and then drive multiple steel
Silk it is dilatory, such that it is able to control the multivariant mechanical finger driven based on steel wire.Present invention uses sequencing contro, greatly
The complexity of structure is reduced greatly, with preferable practical function.
Description of the drawings
Fig. 1 is global facility distribution schematic diagram.
Fig. 2 is global facility side view.
Fig. 3 is to remove overall structure diagram after annular distance cover plate.
Fig. 4 is annular distance cover plate support scheme of installation.
Fig. 5 is hexagonal plate pillar scheme of installation.
Fig. 6 is that hexagonal plate installs side view.
Fig. 7 is structural representation on any one angle of hexagonal plate.
Fig. 8 is structural side view on any one angle of hexagonal plate.
Fig. 9 is driver plate and sheave motor scheme of installation.
Figure 10 is rocking arm and sheave cooperation schematic diagram.
Figure 11 is steel wire motor scheme of installation.
Figure 12 is balance columns scheme of installation.
Figure 13 is steel wire motor gear and travelling gear cooperation schematic diagram.
Figure 14 is steel wire motor gear movement track schematic diagram.
Figure 15 is mechanical clinodactyly side structural representation.
Figure 16 is mechanical clinodactyly side structure schematic diagram.
Figure 17 is extension spring and steel wire connection diagram.
Figure 18 is steel wire guide plate structure schematic diagram.
Figure 19 is mechanical hand overall structure diagram.
Figure 20 is the main finger scheme of installation 1 of machinery.
Figure 21 is the main finger scheme of installation 2 of machinery.
Figure 22 is that the main finger swinging block of machinery supports cooperation schematic diagram with swinging block.
Figure 23 is that mechanical pair refers to scheme of installation.
Label title in figure：1st, annular distance cover plate, 2, sheave support wheel, 4, annular distance cover plate support, 5, driver plate, 6, sheave drives
Motor, 7, rocking arm, 8, mechanism's support plate, 9, hexagonal plate pillar, 10, threaded hole of steel, 11, hexagonal plate, 12, steel wire runner, 13, steel wire turns
Wheel is supported, and 14, steel wire runner cone tooth, 15, travelling gear cone tooth, 16, travelling gear, 17, steel wire runner rotating shaft, 18, driving cog
Wheel rotating shaft, 19, rocking arm straight pin, 20, steel wire motor, 21, sheave, 22, sheave rotating shaft, 23, steel wire motor gear,
24th, balance columns, 31, the 4th support of mechanical finger, 32, the 3rd support of mechanical finger, 33, steel wire guide plate, 34, steel wire, 35, mechanical finger
Two supports, 36, mechanical finger first support, 37, mechanical finger first support threaded hole of steel, 38, mechanical finger support extension spring, 39, mechanical finger
Second back-moving spring, 40, the 3rd back-moving spring of mechanical finger, 41, back-moving spring fixed plate, 42, steel wire guiding groove, 43, mechanical finger
Arm-tie, 44, mechanical finger (the first back-moving spring, 45, mechanical finger support limiting plate, 50, mechanical 3rd pair refer to, 51, machinery second it is secondary
Refer to, 52, mechanical first pair refer to, 53, palm plate, 54, mechanical main finger, 55, motor-driven mechanism fixed plate, 56, Motor drive machine
Structure, 57, arm sleeve, 58, main finger side-sway steel wire, 59, main finger side-sway steel wire guide hole support, 60, main finger side-sway spring, 61, main
Refer to side-sway spring supporting, 62, main finger swinging block support, 63, main finger swinging block, 64, main finger swing straight pin, the 65, first pair refers to
Side-sway spring, the 66, first pair refer to swinging block, and the 67, first pair refers to side-sway steel wire, and the 68, first pair refers to that side-sway steel wire guide hole is supported.
