CN104827484B - 手爪 - Google Patents
手爪 Download PDFInfo
- Publication number
- CN104827484B CN104827484B CN201510259397.0A CN201510259397A CN104827484B CN 104827484 B CN104827484 B CN 104827484B CN 201510259397 A CN201510259397 A CN 201510259397A CN 104827484 B CN104827484 B CN 104827484B
- Authority
- CN
- China
- Prior art keywords
- workpiece
- supporting spring
- spring body
- force measurement
- elastically
- 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
- 238000005259 measurement Methods 0.000 claims description 132
- 229910000831 Steel Inorganic materials 0.000 claims description 19
- 239000010959 steel Substances 0.000 claims description 19
- 238000000034 method Methods 0.000 description 13
- 210000000078 claw Anatomy 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510259397.0A CN104827484B (zh) | 2015-05-20 | 2015-05-20 | 手爪 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510259397.0A CN104827484B (zh) | 2015-05-20 | 2015-05-20 | 手爪 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104827484A CN104827484A (zh) | 2015-08-12 |
CN104827484B true CN104827484B (zh) | 2016-08-24 |
Family
ID=53805854
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510259397.0A Active CN104827484B (zh) | 2015-05-20 | 2015-05-20 | 手爪 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN104827484B (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105479441B (zh) * | 2016-01-13 | 2017-04-26 | 燕山大学 | 含三欠驱动手指并联机器人手 |
CN107414448B (zh) * | 2017-08-25 | 2019-06-07 | 北京理工大学 | 一种用于低刚度骨架类零件无损夹持的气囊夹持器 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0500405B1 (fr) * | 1991-02-18 | 1994-06-15 | ESSILOR INTERNATIONAL, Compagnie Générale d'Optique | Organe de serrage et de préhension |
CN201455721U (zh) * | 2009-06-10 | 2010-05-12 | 浙江亚太机电股份有限公司 | 机加工辅助定位装置 |
CN202264225U (zh) * | 2011-09-01 | 2012-06-06 | 蔡进辉 | 兼具设有爪子及充电吸盘的夹料机操作装置 |
CN203344061U (zh) * | 2013-06-27 | 2013-12-18 | 青岛中科旭阳建材科技有限公司 | 一种砖块抓手 |
CN103895029A (zh) * | 2012-12-25 | 2014-07-02 | 东风汽车股份有限公司 | 一种浮动式抓缸体机械爪 |
CN203697028U (zh) * | 2014-01-23 | 2014-07-09 | 南京聚特机器人技术有限公司 | 一种可手动调节指间角度的三爪夹持器 |
CN204094434U (zh) * | 2014-07-29 | 2015-01-14 | 浙江吉利罗佑发动机有限公司 | 一种气门锁片压装机构 |
CN104308859A (zh) * | 2014-09-19 | 2015-01-28 | 重庆交通大学 | 基于行车的重载精密冗余三臂机械手 |
-
2015
- 2015-05-20 CN CN201510259397.0A patent/CN104827484B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0500405B1 (fr) * | 1991-02-18 | 1994-06-15 | ESSILOR INTERNATIONAL, Compagnie Générale d'Optique | Organe de serrage et de préhension |
CN201455721U (zh) * | 2009-06-10 | 2010-05-12 | 浙江亚太机电股份有限公司 | 机加工辅助定位装置 |
CN202264225U (zh) * | 2011-09-01 | 2012-06-06 | 蔡进辉 | 兼具设有爪子及充电吸盘的夹料机操作装置 |
CN103895029A (zh) * | 2012-12-25 | 2014-07-02 | 东风汽车股份有限公司 | 一种浮动式抓缸体机械爪 |
CN203344061U (zh) * | 2013-06-27 | 2013-12-18 | 青岛中科旭阳建材科技有限公司 | 一种砖块抓手 |
CN203697028U (zh) * | 2014-01-23 | 2014-07-09 | 南京聚特机器人技术有限公司 | 一种可手动调节指间角度的三爪夹持器 |
CN204094434U (zh) * | 2014-07-29 | 2015-01-14 | 浙江吉利罗佑发动机有限公司 | 一种气门锁片压装机构 |
CN104308859A (zh) * | 2014-09-19 | 2015-01-28 | 重庆交通大学 | 基于行车的重载精密冗余三臂机械手 |
Also Published As
Publication number | Publication date |
---|---|
CN104827484A (zh) | 2015-08-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106078786A (zh) | 一种动力电池高适用性无损伤自动抱夹夹具装置 | |
KR101399507B1 (ko) | 정형물 그리핑용 작업툴 | |
CN203003902U (zh) | 万能机械手爪 | |
CN105150224A (zh) | 一种双重夹持的机械抓手装置 | |
JP6882245B2 (ja) | ロボットシステム | |
CN104827484B (zh) | 手爪 | |
CN108994872A (zh) | 一种新型感控机械手 | |
CN209774704U (zh) | 一种搬运机械手的缓冲装置 | |
CN111015708A (zh) | 一种适用于抓取多种零件的机械手爪 | |
CN111618894A (zh) | 一种柔性自动夹紧机械爪 | |
CN110216699A (zh) | 一种弧形机械手爪 | |
CN208132986U (zh) | 一种弧形机械手爪 | |
CN108608446B (zh) | 一种油泵壳机加工搬运机器人三手爪装置 | |
US8979155B2 (en) | Apparatus, system, and process for the automated retrieval and precise placement of small rods | |
CN215471201U (zh) | 一种机器人柔性抓具 | |
CN211806207U (zh) | 一种机械臂防撞缓冲夹爪机构 | |
CN205927963U (zh) | 一种滚筒底座的夹紧装置 | |
CN208914147U (zh) | 一种新型感控机械手 | |
CN212859517U (zh) | 工业机器人维修测试平台 | |
CN107617900A (zh) | 内孔工件加工夹具 | |
CN201815985U (zh) | 一种工件自动夹具 | |
CN116000967A (zh) | 一种用于卫星装配的抓取机构 | |
CN215881682U (zh) | 高效的机器臂的自动抓取机构 | |
CN215701811U (zh) | 一种夹爪手指结构 | |
CN216098995U (zh) | 夹具组件及抓放设备 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
EXSB | Decision made by sipo to initiate 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: Xu Jing Inventor after: Yang Xiangdong Inventor after: Chen Ken Inventor after: Wan An Inventor after: Liu Zhi Inventor after: Xie Ying Inventor after: Xiong Qinlin Inventor after: Lu Dawei Inventor after: Wang Guolei Inventor after: Song Libin Inventor before: Xu Jing Inventor before: Wan An Inventor before: Chen Ken Inventor before: Liu Zhi Inventor before: Xie Ying |
|
COR | Change of bibliographic data | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20151123 Address after: 100084 Beijing City, Haidian District Tsinghua Yuan Applicant after: Tsinghua University Applicant after: Chengdu Airplane Industry (Group) Corp., Ltd. Address before: 100084 Beijing City, Haidian District Tsinghua Yuan Applicant before: Tsinghua University |
|
C14 | Grant of patent or utility model | ||
GR01 | Patent grant |