CN108098808A - A kind of grasping means with web flexible finger component and using the finger component - Google Patents
A kind of grasping means with web flexible finger component and using the finger component Download PDFInfo
- Publication number
- CN108098808A CN108098808A CN201810115370.8A CN201810115370A CN108098808A CN 108098808 A CN108098808 A CN 108098808A CN 201810115370 A CN201810115370 A CN 201810115370A CN 108098808 A CN108098808 A CN 108098808A
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- finger
- flexible
- web
- bottom plate
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- 239000000178 monomer Substances 0.000 claims description 7
- 239000003292 glue Substances 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 4
- 238000009827 uniform distribution Methods 0.000 claims description 3
- 238000005452 bending Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000005086 pumping Methods 0.000 description 4
- 239000000126 substance Substances 0.000 description 4
- 229920000049 Carbon (fiber) Polymers 0.000 description 3
- 239000010425 asbestos Substances 0.000 description 3
- 239000004917 carbon fiber Substances 0.000 description 3
- 239000003814 drug Substances 0.000 description 3
- 239000003337 fertilizer Substances 0.000 description 3
- 210000001145 finger joint Anatomy 0.000 description 3
- 235000013312 flour Nutrition 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- 229910052895 riebeckite Inorganic materials 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 238000012913 prioritisation Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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- 238000012549 training Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000009423 ventilation 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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a kind of band web flexible finger components, including at least three flexible fingers, each flexible finger includes finger bottom plate and Fingers face, the finger bottom plate and Fingers face define driving chamber jointly, the air inlet with driving chamber is provided on the flexible finger, each flexible finger is distributed in the apex of polygon, flexible the finger web is set between the finger bottom plate of two adjacent flexible fingers, and all flexible fingers and flexible the finger web define to capture the crawl space of article.In addition the invention also discloses the grasping means with web flexible finger component is used, the crawl space that flexible finger of the grasping means with web is formed can capture loose article, so as to instead of artificial crawl, improve security performance.
Description
Technical field
The present invention relates to a kind of band web flexible finger components, also relate to a kind of crawl side using the finger component
Method.
Background technology
In industrial automation, mechanical arm tail end grasping movement is mainly completed by rigid mechanical paw or vacuum cup.
But rigid mechanical paw, since dynamics is difficult to control, it is difficult to realize lossless crawl to soft, fragile object.Vacuum cup is being removed
Rough surface, the Special-shaped object of perforate are difficult in adapt to during fortune.This causes the two application scenarios, and there are limitations.
For it is above-mentioned the problem of, applicant applied a kind of flexible finger and using the flexible finger carry out flexible clamping
With the flexible fixture of crawl, wherein the structure of flexible finger in the application documents of Patent No. 201710667696.7 in detail
It records, and flexible fixture is recorded in detail in 201710667157.3, this flexible finger and flexible fixture can be realized to soft
The crawl of soft, fragile object without generating object damage in itself.But this structure still has a problem that and is, it is above-mentioned
Flexible finger component and fixture can not capture loose article, such as granular chemical fertilizer, drug, can not also capture powdered
Article, such as flour can not also capture the cotton-shaped or fibrous article of suede, such as asbestos, short glass fiber, carbon fiber, therefore,
It is necessary to above-mentioned flexible finger component is improved again.
The content of the invention
First technical problem to be solved by this invention be：It is flexible to provide a kind of band web that can capture loose article
Finger component.
Second technical problem to be solved by this invention be：A kind of crawl side using above-mentioned finger component is provided
Method, the grasping means make use of the flexible finger with web that can capture loose article, so as to instead of artificial crawl, improve peace
Full performance.
To solve above-mentioned first technical problem, the technical scheme is that：A kind of band web flexible finger component, including
At least three flexible fingers, each flexible finger include finger bottom plate and Fingers face, the finger bottom plate and Fingers face
Driving chamber is defined jointly, and the air inlet with driving chamber, each flexible finger distribution are provided on the flexible finger
Flexible the finger web, all flexible fingers are set between the apex of polygon, the finger bottom plate of adjacent two flexible fingers
Define to capture the crawl space of article with flexible the finger web.
As a preferred solution, the flexible the finger web is the tubular structure of all round closure, each flexible finger
Finger bottom plate is bonded on the outer wall of flexible the finger web of tubular.
As a preferred solution, each flexible finger circumference uniform distribution is on the outer wall of the flexible the finger web of tubular.
