CN106514694A - Flexible mechanical paw - Google Patents
Flexible mechanical paw Download PDFInfo
- Publication number
- CN106514694A CN106514694A CN201710019281.9A CN201710019281A CN106514694A CN 106514694 A CN106514694 A CN 106514694A CN 201710019281 A CN201710019281 A CN 201710019281A CN 106514694 A CN106514694 A CN 106514694A
- Authority
- CN
- China
- Prior art keywords
- finger
- hole
- lug
- cylinder
- spring
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 6
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 230000004308 accommodation Effects 0.000 abstract description 9
- 238000000034 method Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000001788 irregular Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003578 releasing effect Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种柔性机械手爪，包括支架板，支架板顶部左右两端分别转动连接有左、右手指，左、右手指底端分别转动连接有左、右连杆，左、右连杆底端通过一个水平的推块相连接，左、右手指顶部内侧分别安装有左、右夹持块，左、右夹持块外侧分别设有向外凸出的凸耳，通过销钉依次插入手指上的销孔和凸耳上的腰型孔实现手指与对应夹持块的连接，夹持块与对应的手指之间还安装有弹簧，夹持块外侧在位于凸耳的上下方分别设置有一个内部弹簧容纳孔，手指内侧在对应内部弹簧容纳孔的部位设置有外部弹簧容纳孔，夹持块的内部弹簧容纳孔和手指上对应的外部弹簧容纳孔共同形成一个的弹簧容纳孔。本发明优点：能实现柔性抓取。
The invention discloses a flexible mechanical gripper, which comprises a support plate, left and right fingers are respectively connected to the left and right ends of the top of the support plate, and left and right connecting rods are respectively connected to the bottom ends of the left and right fingers, and the left and right connecting rods are respectively connected to each other. The bottom ends are connected by a horizontal push block. The left and right clamping blocks are respectively installed on the inside of the top of the left and right fingers. The outer sides of the left and right clamping blocks are respectively provided with outwardly protruding lugs, which are inserted into the fingers in turn through pins. The pin hole on the top and the waist hole on the lug realize the connection between the finger and the corresponding clamping block. A spring is also installed between the clamping block and the corresponding finger. The outside of the clamping block is respectively provided with An inner spring accommodation hole, the inner side of the finger is provided with an outer spring accommodation hole corresponding to the inner spring accommodation hole, and the inner spring accommodation hole of the clamping block and the corresponding outer spring accommodation hole on the finger jointly form a spring accommodation hole. The invention has the advantages that flexible grasping can be realized.
Description
技术领域technical field
本发明涉及机械装备技术领域，尤其涉及的是一种柔性机械手爪。The invention relates to the technical field of mechanical equipment, in particular to a flexible mechanical gripper.
背景技术Background technique
机械手爪为一种工业机器人外围配套装置，用于配合工业机器人抓取、夹持、转移及搬运工件，应用广泛。现有的机械手爪多为二指夹持式机械手爪，此种机械手爪为刚性夹持，仅适用于夹持形状规则的棒状或管状工件，对于形状不规则的此类工件，夹持过程中易发生松脱现象。此外，对于诸如鼓状类零件，现有的刚性二指夹持式机械手爪则无能为力。The mechanical gripper is a peripheral supporting device of an industrial robot, which is used for grasping, clamping, transferring and handling workpieces with industrial robots, and is widely used. Most of the existing manipulator grippers are two-finger clamping manipulator grippers. This kind of manipulator gripper is rigid gripping and is only suitable for gripping rod-shaped or tubular workpieces with regular shapes. For such workpieces with irregular shapes, during the gripping process, Easy to loose phenomenon. In addition, for parts such as drums, the existing rigid two-finger gripping gripper is powerless.
发明内容Contents of the invention
本发明的目的在于克服现有技术的不足，提供了一种柔性机械手爪，以期达到能对不规则形状的工件进行柔性夹持的目的。The purpose of the present invention is to overcome the deficiencies of the prior art and provide a flexible mechanical gripper, in order to achieve the purpose of flexible clamping of workpieces with irregular shapes.
