CN106881725A - A kind of flexible grips structure - Google Patents
A kind of flexible grips structure Download PDFInfo
- Publication number
- CN106881725A CN106881725A CN201710296490.8A CN201710296490A CN106881725A CN 106881725 A CN106881725 A CN 106881725A CN 201710296490 A CN201710296490 A CN 201710296490A CN 106881725 A CN106881725 A CN 106881725A
- Authority
- CN
- China
- Prior art keywords
- air bag
- mechanical
- bubble
- mechanical gripper
- flexible grips
- 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
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)
- Manipulator (AREA)
Abstract
The invention discloses a kind of flexible grips structure, it includes the mechanical gripper for capturing article, the mechanical gripper connects the power set for providing power by mechanical arm, the power set are fixed in frame, the air bag matched with the shape of mechanical finger is equipped with the madial wall of each mechanical finger on mechanical gripper, uniformly it is covered with bubble on air bag, the air bag is connected with bubble, the air bag connects air compressor by appendix, and the air compressor is provided with the solenoid electric valve for controlling to fill air bag, deflate.The flexible grips structure substantially increases security of the article during crawl suitable for being captured to fragile article.
Description
Technical field
The present invention relates to mechanical mechanism technical field, and in particular to a kind of flexible grips structure.
Background technology
It is well known that manipulator has been widely used in China's industrial production, it can be captured to article, for example
The vanning of article, transport, it not only substantially increases operating efficiency, while also mitigating the labour intensity of workman；However, for
Some fragile articles or fruit and other items, the common manipulator of in the market are easily damaged during crawl, so as to production
Enterprise causes huge economic losses.
The content of the invention
It is an object of the invention to provide a kind of flexible grips structure, it can effectively solve to be carried in above-mentioned background technology
The technical problem for arriving.
To achieve the above object, the present invention provides following technical scheme：
A kind of flexible grips structure, it includes the mechanical gripper for capturing article, and the mechanical gripper passes through manipulator
Arm connection provides the power set of power, and the power set are fixed in frame, each mechanical finger on mechanical gripper
The air bag matched with the shape of mechanical finger is equipped with madial wall, uniformly bubble, the air bag and bubble are covered with air bag
It is connected, the air bag connects air compressor by appendix, the air compressor is provided with for controlling to enter air bag
The solenoid electric valve that row fills, deflates.
Preferably, the air compressor is fixed in frame.
Compared with prior art, the beneficial effects of the invention are as follows：
Mechanical gripper be in idle condition when, air bag is non-aerating, when need crawl fragile article when, mechanical gripper open and incite somebody to action
Fragile article surrounds (not contacting), and air compressor is inflated by solenoid electric valve to air bag and bubble, air bubble expansion and then
Reach crawl fragile article purpose；When placing crawl thing, solenoid electric valve control air bag and bubble are deflated, and fragile article is put
Under.
Brief description of the drawings
Fig. 1 is a kind of structural representation of flexible grips structure in the embodiment of the present invention；
In figure, 1, mechanical gripper, 2, mechanical arm, 3, power set, 4, mechanical finger, 5, air bag, 6, bubble, 7, gas transmission
Pipe, 8, air compressor, 9, solenoid electric valve.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
Refer to shown in Fig. 1, a kind of flexible grips structure, it includes the mechanical gripper 1 for capturing article, the machinery
Handgrip 1 connects the power set 3 for providing power by mechanical arm 2, and the power set 3 are fixed in frame, mechanical gripper 1
On each mechanical finger 4 madial wall on be equipped with the air bag 5 matched with the shape of mechanical finger 4, uniform cloth on air bag 5
Full bubble 6, the air bag 5 is connected with bubble 6, and the air bag 5 connects air compressor 8, the air pressure by appendix 7
Contracting machine 8 is provided with the solenoid electric valve 9 for controlling to fill air bag 5, deflate, and the air compressor 8 is fixed on frame
On.