Specific embodiment
As shown in figure 19, it includes that the 3rd pair refers to machinery, mechanical second pair refers to, mechanical first pair refers to, palm plate, machinery are led
Finger, motor-driven mechanism fixed plate, motor-driven mechanism, arm sleeve, main finger side-sway steel wire, main finger side-sway steel wire guide hole
Support, main finger side-sway spring, main finger side-sway spring supporting, main finger swinging block is supported, main finger swinging block, main finger swing straight pin, the
One pair refers to that side-sway spring, the first pair refer to that swinging block, the first pair refer to that side-sway steel wire, the first pair refer to that side-sway steel wire guide hole is supported, wherein
Mechanical second pair refers to, mechanical 3rd pair refers to that as shown in figure 23, the first pair refers to that swinging block is pacified successively side by side installed in palm plate side
It is mounted on mechanical first pair refers to, the first pair refers to that swinging block is arranged on palm plate by straight pin；First pair refers to side-sway spring one
Connection mechanical second pair in end refers to side, and the other end connects mechanical first pair and refers to side；First pair refers to that side-sway steel wire guide hole supports peace
It is mounted on palm plate, the first pair refers to that side-sway steel wire one end connects mechanical first pair and refers to side, and centre refers to side-sway steel through the first pair
The circular hole that silk guide hole is supported；As shown in Figure 20,21,22, main finger swinging block is arranged on mechanical main finger, and main finger swinging block is supported
On palm plate, by main, main finger swinging block refers to that swinging straight pin supports installed in main finger swinging block；Main finger side-sway bullet
Spring one end connects mechanical main finger, and the main finger side-sway spring supporting of other end connection, main finger side-sway spring supporting are arranged on palm plate；
It is main to refer to that side-sway steel wire one end is connected in the middle of mechanical main finger side through the main circular hole for referring to that side-sway steel wire guide hole is supported, main finger side
Pendulum steel wire guide hole is supported on palm plate；As shown in figure 19, motor-driven mechanism fixed plate is arranged on palm plate, motor
Drive mechanism is arranged in motor-driven mechanism fixed plate, and arm sleeve is arranged in motor-driven mechanism；
In the present invention, mechanical 3rd pair refers to, mechanical second pair refers to and is directly anchored on palm plate, and no oscillating motion can only
Do curvature movement independently of one another, mechanical first pair refers to and can swing and independently can also bend, and main finger can bend machinery
Can also swing；Finger main for machinery and mechanical first pair refer to that side-sway steel wire is interacted with side-sway spring and is adjusted swinging
Amplitude and swing position, four mechanical fingers can imitate the behavior of whole staff substantially, with preferable effect.
As shown in Figure 15,16, the driving of the finger body that above-mentioned mechanical first pair refers to, mechanical second pair refers to, mechanical 3rd pair refers to
Mode is identical, and for any one mechanical pair refers to, it includes that the 4th support of mechanical finger, the 3rd support of mechanical finger, steel wire are led
Plate, steel wire, mechanical finger second support, mechanical finger first support, mechanical finger first support threaded hole of steel, mechanical finger support extension spring, machine
Tool refers to second back-moving spring, the 3rd back-moving spring of mechanical finger, back-moving spring fixed plate, steel wire guiding groove, mechanical finger arm-tie, machinery
Refer to (the first back-moving spring, mechanical finger support limiting plate, wherein mechanical finger second support is arranged on mechanical finger first by straight pin
On support, the 3rd support of mechanical finger is arranged in mechanical finger second support by straight pin, and the 4th support of mechanical finger passes through cylinder
On the 3rd support of mechanical finger, two steel wire guide plates are separately mounted in mechanical finger second support and near mechanical finger the pin
At three supports and on the 3rd support of mechanical finger and at the 4th support of mechanical finger, it is curved that two steel wire guide plates are installed in mechanical finger
Bent side；Three mechanical finger arm-ties are separately mounted on the 4th support of mechanical finger and at the 3rd support of mechanical finger, mechanical finger
On 3rd support and at mechanical finger second support and in mechanical finger second support and at mechanical finger first support, three
Mechanical finger arm-tie is installed in mechanical clinodactyly side；Steel wire one end through the threaded hole of steel in mechanical finger first support, such as Figure 17,
Shown in 15, three mechanical finger support extension springs are installed in the middle of steel wire, three mechanical finger support extension spring one end are separately mounted to three
On mechanical finger arm-tie；Three back-moving spring fixed plates are separately mounted on the 4th support of mechanical finger and near the 3rd support of mechanical finger
In place, the 3rd support of mechanical finger and at mechanical finger second support and in mechanical finger second support and near mechanical finger first
At frame；Three mechanical finger support limiting plates are separately mounted to the 3rd stent ends of mechanical finger, mechanical finger second support end and machine
Tool refers to first support end；Three back-moving spring fixed plates and three mechanical finger support limiting plates are installed in mechanical clinodactyly one
The back side of side；Mechanical finger (the first back-moving spring one end is arranged on the mechanical finger support limiting plate in mechanical finger first support, separately
One end is arranged in the back-moving spring fixed plate in mechanical finger second support；Mechanical finger second back-moving spring one end is arranged on machinery
Refer to that, on the mechanical finger support limiting plate in second support, the other end is arranged on the back-moving spring fixed plate on the 3rd support of mechanical finger
On；The 3rd back-moving spring one end of mechanical finger is arranged on the mechanical finger support limiting plate on the 3rd support of mechanical finger, other end peace
It is mounted in the back-moving spring fixed plate on the 4th support of mechanical finger；
As shown in figure 18, steel wire guiding groove is provided with the middle of above-mentioned steel wire guide plate；In order to prevent in steel wire stress drawing process
Suddenly change position, and cause that mechanical finger is unexpected to tremble.