本发明是通过以下技术方案实现的：The present invention is achieved through the following technical solutions:
一种柔性机械手爪，包括支架板，所述支架板顶部左右两端分别转动连接有左、右手指，所述左、右手指底端分别转动连接有左、右连杆，所述左、右连杆底端通过一个水平的推块相连接，所述推块两端分别与所述左、右连杆底端转动连接，所述左、右手指顶部内侧分别安装有左、右夹持块，所述左、右夹持块形成用于夹持工件的对夹机构，通过驱动机构驱动所述推块上下移动，从而带动所述左、右手指张开或闭合实现抓取或放开动作，所述左、右夹持块外侧分别设有向外凸出的凸耳，所述左、右手指上分别设有供所述凸耳插入的凸耳安装槽，所述凸耳上设置有腰型孔，所述手指上设置有销孔，通过销钉依次插入所述手指上的销孔和凸耳上的腰型孔实现所述手指与对应夹持块的连接，所述夹持块与对应的手指之间还安装有弹簧，所述夹持块外侧在位于所述凸耳的上下方分别设置有一个内部弹簧容纳孔，所述手指内侧在对应所述内部弹簧容纳孔的部位设置有外部弹簧容纳孔，所述内部弹簧容纳孔和对应的外部弹簧容纳孔共同形成一个的弹簧容纳孔，所述弹簧容纳孔内设置有一个弹簧。A kind of flexible manipulator claw, comprises bracket plate, and left and right finger are respectively connected to the left and right ends of the top of the bracket plate, and the bottom ends of the left and right fingers are respectively connected to left and right connecting rods. The bottom end of the connecting rod is connected by a horizontal push block, and the two ends of the push block are respectively connected to the bottom ends of the left and right connecting rods in rotation, and the inner sides of the tops of the left and right fingers are respectively equipped with left and right clamping blocks , the left and right clamping blocks form a clamping mechanism for clamping the workpiece, and the driving mechanism drives the push block to move up and down, thereby driving the left and right fingers to open or close to realize the grasping or releasing action , the outer sides of the left and right clamping blocks are respectively provided with protruding lugs, the left and right fingers are respectively provided with lug installation grooves for the insertion of the lugs, and the lugs are provided with Waist-shaped holes, the fingers are provided with pin holes, and the pins are sequentially inserted into the pin holes on the fingers and the waist-shaped holes on the lugs to realize the connection between the fingers and the corresponding clamping blocks. Springs are also installed between the corresponding fingers, and an inner spring receiving hole is arranged on the outer side of the clamping block above and below the lug, and an inner spring receiving hole is arranged on the inner side of the finger at a position corresponding to the inner spring receiving hole. The outer spring receiving hole, the inner spring receiving hole and the corresponding outer spring receiving hole jointly form a spring receiving hole, and a spring is arranged in the spring receiving hole.
所述驱动机构为气缸，所述气缸的活塞杆竖直向上伸出且连接有一个竖向的连接轴，所述连接轴上端与所述推块固定连接，通过气缸的活塞杆伸缩带动所述连接轴伸缩，从而带动所述推块上下移动。The driving mechanism is a cylinder, the piston rod of the cylinder protrudes vertically upwards and is connected with a vertical connecting shaft, the upper end of the connecting shaft is fixedly connected with the push block, and the piston rod of the cylinder stretches to drive the The connecting shaft expands and contracts, thereby driving the push block to move up and down.
所述气缸收容设置于一个气缸套内，所述气缸套上端固定连接有一个转接法兰，所述连接轴竖向穿过所述转接法兰，所述支架板与所述转接法兰固定连接。The cylinder is accommodated in a cylinder liner, and an adapter flange is fixedly connected to the upper end of the cylinder liner, the connecting shaft passes through the adapter flange vertically, and the bracket plate and the adapter method Lan fixed connection.
所述转接法兰上设有一个过孔，所述过孔处设置有一个连接轴套，所述连接轴竖向穿过所述连接轴套中心。A through hole is provided on the adapter flange, a connecting bush is arranged at the through hole, and the connecting shaft vertically passes through the center of the connecting bush.
所述弹簧的轴线方向与所述腰型孔的长度方向相平行。The axis direction of the spring is parallel to the length direction of the waist hole.
每个所述夹持块的凸耳上设置有上下两个腰型孔。Two upper and lower waist-shaped holes are arranged on each lug of the clamping block.