When mechanical gripper 1 is in idle condition, air bag 5 is non-aerating, and when crawl fragile article is needed, mechanical gripper 1 opens
And fragile article is surrounded into (not contacting), air compressor 8 is inflated by solenoid electric valve 9 to air bag 5 and bubble 6, bubble 6
Expand and then reach crawl fragile article purpose；When placing crawl thing, the control air bag 5 of solenoid electric valve 9 and bubble 6 are deflated,
Fragile article is laid down.
Above content is only to structure example of the present invention and explanation, affiliated those skilled in the art couple
Described specific embodiment is made various modifications or supplement or is substituted using similar mode, without departing from the present invention
Structure or surmount scope defined in the claims, protection scope of the present invention all should be belonged to.
Claims (2)
1. a kind of flexible grips structure, it is characterised in that：Including the mechanical gripper for capturing article, the mechanical gripper passes through
Mechanical arm connection provides the power set of power, and the power set are fixed in frame, each machinery on mechanical gripper
The air bag matched with the shape of mechanical finger is equipped with the madial wall of finger, uniformly bubble, the air bag are covered with air bag
It is connected with bubble, the air bag connects air compressor by appendix, and the air compressor is provided with right for controlling
The solenoid electric valve that air bag is filled, deflated.
2. a kind of flexible grips structure according to claim 1, it is characterised in that：The air compressor is fixed on frame
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710296490.8A CN106881725A (en) | 2017-04-28 | 2017-04-28 | A kind of flexible grips structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710296490.8A CN106881725A (en) | 2017-04-28 | 2017-04-28 | A kind of flexible grips structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106881725A true CN106881725A (en) | 2017-06-23 |
Family
ID=59183972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710296490.8A Pending CN106881725A (en) | 2017-04-28 | 2017-04-28 | A kind of flexible grips structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106881725A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501007A (en) * | 2018-03-30 | 2018-09-07 | 宁波高新区神台德机械设备有限公司 | Industrial robot clamper and industrial robot |
| CN110919671A (en) * | 2019-11-18 | 2020-03-27 | 浙江工业大学 | Device for measuring grasping pressure of dexterous hand |
| CN110978041A (en) * | 2020-01-03 | 2020-04-10 | 广州大学 | Electromagnet-driven flexible micro-clamping device |
| CN111469151A (en) * | 2020-04-21 | 2020-07-31 | 桑配青 | Clamping device and clamping method |
| CN112192290A (en) * | 2020-09-30 | 2021-01-08 | 上海交通大学 | Multi-handle compatible gripper structure |
| CN112549065A (en) * | 2020-12-08 | 2021-03-26 | 安徽理工大学 | Flexible end effector of intelligent harvesting robot |
| CN112571447A (en) * | 2020-12-08 | 2021-03-30 | 安徽理工大学 | Flexible harvesting clamping jaw of intelligent harvesting robot |
| CN113086631A (en) * | 2021-05-07 | 2021-07-09 | 时金效 | Intelligent stacking system and method for fragile and fragile articles of logistics base station |
| CN113104576A (en) * | 2021-04-15 | 2021-07-13 | 浙江科技学院 | Soft pneumatic claw |
| CN113103212A (en) * | 2021-04-30 | 2021-07-13 | 哈尔滨工业大学 | Self-growing flexible arm gripper device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2357274A (en) * | 1999-12-18 | 2001-06-20 | Omar Jeet Johl | Gripper finger tips |