The extension spring of above three mechanical finger support is identical spring；Mechanical finger captures object, when some mechanical finger
When support is subject to object resistance, connect what the support for being not affected by object resistance than other was connected by the extension spring amount of tension of the support
Extension spring amount of tension is big, and big by the support extension spring amount of tension of object resistance, when tension spring tension is with object resistance balance, not
Continued motion under the little amount of tension of extension spring by the support of object resistance, until being subject to object resistance and balancing with tension spring tension
When till, and then make mechanical finger crawl object when support will be under respective resistance and spring tension aggregate balancing state, energy
The shape of object is well adapted to enough.
Above-mentioned mechanical finger second back-moving spring coefficient of elasticity, the 3rd back-moving spring coefficient of elasticity of mechanical finger, mechanical finger first
Back-moving spring coefficient of elasticity increases 2 times successively.When substantially completely imitation staff does not capture object, the fortune of finger natural torsion
Dynamic, back-moving spring coefficient of elasticity is designed as above.
Above-mentioned steel wire is driven through motor-driven mechanism driving.
Above-mentioned mechanical second pair refers to and mechanical 3rd pair is referred to,
First pair refers to that swing is fixed in the mechanical finger first support that mechanical first pair refers to soon；
As shown in Figure 1, 2, 3, above-mentioned motor-driven mechanism include annular distance cover plate, sheave support wheel, annular distance cover plate support, dial
Disk, sheave motor, rocking arm, mechanism's support plate, hexagonal plate pillar, threaded hole of steel, hexagonal plate, steel wire runner, steel wire runner support,
Steel wire runner cone tooth, travelling gear cone tooth, travelling gear, steel wire runner rotating shaft, transmission gear rotational shaft, rocking arm straight pin, steel wire
Motor, sheave, sheave rotating shaft, steel wire motor gear, wherein, as shown in figure 9, sheave motor is arranged on mechanism
On support plate, driver plate is arranged in sheave motor rotating shaft, and rocking arm is arranged on driver plate, and rocking arm straight pin is arranged on rocking arm one
End；As shown in Figure 10, sheave is arranged on sheave support wheel, and sheave and sheave support wheel are propped up installed in mechanism by sheave rotating shaft
On plate, as shown in figure 11, steel wire motor is arranged on the eccentric position of sheave support wheel side, steel wire motor gear
On steel wire motor；As shown in figure 4, annular distance cover plate is arranged on mechanism's support plate by two annular distance cover plate supports,
Threaded hole of steel is provided with annular distance cover plate, and as shown in Figure 5,6, hexagonal plate pillar one end is fixed on annular distance cover plate central, and the other end is fixed
On hexagonal plate center, hexagonal plate is provided with circular hole on six angles；
As shown in figure 3, identical structure is installed on each angle of above-mentioned hexagonal plate, for each on hexagonal plate
Angle：As shown in Figure 7,8, steel wire runner is supported on hexagonal plate angle, and the rotating shaft of steel wire runner is arranged on steel wire runner and supports,
Steel wire runner is arranged on steel wire runner rotating shaft one end, and steel wire runner cone tooth is arranged on the steel wire runner rotating shaft other end, travelling gear
Rotating shaft is arranged in the circular hole on hexagonal plate angle, and travelling gear cone tooth is arranged on transmission gear rotational shaft one end, and travelling gear is installed
In the transmission gear rotational shaft other end, travelling gear is bored tooth and is engaged with steel wire runner cone tooth；
As shown in figure 13, above-mentioned steel wire motor gear is engaged with each travelling gear alternating, as shown in figure 14, steel wire
Motor gear integrally moves in a circle with steel wire motor, is engaged with each travelling gear in motor process successively.