本发明相比现有技术具有以下优点：Compared with the prior art, the present invention has the following advantages:
1、本发明提供的一种柔性机械手爪，其通过驱动机构驱动推块上下移动，从而带动左、右手指张开或闭合实现自动抓取或放开动作，自动化程度高；同时在夹持块与手指之间的弹簧容纳孔中安装有弹簧，通过销钉依次插入手指上的销孔和凸耳上的腰型孔实现手指与对应夹持块的连接，同时对弹簧进行预压缩，在抓取工件过程中，当左、右手指闭合时，左、右夹持块内侧接触到工件后，左、右夹持块的凸耳会在左、右手指的凸耳安装槽内浮动并在弹簧的弹性力的作用下，左、右夹持块会与所夹取的工件牢牢贴合，实现柔性抓取，即使是针对不规则形状的工件，也能牢牢夹住并抓取，抓取牢固可靠，特别适于抓取形状一致性不佳的棒料及扁平柱料工件，适用范围广泛。1. A flexible mechanical gripper provided by the present invention, which drives the push block to move up and down through the driving mechanism, thereby driving the left and right fingers to open or close to realize automatic grasping or releasing action, with a high degree of automation; at the same time, the clamping block A spring is installed in the spring accommodation hole between the finger and the finger, and the pin is inserted into the pin hole on the finger and the waist hole on the lug to realize the connection between the finger and the corresponding clamping block, and the spring is pre-compressed at the same time. During the workpiece process, when the left and right fingers are closed, after the inner sides of the left and right clamping blocks touch the workpiece, the lugs of the left and right clamping blocks will float in the lug installation grooves of the left and right fingers and move in the spring Under the action of elastic force, the left and right clamping blocks will be firmly attached to the clamped workpiece to achieve flexible grasping. Even for irregularly shaped workpieces, it can be firmly clamped and grasped. Firm and reliable, it is especially suitable for grabbing bar and flat cylindrical workpieces with poor shape consistency, and has a wide range of applications.
2、本发明提供的一种柔性机械手爪，其通过气缸套将气缸收容在其内部，气缸套上端固定连接转接法兰，转接法兰上固定连接支架板，支架板上连接左、右手指及左、右连杆，结构简单，整体结构布局紧凑，占用空间小，便于在机器人上安装及灵活使用；且操作及维护便利。2. A flexible mechanical gripper provided by the present invention, which accommodates the cylinder inside it through the cylinder liner, the upper end of the cylinder liner is fixedly connected to the adapter flange, and the adapter flange is fixedly connected to the bracket plate, and the left and right hand are connected to the bracket plate. It refers to the left and right connecting rods, the structure is simple, the overall structure layout is compact, and the space occupied is small, which is convenient for installation and flexible use on the robot; and it is convenient for operation and maintenance.
3、本发明提供的一种柔性机械手爪，其在转接法兰的过孔处设置有供连接轴穿过的连接轴套，该连接轴套可为连接轴提供竖直支撑与竖直导向，保证连接轴上下移动的稳定性，从而保证左、右手指抓取工件的稳定性。3. A flexible mechanical gripper provided by the present invention is provided with a connecting bushing for the connecting shaft to pass through the through hole of the adapter flange, and the connecting bushing can provide vertical support and vertical guidance for the connecting shaft , to ensure the stability of the connecting shaft moving up and down, so as to ensure the stability of the left and right fingers grabbing the workpiece.
附图说明Description of drawings
图1是本发明的立体结构示意图。Fig. 1 is a schematic diagram of the three-dimensional structure of the present invention.
图2是本发明的主视图。Fig. 2 is a front view of the present invention.
图3是图2中手指与夹持块装配的结构示意图。Fig. 3 is a structural schematic diagram of the assembly of the finger and the clamping block in Fig. 2 .
图4是图2中手指的结构示意图。FIG. 4 is a schematic structural diagram of the finger in FIG. 2 .
图5是图2中夹持块的结构示意图。Fig. 5 is a schematic structural view of the clamping block in Fig. 2 .
图中标号：1气缸套、2转接法兰、3连接轴、4连接轴套、5支架板、6推块、7连杆、8手指、81凸耳安装槽、82销孔、83外部弹簧容纳孔、9夹持块、91凸耳、92腰型孔、93内部弹簧容纳孔、10气缸、101活塞杆、11弹簧。Symbols in the figure: 1 cylinder liner, 2 adapter flange, 3 connecting shaft, 4 connecting bushing, 5 bracket plate, 6 push block, 7 connecting rod, 8 finger, 81 lug mounting groove, 82 pin hole, 83 external Spring accommodation hole, 9 clamping block, 91 lug, 92 waist hole, 93 internal spring accommodation hole, 10 cylinder, 101 piston rod, 11 spring.