| JP2014083640A (en) * | 2012-10-24 | 2014-05-12 | Bridgestone Corp | Gripping device and gripping unit |
| CN104015197A (en) * | 2014-06-04 | 2014-09-03 | 山东省科学院自动化研究所 | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system |
| CN205111873U (en) * | 2015-10-19 | 2016-03-30 | 重庆光煦科技有限公司 | Manipulator is got to fragile article clamp |
| CN105479480A (en) * | 2016-02-26 | 2016-04-13 | 昆山—邦泰汽车零部件制造有限公司 | Manipulator |
| CN106081644A (en) * | 2016-07-29 | 2016-11-09 | 北京航天斯达科技有限公司 | A kind of grabbing device of stacking machine |
| US20160331556A1 (en) * | 2013-12-26 | 2016-11-17 | The Board Of Regents Of University Of Texas System | Fluid-driven bubble actuator arrays |
| CN106426234A (en) * | 2016-10-25 | 2017-02-22 | 上海交通大学 | Clamping device for fragile part |
-
2017
- 2017-04-28 CN CN201710296490.8A patent/CN106881725A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2357274A (en) * | 1999-12-18 | 2001-06-20 | Omar Jeet Johl | Gripper finger tips |
| JP2014083640A (en) * | 2012-10-24 | 2014-05-12 | Bridgestone Corp | Gripping device and gripping unit |
| US20160331556A1 (en) * | 2013-12-26 | 2016-11-17 | The Board Of Regents Of University Of Texas System | Fluid-driven bubble actuator arrays |
| CN104015197A (en) * | 2014-06-04 | 2014-09-03 | 山东省科学院自动化研究所 | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system |
| CN205111873U (en) * | 2015-10-19 | 2016-03-30 | 重庆光煦科技有限公司 | Manipulator is got to fragile article clamp |
| CN105479480A (en) * | 2016-02-26 | 2016-04-13 | 昆山—邦泰汽车零部件制造有限公司 | Manipulator |
| CN106081644A (en) * | 2016-07-29 | 2016-11-09 | 北京航天斯达科技有限公司 | A kind of grabbing device of stacking machine |
| CN106426234A (en) * | 2016-10-25 | 2017-02-22 | 上海交通大学 | Clamping device for fragile part |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501007A (en) * | 2018-03-30 | 2018-09-07 | 宁波高新区神台德机械设备有限公司 | Industrial robot clamper and industrial robot |
| CN110919671A (en) * | 2019-11-18 | 2020-03-27 | 浙江工业大学 | Device for measuring grasping pressure of dexterous hand |
| CN110978041A (en) * | 2020-01-03 | 2020-04-10 | 广州大学 | Electromagnet-driven flexible micro-clamping device |
| CN111469151A (en) * | 2020-04-21 | 2020-07-31 | 桑配青 | Clamping device and clamping method |
| CN111469151B (en) * | 2020-04-21 | 2021-11-19 | 桑配青 | Clamping device and clamping method |
| CN112192290A (en) * | 2020-09-30 | 2021-01-08 | 上海交通大学 | Multi-handle compatible gripper structure |
| CN112571447A (en) * | 2020-12-08 | 2021-03-30 | 安徽理工大学 | Flexible harvesting clamping jaw of intelligent harvesting robot |
| CN112549065A (en) * | 2020-12-08 | 2021-03-26 | 安徽理工大学 | Flexible end effector of intelligent harvesting robot |
| CN112571447B (en) * | 2020-12-08 | 2022-09-06 | 安徽理工大学 | Flexible harvesting clamping jaw of intelligent harvesting robot |
| CN112549065B (en) * | 2020-12-08 | 2022-09-06 | 安徽理工大学 | Flexible end effector of intelligent harvesting robot |
| CN113104576A (en) * | 2021-04-15 | 2021-07-13 | 浙江科技学院 | Soft pneumatic claw |
| CN113103212A (en) * | 2021-04-30 | 2021-07-13 | 哈尔滨工业大学 | Self-growing flexible arm gripper device |
| CN113086631A (en) * | 2021-05-07 | 2021-07-09 | 时金效 | Intelligent stacking system and method for fragile and fragile articles of logistics base station |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | 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 |
Application publication date: 20170623 |
|
| RJ01 | Rejection of invention patent application after publication |