The characteristics of sheave intermittent motion is employed herein, the steel wire motor entirety on sheave support wheel
Do gap and stop circular motion.The sheave slot number designed in invention is 6, and in operation one week, steel wire motor stops at 6
Stay, on six stop places, corresponding six travelling gears of design and steel wire motor
Gear coordinates.In the same time, one and only one travelling gear is driven.By steel wire one ends wound on steel wire runner, steel wire
The other end be connected with the support of mechanical finger, the rotation of steel wire runner can pull steel wire to move, so drive mechanical finger
Motion.
The motion of steel wire runner has self-locking performance in addition, can just move when travelling gear is by boring tooth group and being driven, not pass
When dynamic, in self-locking state, it is ensured that mechanical hand is able to maintain that specific seized condition.
Above-mentioned annular distance cover plate and mechanism's support plate are arranged in motor-driven mechanism fixed plate, and arm sleeve is installed in mechanism
On plate.Arm sleeve can be fixed on mechanical hand on human arm.
Above-mentioned sheave slot number can be 3-10, according to degree of freedom quantity or the mechanical hand of the mechanical finger of required driving
Finger number can do corresponding design, the degree of freedom of 3-10 can be driven.Slot number or the number of degrees of freedom, scope that driven according to
Following aspect determines that the minimum slot number of sheave clearance mechanism is 3 first, when secondly sheave slot number is a lot, in the identical time
Interior to rotate one week, the time of staying each time will shorten, and this will affect the reliability and controllability of driving, so in design
Provide the span of slot number.
As shown in figure 12, balance columns are installed on above-mentioned sheave support wheel, balance mast axis, steel wire motor axis and
Sheave support wheel axis co-planar.Design balance columns are integrally done when centrifugation gap rotates to mechanism to offset steel wire motor
The vibrations of generation.
Steel wire is wound with above-mentioned steel wire runner, each threaded hole of steel one steel wire runner of correspondence is as shown in Fig. 2 and each steel
Steel wire on silk runner is through threaded hole of steel corresponding on annular distance cover plate.The threaded hole of steel corresponding with steel wire runner is designed in order to protect
Mutually winding is occurred without between card steel wire and is interfered.
The angle number of above-mentioned hexagonal plate is consistent with sheave slot number, can be 3-10.
In sum, there is mechanical hand of the present invention mechanical first pair to refer to, mechanical second pair refers to, mechanical 3rd pair refers to, machinery
On palm plate, three mechanical pairs refer to that, with three bending degree of freedom, mechanical first pair refers to a swing certainly to main finger
By spending, the main finger of machinery has a bending degree of freedom and a swing degree of freedom, altogether six-freedom degree, by using single-power
The motor-driven mechanism of sequencing contro drives, and its structure is greatly simplified, with stronger practicality.
Secondly, each support of mechanical finger is linked together composition mechanical finger by straight pin, by curved in each support
The bent side back side installs back-moving spring to ensure the original vertical state of mechanical finger, each bracket bent side steel wire and each
Support is connected by extension spring, is pulled by extension spring and generation can be pulled mutually to rotate each support of mechanical finger, realizes machinery
The bending of finger.The coefficient of elasticity of three back-moving springs designed by the present invention is different to cause each arthrogryposises resistance of mechanical finger not
Together, in the case where steel wire drives and mechanical hand does not have external drag, according to back-moving spring elasticity, mechanical finger show with
The state of the finger identical degree of crook of people, by steel wire pulling extension spring driving, extension spring ensure that machine to each support in addition
Tool handss change the degree of crook of each manipulator joint when object is captured with the shape of object.Every machine in the present invention
Tool referred to and driven using single-power, has the advantages that to capture that object adaptive faculty is strong and simple structure.