具体实施方式detailed description
下面对本发明的实施例作详细说明，本实施例在以本发明技术方案为前提下进行实施，给出了详细的实施方式和具体的操作过程，但本发明的保护范围不限于下述的实施例。The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.
参见图1至图5，本实施例公开了一种柔性机械手爪，包括支架板5，支架板5顶部左右两端分别铰接有左、右手指8，左、右手指8底端分别铰接有左、右连杆7，左、右连杆7底端通过一个水平的推块6相连接，推块6两端分别与左、右连杆7底端转动连接，左、右手指8顶部内侧分别安装有左、右夹持块9，左、右夹持块9形成用于夹持工件的对夹机构，通过驱动机构驱动推块6上下移动，从而带动左、右手指8张开或闭合实现抓取或放开动作，左、右夹持块9外侧分别设有向外凸出的凸耳91，左、右手指8上分别设有供凸耳91插入的凸耳安装槽81，每个夹持块9的凸耳91上设置有上下两个腰型孔92。手指8上设置有销孔82，通过销钉依次插入手指8上的销孔82和凸耳91上的腰型孔92实现手指8与对应夹持块9的连接，夹持块9与对应的手指8之间还安装有弹簧11，夹持块9外侧在位于凸耳91的上下方分别设置有一个内部弹簧容纳孔93，手指8内侧在对应内部弹簧容纳孔93的部位设置有外部弹簧容纳孔83，内部弹簧容纳孔93和对应的外部弹簧容纳孔83共同形成一个的弹簧容纳孔，弹簧容纳孔内设置有一个弹簧11，弹簧11的轴线方向与腰型孔92的长度方向相平行。Referring to Fig. 1 to Fig. 5, this embodiment discloses a kind of flexible manipulator gripper, comprises support plate 5, left and right finger 8 is hinged respectively at the left and right ends of the top of support plate 5, and left and right finger 8 bottom ends are respectively hinged with left finger. , the right connecting rod 7, the bottom ends of the left and right connecting rods 7 are connected by a horizontal push block 6, the two ends of the push block 6 are respectively connected with the bottom ends of the left and right connecting rods 7 in rotation, and the inner sides of the left and right fingers 8 tops are respectively The left and right clamping blocks 9 are installed, and the left and right clamping blocks 9 form a clamping mechanism for clamping the workpiece. The driving mechanism drives the push block 6 to move up and down, thereby driving the left and right fingers 8 to open or close. Grasp or release action, left and right clamping block 9 outsides are respectively provided with outwardly protruding lugs 91, left and right fingers 8 are respectively provided with lug mounting grooves 81 for the insertion of lugs 91, each Two upper and lower waist-shaped holes 92 are provided on the lug 91 of the clamping block 9 . The finger 8 is provided with a pin hole 82, and the pin is inserted into the pin hole 82 on the finger 8 and the waist-shaped hole 92 on the lug 91 to realize the connection between the finger 8 and the corresponding clamping block 9, and the clamping block 9 is connected to the corresponding finger. A spring 11 is also installed between 8, and an inner spring receiving hole 93 is respectively arranged on the outside of the clamping block 9 above and below the lug 91, and an outer spring receiving hole 93 is arranged on the inner side of the finger 8 at a position corresponding to the inner spring receiving hole 93. 83, the inner spring receiving hole 93 and the corresponding outer spring receiving hole 83 together form a spring receiving hole, a spring 11 is arranged in the spring receiving hole, and the axial direction of the spring 11 is parallel to the length direction of the waist hole 92.