As a preferred solution, the flexible the finger web is split structure, and the flexibility the finger web includes several pieces of fingers
Web monomer, each the finger web monomer solid is due between the finger bottom plate of adjacent flexible finger.
As a preferred solution, pressing plate, the pressing plate and finger bottom plate are fixed on the finger bottom plate by flexibility
The finger web is fixed.
As a preferred solution, it is embedded between the finger bottom plate and pressing plate to fix, the finger bottom plate or pressure
Embedded protrusion is provided on plate, the embedded hole with embedded male cooperation is provided on the corresponding pressing plate or finger bottom plate.
As a preferred solution, it is provided between the pressing plate and the medial surface of flexible the finger web and is glued what the two bonded
Gum deposit layer.
After employing above-mentioned technical proposal, effect of the invention is：Due to a kind of band web flexible finger component, including at least
Three flexible fingers, each flexible finger include finger bottom plate and Fingers face, and the finger bottom plate and Fingers face are common
Driving chamber is defined, the air inlet with driving chamber is provided on the flexible finger, each flexible finger is distributed in more
The apex of side shape, sets flexible the finger web between the finger bottom plate of adjacent two flexible fingers, all flexible fingers and soft
Property the finger web defines to capture the crawl space of article, in this way, this can be applied to loose article with web flexible finger component
Crawl, during actual crawl, it is only necessary to which by the finger fingertip and article contacts with web flexible finger component, then air inlet leads to
Gas inflates driving chamber, and such flexible finger thus will contract the bottom in the crawl space to finger bottom plate lateral bend
Small, so loose article would be in crawl space, and loose article is captured same by the bending grasp force of flexible finger
When also wrapped up by flexible the finger web, so as to be not easy to drop, therefore, this band web flexible finger component adapts to not grab in background technology
The article taken, such as flour, medicine particle, chemical fertilizer, carbon fiber, asbestos chemical fibre.
Again due to the tubular structure that the flexible the finger web is all round closure, the finger bottom plate of each flexible finger is bonded in
On the outer wall of the flexible the finger web of tubular, which makes the structure being integrally formed, and so flexible the finger web overall structure is more
Securely.
Again due to being fixed with pressing plate on the finger bottom plate, flexible the finger web is fixed by the pressing plate and finger bottom plate,
It can further make to be fixedly secured between flexible the finger web and finger bottom plate using the pressing plate.
It is fixed again due to embedded between the finger bottom plate and pressing plate, insertion is provided on the finger bottom plate or pressing plate
Protrusion is provided with the embedded hole with embedded male cooperation on the corresponding pressing plate or finger bottom plate.The pressing plate and flexibility refer to
The glue line for bonding the two is provided between the medial surface of web, in this way, insertion is fixed between the pressing plate and finger bottom plate
It is also adhesively fixed simultaneously by glue line and flexible the finger web, in this way, finger bottom plate, flexible the finger web and pressing plate three is made to fix more
Add securely.
To solve above-mentioned second technical problem, the technical scheme is that：A kind of band web of usage right requirement 1 is soft
The grasping means of property finger component, the grasping means comprise the following steps：
S1, each flexible finger of flexible finger component is fixed in mounting base and air inlet is made to be connected with air-channel system；
S2, mounting base is moved at article to be captured to the finger tip for making flexible finger and loose article contacts to be captured；
S3, flexible finger is made to finger bottom plate lateral bending to the driving chamber inflation of each flexible finger using air-channel system
Song, flexible finger bending drive flexible the finger web collapse will article storing capture in capturing in space.
Preferably, the concrete mode which also increases step S2-3, the S2-3 between step S2 and S3 is：
For the finger tip contacts of flexible finger after article is captured, air-channel system makes flexible finger to the driving chamber evacuation of each flexible finger
To Fingers surface side bend open, flexible finger is further close to article to be captured during the flexible finger bend open
Article to be captured on the outside of flexible finger is pushed aside.
Preferably, the concrete mode which also increases step S1-2, the S1-2 between step S1 and S2 is：
Air-channel system makes the driving chamber evacuation of each flexible finger flexible finger to Fingers surface side bend open.
After employing above-mentioned technical proposal, effect of the invention is：The grasping means make use of the flexible finger group with web
Part goes to capture loose article, and article is in crawl space and is not easy to drop, and is so suitble to some script flexible fingers that can not grab
The article taken instead of artificial crawl, is particularly suitable for the crawl of some harmful articles.