In addition, sheave is arranged on mechanism's support plate in motor-driven mechanism, sheave motor is arranged on mechanism's support plate,
Sheave motor drives sheave to do the motion of six gap rotations in a circumference by rocking arm, on sheave support wheel
Steel wire motor equally do gap rotation；Six groups of travelling gears, cone tooth, the combinations of steel wire runner are separately mounted to hexagonal plate
On six angles, steel wire motor has six stops according to sheave slot number, each time at stop place with six groups in it is any one
The travelling gear engagement of group, the travelling gear of the group pass through cone tooth combination and drive the steel wire runner of the group to rotate, and then driving is somebody's turn to do
Organize drawing for the steel wire on steel wire runner；Move in one week in sheave, six steel wire runners are driven once successively, and in quilt
In driving time, the corner and rotating speed of the moment of torsion of regulation motor and rotating speed independent control each steel wire runner, and then using very
Few motor drives multiple steel wire runner motions by sequencing contro, and then drives the dilatory of multiple steel wires, such that it is able to control
The multivariant mechanical finger driven based on steel wire.Present invention uses sequencing contro, greatly reduces the complexity of structure,
With preferable practical function.
Claims (5)
1. a kind of Multi-freedom-degreemanipulator manipulator based on sequencing contro, it is characterised in that：It include mechanical 3rd pair refer to, machinery second
Pair refers to, mechanical first pair refers to, palm plate, mechanical main finger, motor-driven mechanism fixed plate, motor-driven mechanism, arm sleeve, master
Finger side-sway steel wire, main finger side-sway steel wire guide hole are supported, main finger side-sway spring, main finger side-sway spring supporting, main finger swinging block are supported,
Main finger swinging block, main finger swing straight pin, the first pair refer to side-sway spring, the first pair refer to swinging block, the first pair refer to side-sway steel wire, the
One pair refers to that side-sway steel wire guide hole is supported, and wherein mechanical second pair refers to, mechanical 3rd pair refers to successively side by side installed in palm plate side,
On first pair refers to that swinging block refers to installed in mechanical first pair, the first pair refers to that swinging block is arranged on palm plate by straight pin；The
One pair refers to that side-sway spring one end connects mechanical second pair and refers to side, and the other end connects mechanical first pair and refers to side；First pair refers to side
Pendulum steel wire guide hole is supported on palm plate, and the first pair refers to that side-sway steel wire one end connects mechanical first pair and refers to side, and centre is worn
Cross the circular hole that the first pair refers to that side-sway steel wire guide hole is supported；Main finger swinging block is arranged on mechanical main finger, and main finger swinging block is supported
On palm plate, by main, main finger swinging block refers to that swinging straight pin supports installed in main finger swinging block；Main finger side-sway bullet
Spring one end connects mechanical main finger, and the main finger side-sway spring supporting of other end connection, main finger side-sway spring supporting are arranged on palm plate；
It is main to refer to that side-sway steel wire one end is connected in the middle of mechanical main finger side through the main circular hole for referring to that side-sway steel wire guide hole is supported, main finger side
Pendulum steel wire guide hole is supported on palm plate；Motor-driven mechanism fixed plate is arranged on palm plate, motor-driven mechanism peace
It is mounted in motor-driven mechanism fixed plate, arm sleeve is arranged in motor-driven mechanism；
The type of drive of the finger body that above-mentioned mechanical first pair refers to, mechanical second pair refers to, mechanical 3rd pair refers to is identical, for appointing
The mechanical pair of meaning one refers to that it includes the 4th support of mechanical finger, the 3rd support of mechanical finger, steel wire guide plate, steel wire, mechanical finger second
Frame, mechanical finger first support, mechanical finger first support threaded hole of steel, mechanical finger support extension spring, mechanical finger second back-moving spring, machinery
Refer to the 3rd back-moving spring, back-moving spring fixed plate, steel wire guiding groove, mechanical finger arm-tie, mechanical finger (the first back-moving spring, mechanical finger
Support limiting plate, wherein mechanical finger second support are arranged in mechanical finger first support by straight pin, the 3rd support of mechanical finger
It is arranged in mechanical finger second support by straight pin, the 4th support of mechanical finger is arranged on the 3rd support of mechanical finger by straight pin
On, two steel wire guide plates are separately mounted in mechanical finger second support and at mechanical finger the 3rd support and mechanical finger the 3rd