其中，驱动机构可选用气缸10，气缸10的活塞杆101竖直向上伸出且连接有一个竖向的连接轴3，连接轴3上端与推块6固定连接，通过气缸10的活塞杆101伸缩带动连接轴3伸缩，从而带动推块6上下移动。气缸10收容设置于一个气缸套1内，气缸套1上端固定连接有一个转接法兰2，连接轴3竖向穿过转接法兰2，转接法兰2上设有一个过孔，过孔处设置有一个连接轴套4，连接轴3竖向穿过连接轴套4中心。支架板5与转接法兰2固定连接。Wherein, the driving mechanism can be selected cylinder 10, the piston rod 101 of cylinder 10 stretches out vertically upwards and is connected with a vertical connecting shaft 3, the upper end of connecting shaft 3 is fixedly connected with push block 6, and the piston rod 101 of cylinder 10 stretches Drive the connecting shaft 3 to expand and contract, thereby driving the push block 6 to move up and down. The cylinder 10 is accommodated in a cylinder liner 1, the upper end of the cylinder liner 1 is fixedly connected with an adapter flange 2, the connecting shaft 3 passes through the adapter flange 2 vertically, and the adapter flange 2 is provided with a through hole, A connecting shaft sleeve 4 is arranged at the through hole, and the connecting shaft 3 vertically passes through the center of the connecting shaft sleeve 4 . The bracket plate 5 is fixedly connected with the adapter flange 2 .
本柔性机械手爪的工作原理如下：The working principle of the flexible robotic gripper is as follows:
自然状态时，左、右手指8处于张开状态。当需要抓取工件时，气缸10动作时，气缸10的活塞杆101向上推动连接轴3向上移动，进而带动固连在连接轴3上的推块6向上作直线运动，在左、右连杆7的作用下，左、右手指8便会绕着与支架板5的铰接点转动，则左、右手指8上端便会向内移动实现闭合，从而使得左、右夹持块9抱紧工件，左、右夹持块9的凸耳91便会在左、右手指8的凸耳安装槽81内浮动并在弹簧11的弹性力的作用下，左、右夹持块9会便与所夹取的工件牢牢贴合，实现柔性抓取，保证了稳定可靠的夹取，特别适于抓取形状一致性不佳的棒料及扁平柱料工件。此外，本柔性机械手爪结构简单、动作可靠、适应性强，操作及维护便利，应用广泛。In the natural state, the left and right fingers 8 are in an open state. When the workpiece needs to be grasped, when the cylinder 10 moves, the piston rod 101 of the cylinder 10 pushes the connecting shaft 3 to move upward, and then drives the push block 6 fixedly connected to the connecting shaft 3 to move upward in a straight line. Under the action of 7, the left and right fingers 8 will rotate around the hinge point with the bracket plate 5, and then the upper ends of the left and right fingers 8 will move inwards to close, so that the left and right clamping blocks 9 hold the workpiece tightly , the lugs 91 of the left and right clamping blocks 9 will float in the lug installation grooves 81 of the left and right fingers 8 and under the action of the elastic force of the spring 11, the left and right clamping blocks 9 will be in contact with all The clamped workpieces are firmly attached to achieve flexible grasping, ensuring stable and reliable clamping, especially suitable for grasping bar and flat column workpieces with poor shape consistency. In addition, the flexible mechanical gripper has the advantages of simple structure, reliable action, strong adaptability, convenient operation and maintenance, and wide application.