Again since the concrete mode that the grasping means also increases step S2-3, the S2-3 between step S2 and S3 is：It is soft
The finger tip contacts of property finger after article is captured, air-channel system the driving chamber evacuation of each flexible finger is made flexible finger to
Fingers surface side bend open, during the flexible finger bend open flexible finger further to article to be captured is close will
Article to be captured on the outside of flexible finger is pushed aside, in this way, in crawl, flexible finger bend open can occur because of pumping
Process, in this process the finger of bend open can push article to be captured aside, so enter the finger tip of flexible finger and treat
The depth for capturing article can be deeper, and the article so captured is more.
Again since the concrete mode that the grasping means also increases step S1-2, the S1-2 between step S1 and S2 is：Gas
Road system makes the driving chamber evacuation of each flexible finger flexible finger to Fingers surface side bend open, increase S1-2 steps
Suddenly, the bigger that can open finger, also adds crawl amount to a certain degree.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the positive structure schematic of the embodiment of the present invention；
Fig. 2 is the usage state diagram after the flexible finger component installation of the embodiment of the present invention；
Fig. 3 is the sectional view of flexible finger；
Fig. 4 is the schematic diagram of flexible finger when not installing flexible the finger web of another structure；
In attached drawing：1. flexible finger；11. Fingers face；111. wave crest；112. trough；12. finger bottom plate；13. driving chamber
Room；14. air inlet；15. neck；151. neck linkage sections；152. flange；16. refer to section；2. flexible the finger web；3. pressing plate；
4. mounting base；5. it is installed into air parcel；6. case；7. inlet channel；8. insertion protrusion；9. glue line.
Specific embodiment
Below by specific embodiment, the present invention is described in further detail.
As shown in Figure 1, a kind of 1 component of band web flexible finger, including at least three flexible fingers 1, each flexible finger 1 is equal
Including finger bottom plate 12 and Fingers face 11, the finger bottom plate 12 and Fingers face 11 define driving chamber 13, institute jointly
State be provided on flexible finger 1 with the air inlet 14 that connects of driving chamber 13, the concrete structure of the flexible finger 1 can have to
Few two kinds of structures, Fig. 1 to Fig. 3 illustrate a kind of structure of flexible finger 1, and Fig. 4 illustrates the structure of another flexible finger 1.
Wherein, shown in Fig. 1 to Fig. 3, the application documents of the flexible finger 1 and 201710667696.7 represented in three width figures
The basic structure of record is identical, also including finger tip section, finger joint section and refers to section 16, finger joint section includes wave crest 111 and trough 112；
And Fig. 4 discloses the structure of another flexible finger 1, the finger is public in the patent document of Patent No. 201620683993.1
It opens, which includes finger bottom plate 12 and Fingers face 11, and Fingers face 11 includes finger tip section, finger joint section and neck 15,
Neck 15 includes neck linkage section 151 and flange 152, and air inlet 14, neck linkage section are provided on flange 152
151 are provided with connection air inlet 14 and drive the intercommunicating pore of chamber 13, and driving chamber 13 not necessarily needs channel structure,
Flange 152 can be compressed sealing by upper casing and lower casing when installing and fixed by the flexible finger 1 of this structure.Above-mentioned two
The structure of kind flexible finger 1 may be incorporated in 1 component of this flexible finger.
Each flexible finger 1 is distributed in the apex of polygon, is set between the finger bottom plate 12 of adjacent two flexible fingers 1
Flexible the finger web 2 is equipped with, all flexible fingers 1 and flexible the finger web 2 define to capture the crawl space of article.As shown in Fig. 2,
Four flexible fingers 1 illustrated in the figure and be arrangement in 90 °, it is actual in use, flexible finger 1 form it is polygon
Shape can be triangle, quadrangle, pentagon, hexagon etc..
As depicted in figs. 1 and 2, the flexible the finger web 2 is the tubular structure of all round closure, the hand of each flexible finger 1
Refer to bottom plate 12 to be bonded on the outer wall of flexible the finger web 2 of tubular.Preferably, 1 circumference uniform distribution of flexible finger refers in the flexibility of tubular
On the outer wall of web 2.Certainly, the fixation between flexible the finger web 2 and finger bottom plate 12 also has other modes, as shown in figure 3, described
Pressing plate 3 is fixed on finger bottom plate 12, flexible the finger web 2 is fixed by the pressing plate 3 and finger bottom plate 12.Pass through 3 He of pressing plate
It is fixed to avoid flexible the finger web 2 and finger bottom plate 12 to separate between finger bottom plate 12.Pressing plate 3 uses split type pressure
Plate 3, it is embedded solid between the finger bottom plate 12 and pressing plate 3 including multi-segment structure so that it is convenient to which flexible finger 1 is badly deformed
It is fixed, embedded protrusion 8 is provided on the finger bottom plate 12 or pressing plate 3, is set on the corresponding pressing plate 3 or finger bottom plate 12
There is the embedded hole with embedded 8 cooperation of protrusion.It is provided with bond the two between the pressing plate 3 and the medial surface of flexible the finger web 2
Glue line 9 further improves cohesive firmness.