On frame and at the 4th support of mechanical finger, two steel wire guide plates are installed in mechanical clinodactyly side；Three mechanical finger arm-ties
It is separately mounted on the 4th support of mechanical finger and at the 3rd support of mechanical finger, on the 3rd support of mechanical finger and near mechanical finger
At second support and in mechanical finger second support and at mechanical finger first support, three mechanical finger arm-ties are installed in machinery
Clinodactyly side；Steel wire one end is provided with three mechanical finger supports through the threaded hole of steel in mechanical finger first support in the middle of steel wire
Extension spring, three mechanical finger support extension spring one end are separately mounted on three mechanical finger arm-ties；Three back-moving spring fixed plate difference
On the 4th support of mechanical finger and at the 3rd support of mechanical finger, on the 3rd support of mechanical finger and near mechanical finger second
At support and in mechanical finger second support and at mechanical finger first support；Three mechanical finger support limiting plates are separately mounted to
The 3rd stent ends of mechanical finger, mechanical finger second support end and mechanical finger first support end；Three back-moving spring fixed plates
The back side of mechanical clinodactyly side is installed in three mechanical finger support limiting plates；Install mechanical finger (the first back-moving spring one end
On mechanical finger support limiting plate in mechanical finger first support, the other end is arranged on the back-moving spring in mechanical finger second support
In fixed plate；Mechanical finger second back-moving spring one end is arranged on the mechanical finger support limiting plate in mechanical finger second support, separately
One end is arranged in the back-moving spring fixed plate on the 3rd support of mechanical finger；The 3rd back-moving spring one end of mechanical finger is arranged on machinery
Refer on the mechanical finger support limiting plate on the 3rd support, the other end is arranged on the back-moving spring fixed plate on the 4th support of mechanical finger
On；Steel wire guiding groove is provided with the middle of steel wire guide plate；The extension spring of three mechanical finger supports is identical spring；Mechanical finger second is multiple
Position the elastic coefficient, the 3rd back-moving spring coefficient of elasticity of mechanical finger, mechanical finger (the first back-moving spring coefficient of elasticity increase 2 successively
Times；
Above-mentioned mechanical second pair refers to and mechanical 3rd pair is referred to, first
Pair refers to that swing is fixed in the mechanical finger first support that mechanical first pair refers to soon；
Above-mentioned motor-driven mechanism includes annular distance cover plate, sheave support wheel, annular distance cover plate support, driver plate, sheave motor, shakes
Arm, mechanism's support plate, hexagonal plate pillar, threaded hole of steel, hexagonal plate, steel wire runner, steel wire runner are supported, steel wire runner bores tooth, transmission
Cone of gears tooth, travelling gear, steel wire runner rotating shaft, transmission gear rotational shaft, rocking arm straight pin, steel wire motor, sheave, sheave
Rotating shaft, steel wire motor gear, wherein sheave motor are arranged on mechanism's support plate, and driver plate is arranged on sheave motor
In rotating shaft, rocking arm is arranged on driver plate, and rocking arm straight pin is arranged on one end；Sheave is arranged on sheave support wheel, sheave
It is arranged on mechanism's support plate by sheave rotating shaft with sheave support wheel, steel wire motor is arranged on the inclined of sheave support wheel side
On heart position, steel wire motor gear is arranged on steel wire motor；Annular distance cover plate is by two annular distance cover plate support peaces
It is mounted on mechanism's support plate, on annular distance cover plate, is provided with threaded hole of steel, hexagonal plate pillar one end is fixed on annular distance cover plate central, and the other end is solid
It is scheduled on hexagonal plate center, hexagonal plate is provided with circular hole on six angles；Phase is installed on each angle of above-mentioned hexagonal plate
Same structure, for each angle on hexagonal plate：Steel wire runner is supported on hexagonal plate angle, and the rotating shaft of steel wire runner is installed
On steel wire runner is supported, steel wire runner is arranged on steel wire runner rotating shaft one end, and steel wire runner is bored tooth and turned installed in steel wire runner
The axle other end, transmission gear rotational shaft are arranged in the circular hole on hexagonal plate angle, and travelling gear cone tooth is arranged on transmission gear rotational shaft
One end, travelling gear are arranged on the transmission gear rotational shaft other end, and travelling gear is bored tooth and engaged with steel wire runner cone tooth；Above-mentioned steel wire
Motor gear is engaged with each travelling gear alternating；
Above-mentioned annular distance cover plate and mechanism's support plate are arranged in motor-driven mechanism fixed plate, and arm sleeve is arranged on mechanism's support plate
On.