以上仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention. Inside.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019281.9A CN106514694A (en) | 2017-01-11 | 2017-01-11 | Flexible mechanical paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019281.9A CN106514694A (en) | 2017-01-11 | 2017-01-11 | Flexible mechanical paw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106514694A true CN106514694A (en) | 2017-03-22 |
Family
ID=58335427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710019281.9A Pending CN106514694A (en) | 2017-01-11 | 2017-01-11 | Flexible mechanical paw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106514694A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053078A (en) * | 2017-05-31 | 2017-08-18 | 四川省守望信息科技有限责任公司 | The part being clamped in being repaired based on nuclear power station to board-like material |
| CN107097250A (en) * | 2017-05-19 | 2017-08-29 | 中国科学院合肥物质科学研究院 | A kind of flexible mechanical paw applied to spherical body |
| CN107378999A (en) * | 2017-07-24 | 2017-11-24 | 浙江工业大学 | A kind of end effector of robot for clamping irregular workpiece |
| CN108274462A (en) * | 2018-02-06 | 2018-07-13 | 健芮智能科技（昆山）有限公司 | Robot gripper |
| CN108582146A (en) * | 2018-07-02 | 2018-09-28 | 芜湖易迅生产力促进中心有限责任公司 | A kind of arm gripping body of robot |
| CN108582121A (en) * | 2018-01-29 | 2018-09-28 | 安徽机电职业技术学院 | A kind of bulb pick device of hydraulic oil cylinder driving |
| CN108839044A (en) * | 2018-06-27 | 2018-11-20 | 盐城工学院 | A kind of picking fruit crawl executing agency of linked transmission feeding |
| CN109019051A (en) * | 2018-08-03 | 2018-12-18 | 泸州品创科技有限公司 | Flexible fixture and the fresh curved billet stacking system of white wine yeast with the flexible fixture |
| CN109455519A (en) * | 2018-11-28 | 2019-03-12 | 中国科学院合肥物质科学研究院 | A kind of cylindrical workpiece gripping body and its application method |
| CN111002566A (en) * | 2019-12-16 | 2020-04-14 | 温州职业技术学院 | A kind of pipe bending traction forming mechanism |
| CN111015716A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Soft manipulator opening and closing control driver |
| CN111331415A (en) * | 2020-04-28 | 2020-06-26 | 海德曼（上海）自动化技术有限公司 | Floating paw |
| CN111390789A (en) * | 2020-04-23 | 2020-07-10 | 尊道（上海）自动化设备有限公司 | Bi-directional floating force-enhancing clamping mechanism for high pressure sealing |
| CN117428643A (en) * | 2023-08-03 | 2024-01-23 | 浙江中骏环保科技有限公司 | Rotary automatic bamboo stick wire drawing device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2710823Y (en) * | 2004-06-08 | 2005-07-20 | 万向钱潮股份有限公司 | Means for removing burr from external integral key |
| CN101259619A (en) * | 2008-02-26 | 2008-09-10 | 廊坊智通机器人系统有限公司 | Automatic flexible chucking tools |
| JP2010214510A (en) * | 2009-03-16 | 2010-09-30 | Denso Corp | Chuck for conveying columnar body |
| CN102574283A (en) * | 2009-10-20 | 2012-07-11 | 伊利诺斯工具制品有限公司 | Dual side acting hydraulic grips synchronization |
| JP2013104074A (en) * | 2011-11-11 | 2013-05-30 | Sumitomo Electric Sintered Alloy Ltd | Chucking device of powdery molding |
| CN103552060A (en) * | 2013-11-12 | 2014-02-05 | 徐亚红 | Industrial manipulator |
| CN206663278U (en) * | 2017-01-11 | 2017-11-24 | 中国科学院合肥物质科学研究院 | A kind of flexible mechanical paw |
-
2017
- 2017-01-11 CN CN201710019281.9A patent/CN106514694A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2710823Y (en) * | 2004-06-08 | 2005-07-20 | 万向钱潮股份有限公司 | Means for removing burr from external integral key |
| CN101259619A (en) * | 2008-02-26 | 2008-09-10 | 廊坊智通机器人系统有限公司 | Automatic flexible chucking tools |
| JP2010214510A (en) * | 2009-03-16 | 2010-09-30 | Denso Corp | Chuck for conveying columnar body |
| CN102574283A (en) * | 2009-10-20 | 2012-07-11 | 伊利诺斯工具制品有限公司 | Dual side acting hydraulic grips synchronization |
| JP2013104074A (en) * | 2011-11-11 | 2013-05-30 | Sumitomo Electric Sintered Alloy Ltd | Chucking device of powdery molding |
| CN103552060A (en) * | 2013-11-12 | 2014-02-05 | 徐亚红 | Industrial manipulator |
| CN206663278U (en) * | 2017-01-11 | 2017-11-24 | 中国科学院合肥物质科学研究院 | A kind of flexible mechanical paw |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097250A (en) * | 2017-05-19 | 2017-08-29 | 中国科学院合肥物质科学研究院 | A kind of flexible mechanical paw applied to spherical body |