In addition, the flexibility the finger web 2 can also be split structure, the flexibility the finger web 2 includes several pieces of the finger web monomers,
Each the finger web monomer solid is due between the finger bottom plate 12 of adjacent flexible finger 1.So adjacent the finger web monomer is in finger bottom plate
Bridging mode on 12 may be employed superposition bonding mode realize fixation, can also use edge alignment splice by the way of glue
It bonds.
Certainly, above-mentioned pressing plate 3 and the medial surface of flexible the finger web 2 can also be arranged to anti-skid structure, such as little particle is convex
It rises, can play the role of in crawl mobile anti-skidding.
Current some flexible materials common on the market may be employed in the material of the flexibility the finger web 2, for example, can be cloth,
Silica gel, flexiplast or elastoplastic etc..
This can be applied to the crawl of loose article with 1 component of web flexible finger, when reality captures, it is only necessary to by the band web
The finger fingertip and article contacts of 1 component of flexible finger, the then ventilation of air inlet 14 inflates driving chamber 13, so flexible
Finger 1 thus will reduce the bottom in the crawl space, so loose article will be located to 12 lateral bend of finger bottom plate
In in crawl space, loose article is also wrapped up while crawl by the bending grasp force of flexible finger 1 by flexible the finger web 2, from
And be not easy to drop, therefore, this article for adapting to not capture in background technology with 1 component of web flexible finger, such as flour, particle
Drug, chemical fertilizer, carbon fiber, asbestos etc..
The present embodiment also discloses a kind of grasping means of use with 1 component of web flexible finger, the grasping means include with
Lower step：
S1, each flexible finger 1 of 1 component of flexible finger is fixed in mounting base 4 and makes air inlet 14 and air-channel system
Connection；As described in Figure 2, it is provided in the mounting base 4 and is installed into air parcel 5, for installing each flexible finger 1, and is installed into
Inlet channel 7 is provided on air parcel 5, inlet channel 7 is connected with air-channel system, and suction nozzle is provided in mounting base 4, and suction nozzle is inserted
Enter the air inlet 14 of flexible finger 1 and pass through case 6 and be fixed on to be installed on air parcel 5, air-channel system is using aspirating dual-purpose gas
Pump realizes pumping and inflation, which is current conventional structure, and this is not described in detail here.
S2, mounting base 4 is moved at article to be captured to the finger tip for making flexible finger 1 and loose article to be captured connects
It touches；
S3, flexible finger 1 is made to finger bottom plate 12 to the inflation of driving chamber 13 of each flexible finger 1 using air-channel system
Lateral bend, the bending of flexible finger 1 drive flexible the finger web 2 collapse will article storing capture in capturing in space.
Wherein, the present embodiment further optimizes above-mentioned grasping means, wherein, the grasping means is in step S2
The concrete mode for also increasing step S2-3, the S2-3 between S3 is：The finger tip contacts of flexible finger 1 are after article is captured, gas
Road system makes flexible finger 1 be opened to 11 lateral bend of Fingers face the pumping of driving chamber 13 of each flexible finger 1, the flexibility
Flexible finger 1 outside further is waited to capture to article to be captured is close by flexible finger 1 during 1 bend open of finger
Article is pushed aside.The increase of the step is adapted to some crawls for stacking more steady and sure granular article, by bending material toggling
Action makes material loosening as far as possible, while flexible finger 1 is also made to be come into full contact with as far as possible with article, improves crawl amount.
And another prioritization scheme is that the grasping means also increases step S1-2 between step S1 and S2, the S1-2's
Concrete mode is：Air-channel system makes flexible finger 1 to 11 side of Fingers face to the pumping of driving chamber 13 of each flexible finger 1
Bend open, the increase of the step can improve the joint open of flexible finger 1, more pines can be captured when so bending crawl again
Article is dissipated, this Grasp Modes are more suitable for the crawl of the cotton-shaped article of fiber, suede.