2. a kind of Multi-freedom-degreemanipulator manipulator based on sequencing contro according to claim 1, it is characterised in that：Above-mentioned sheave
Slot number can be 3-10.
3. a kind of Multi-freedom-degreemanipulator manipulator based on sequencing contro according to claim 1, it is characterised in that：Above-mentioned sheave
Balance columns, balance mast axis, steel wire motor axis and sheave support wheel axis co-planar are installed on support wheel.
4. a kind of Multi-freedom-degreemanipulator manipulator based on sequencing contro according to claim 1, it is characterised in that：Above-mentioned steel wire
Steel wire is wound with runner, each threaded hole of steel one steel wire runner of correspondence, and the steel wire on each steel wire runner passes through annular distance lid
Corresponding threaded hole of steel on plate.
5. a kind of Multi-freedom-degreemanipulator manipulator based on sequencing contro according to claim 1, it is characterised in that：Above-mentioned hexagonal
The angle number of plate is consistent with sheave slot number, can be 3-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510981719.2A CN105382844B (en) | 2015-12-24 | 2015-12-24 | Multi-degree-of-freedom mechanical arm based on sequential control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510981719.2A CN105382844B (en) | 2015-12-24 | 2015-12-24 | Multi-degree-of-freedom mechanical arm based on sequential control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105382844A CN105382844A (en) | 2016-03-09 |
| CN105382844B true CN105382844B (en) | 2017-03-22 |
Family
ID=55415949
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510981719.2A Active CN105382844B (en) | 2015-12-24 | 2015-12-24 | Multi-degree-of-freedom mechanical arm based on sequential control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105382844B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109172063B (en) * | 2018-09-11 | 2020-07-24 | 西安交通大学 | A rigid-flexible coupled prosthetic hand with compliant grasping properties |
| CN112497262B (en) * | 2020-11-02 | 2022-08-02 | 天津大学 | Humanoid metamorphic hand based on reconfigurable Hooke hinge pair |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000325375A (en) * | 1999-05-19 | 2000-11-28 | Harada Denshi Kogyo Kk | Movable finger for artificial limb prosthesis, prosthesis hand using movable finger, and controller for movable finger |
| US6505870B1 (en) * | 2000-05-30 | 2003-01-14 | UNIVERSITé LAVAL | Actuation system for highly underactuated gripping mechanism |
| CN101214648A (en) * | 2008-01-18 | 2008-07-09 | 南京航空航天大学 | Five-fingered dexterous hand driven by ultrasonic motor |
| CN101474794A (en) * | 2009-01-23 | 2009-07-08 | 清华大学 | Bionic robot under-actuated delicacy hand device |
| CN102452076A (en) * | 2010-11-02 | 2012-05-16 | 曹晶晶 | Steel wire rope transmission mechanism |
| US8660695B2 (en) * | 2009-07-22 | 2014-02-25 | The Shadow Robot Company Limited | Robotic hand |
| EP2732937A1 (en) * | 2011-07-12 | 2014-05-21 | Kabushiki Kaisha Yaskawa Denki | Robotic hand and robot |
| CN105033994A (en) * | 2015-05-12 | 2015-11-11 | 常州机电职业技术学院 | Manipulator driving device |
-
2015
- 2015-12-24 CN CN201510981719.2A patent/CN105382844B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000325375A (en) * | 1999-05-19 | 2000-11-28 | Harada Denshi Kogyo Kk | Movable finger for artificial limb prosthesis, prosthesis hand using movable finger, and controller for movable finger |
| US6505870B1 (en) * | 2000-05-30 | 2003-01-14 | UNIVERSITé LAVAL | Actuation system for highly underactuated gripping mechanism |
| CN101214648A (en) * | 2008-01-18 | 2008-07-09 | 南京航空航天大学 | Five-fingered dexterous hand driven by ultrasonic motor |