| CN107097250B (en) * | 2017-05-19 | 2023-03-14 | 中国科学院合肥物质科学研究院 | Flexible mechanical gripper applied to spherical object |
| CN107053078A (en) * | 2017-05-31 | 2017-08-18 | 四川省守望信息科技有限责任公司 | The part being clamped in being repaired based on nuclear power station to board-like material |
| CN107378999A (en) * | 2017-07-24 | 2017-11-24 | 浙江工业大学 | A kind of end effector of robot for clamping irregular workpiece |
| CN108582121A (en) * | 2018-01-29 | 2018-09-28 | 安徽机电职业技术学院 | A kind of bulb pick device of hydraulic oil cylinder driving |
| CN108274462A (en) * | 2018-02-06 | 2018-07-13 | 健芮智能科技（昆山）有限公司 | Robot gripper |
| CN108839044B (en) * | 2018-06-27 | 2021-08-24 | 盐城工学院 | A fruit picking and grabbing actuator fed by chain drive |
| CN108839044A (en) * | 2018-06-27 | 2018-11-20 | 盐城工学院 | A kind of picking fruit crawl executing agency of linked transmission feeding |
| CN108582146A (en) * | 2018-07-02 | 2018-09-28 | 芜湖易迅生产力促进中心有限责任公司 | A kind of arm gripping body of robot |
| CN109019051A (en) * | 2018-08-03 | 2018-12-18 | 泸州品创科技有限公司 | Flexible fixture and the fresh curved billet stacking system of white wine yeast with the flexible fixture |
| CN109455519A (en) * | 2018-11-28 | 2019-03-12 | 中国科学院合肥物质科学研究院 | A kind of cylindrical workpiece gripping body and its application method |
| CN111002566A (en) * | 2019-12-16 | 2020-04-14 | 温州职业技术学院 | A kind of pipe bending traction forming mechanism |
| CN111015716A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Soft manipulator opening and closing control driver |
| CN111015716B (en) * | 2019-12-25 | 2022-11-22 | 中国科学院沈阳自动化研究所 | Soft manipulator opening and closing control driver |
| CN111390789A (en) * | 2020-04-23 | 2020-07-10 | 尊道（上海）自动化设备有限公司 | Bi-directional floating force-enhancing clamping mechanism for high pressure sealing |
| CN111331415A (en) * | 2020-04-28 | 2020-06-26 | 海德曼（上海）自动化技术有限公司 | Floating paw |
| CN117428643A (en) * | 2023-08-03 | 2024-01-23 | 浙江中骏环保科技有限公司 | Rotary automatic bamboo stick wire drawing device |
| CN117428643B (en) * | 2023-08-03 | 2024-05-07 | 南京智博科技服务有限公司 | Rotary automatic bamboo stick wire drawing device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106514694A (en) | Flexible mechanical paw | |
| CN108527412B (en) | An industrial clamping platform based on centering grasping | |
| CN205704242U (en) | A kind of mechanical arm clamper with adaptive ability | |
| CN208034703U (en) | A kind of fixture handgrip for robot | |
| CN104097307B (en) | A kind of catching robot for injecting glue product | |
| CN103433932A (en) | Self-adaptive pneumatic flexible grabbing mechanical gripper based on metamorphic mechanism | |
| CN103895028A (en) | Pneumatic manipulator | |
| CN104760053A (en) | Four claw clamping manipulator mechanism | |
| CN108584425A (en) | A kind of Mobile Cargo robot arm | |
| CN110092186A (en) | Rod piece or pipe fitting clamping manipulator | |
| CN105252531A (en) | Paw for double-position grabbing | |
| CN110587641A (en) | Flexible mechanical claw for grabbing workpieces with different diameters | |
| CN109623861A (en) | A kind of flexible grabbing device | |
| CN110216699A (en) | An arc-shaped mechanical gripper | |
| CN207643171U (en) | A kind of flexible holding device | |
| CN209774704U (en) | Buffer device of carrying manipulator | |
| CN206663278U (en) | A kind of flexible mechanical paw | |
| CN213320205U (en) | Manipulator capable of changing size of clamping groove | |
| CN205201555U (en) | Rotatory promotion formula manipulator | |
| CN213439732U (en) | Self-adaptive flexible mechanical gripper based on under-actuated mechanism | |
| CN211388836U (en) | Self-adaptation cylinder bottle diameter electromechanical clamping jaw | |
| CN211491571U (en) | A end effector and reclaimer manipulator for manipulator | |
| CN108393919A (en) | Adaptive end gripper based on mobile robot | |
| CN116175631B (en) | Grabbing manipulator for box-type oxygenerator | |
| CN204604347U (en) | A kind of robot clamp handgrip |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170322 |