| CN101474794A (en) * | 2009-01-23 | 2009-07-08 | 清华大学 | Bionic robot under-actuated delicacy hand device |
| US8660695B2 (en) * | 2009-07-22 | 2014-02-25 | The Shadow Robot Company Limited | Robotic hand |
| CN102452076A (en) * | 2010-11-02 | 2012-05-16 | 曹晶晶 | Steel wire rope transmission mechanism |
| EP2732937A1 (en) * | 2011-07-12 | 2014-05-21 | Kabushiki Kaisha Yaskawa Denki | Robotic hand and robot |
| CN105033994A (en) * | 2015-05-12 | 2015-11-11 | 常州机电职业技术学院 | Manipulator driving device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105382844A (en) | 2016-03-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101934525B (en) | Variable-rigidity flexible joint design of humanoid robot | |
| CN105583829B (en) | A kind of simulation manipulator pulled based on steel wire is referred to | |
| CN102114631B (en) | Simulated hand | |
| CN107738275A (en) | A kind of cam extension spring mechanism of mechanical arm gravity compensation | |
| CN102601792A (en) | Humanoid robot remotely driven and controlled by rope | |
| CN105328710B (en) | Multi-degree-of-freedom mechanical arm based on steel wire transmission | |
| CN109940659B (en) | Flexible cable driving elastic mechanism for gravity moment compensation of mechanical arm | |
| CN107061182B (en) | A kind of reciprocating vibration formula flapping wing energy conversion device | |
| CN106826907A (en) | A kind of single-degree-of-freedom linkage flexible charging joint of robot group | |
| CN105382844B (en) | Multi-degree-of-freedom mechanical arm based on sequential control | |
| CN106903712A (en) | The conllinear joint of mechanical arm of two-freedom based on differential rope drive | |
| CN105171728A (en) | Hexagonal pyramid type six-freedom-degree parallel mechanism | |
| CN105479454A (en) | A multi-degree-of-freedom manipulator based on synchronous belt transmission | |
| JP5437444B2 (en) | Actuator device and robot device using the same | |
| CN203925436U (en) | A kind of tower shelf type oil pumping machine | |
| CN207402800U (en) | A kind of manipulator | |
| CN103029135B (en) | The joint of robot that a kind of imitative muscle drives | |
| CN205859040U (en) | A kind of tuned mass damper | |
| CN108423147A (en) | Three-dimensional spiral axis drives the method and its device of bionical power fish | |
| CN104482075A (en) | Clutch and variable speed driving hub | |
| CN201205441Y (en) | Rail control mechanism in badminton training machine | |
| CN204587070U (en) | Emulation walking steel wire mechanical device | |
| CN208826644U (en) | Robot head regulating mechanism and its marketing robot | |
| CN204428216U (en) | A kind of finger mechanism of apery myoelectricity artificial hand | |
| CN204612609U (en) | Target drone and target car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Yuyan Inventor before: Liu Chao |
|
| COR | Change of bibliographic data | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170124 Address after: 528000 Guicheng Industrial Zone, Nanhai District, Foshan, Guangdong Applicant after: Foshan Tianfan CNC Technology Co. Ltd. Address before: 518000 Guangdong city of Shenzhen province Futian District Fuhua Road No. 6 Building 1403 business tax Applicant before: Liu Chao |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191128 Address after: 528000 Foshan, China, Nanhai District, Guangdong City, East Asia, the East Asia, the three industrial zone Patentee after: Guangdong Shuopu Machinery Technology Co., Ltd. Address before: 528000 Guicheng Industrial Zone, Nanhai District, Foshan, Guangdong Patentee before: Foshan Tianfan CNC Technology Co. Ltd. |
|
| TR01 | Transfer of patent right |