Air-channel system mentioned in the present invention is the prior art, is published by China Machine Press on 08 01st, 2008
Vacuum unit, gas return path and programme-control are disclosed with regard to detailed in modern practicality the 3rd edition SMC training materials of pneumatics,
It is also existing technology to show the air-channel system in the present embodiment, cheer and bright.
Embodiment described above is only the description to the preferred embodiment of the present invention, not as the limit to the scope of the invention
Fixed, the various modifications made to technical solution of the present invention on the basis of design spirit of the present invention is not departed from and transformation should all fall
Enter in the protection domain that claims of the present invention determines.
Claims (10)
1. a kind of band web flexible finger component, including at least three flexible fingers, each flexible finger include finger bottom plate and
Fingers face, the finger bottom plate and Fingers face define driving chamber jointly, are provided with and drive on the flexible finger
The air inlet of chamber, it is characterised in that：Each flexible finger is distributed in the apex of polygon, adjacent two flexible fingers
Finger bottom plate between flexible the finger web is set, the crawl that all flexible fingers and flexible the finger web define to capture article is empty
Between.
2. a kind of band web flexible finger component as described in claim 1, it is characterised in that：The flexibility the finger web is all round closure
Tubular structure, the finger bottom plate of each flexible finger is bonded on the outer wall of flexible the finger web of tubular.
3. a kind of band web flexible finger component as claimed in claim 2, it is characterised in that：Each flexible finger circumference uniform distribution is in cylinder
On the outer wall of the flexible the finger web of shape.
4. a kind of band web flexible finger component as described in claim 1, it is characterised in that：The flexibility the finger web is split type knot
Structure, it is described flexibility the finger web include several pieces of the finger web monomers, each the finger web monomer solid due to adjacent flexible finger finger bottom plate it
Between.
5. such as a kind of band web flexible finger component of Claims 1-4 any one of them, it is characterised in that：The finger bottom plate
On be fixed with pressing plate, flexible the finger web is fixed by the pressing plate and finger bottom plate.
6. a kind of band web flexible finger component as claimed in claim 5, it is characterised in that：Between the finger bottom plate and pressing plate
It is embedded to fix, embedded protrusion is provided on the finger bottom plate or pressing plate, is set on the corresponding pressing plate or finger bottom plate
There is the embedded hole with embedded male cooperation.
7. a kind of band web flexible finger component as claimed in claim 6, it is characterised in that：The pressing plate is interior with flexible the finger web
The glue line for bonding the two is provided between side.
8. a kind of grasping means with web flexible finger component of usage right requirement 1, it is characterised in that：The grasping means includes
Following steps：
S1, each flexible finger of flexible finger component is fixed in mounting base and air inlet is made to be connected with air-channel system；
S2, mounting base is moved at article to be captured to the finger tip for making flexible finger and loose article contacts to be captured；
S3, flexible finger is made to finger bottom plate lateral bend to the driving chamber inflation of each flexible finger using air-channel system, it is soft
Property digital flexion drive flexible the finger web collapse will article storing capture in capturing in space.
9. a kind of grasping means as claimed in claim 8, it is characterised in that：The grasping means also increases between step S2 and S3
The concrete mode for adding step S2-3, the S2-3 is：The finger tip contacts of flexible finger are after article is captured, and air-channel system is to each soft
The driving chamber evacuation of property finger makes flexible finger to Fingers surface side bend open, during the flexible finger bend open
Flexible finger is further pushed aside to the close article to be captured by the outside of flexible finger of article to be captured.
10. a kind of grasping means as claimed in claim 8, it is characterised in that：The grasping means is gone back between step S1 and S2
The concrete mode for increasing step S1-2, the S1-2 is：Air-channel system makes flexible hand to the driving chamber evacuation of each flexible finger
It is directed toward Fingers surface side bend open.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810115370.8A CN108098808B (en) | 2018-02-06 | 2018-02-06 | Flexible finger assembly with web and grabbing method using finger assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810115370.8A CN108098808B (en) | 2018-02-06 | 2018-02-06 | Flexible finger assembly with web and grabbing method using finger assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108098808A true CN108098808A (en) | 2018-06-01 |
| CN108098808B CN108098808B (en) | 2024-04-12 |
Family
ID=62221850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810115370.8A Active CN108098808B (en) | 2018-02-06 | 2018-02-06 | Flexible finger assembly with web and grabbing method using finger assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108098808B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562520A (en) * | 2019-10-15 | 2019-12-13 | 广东人励智能工程有限公司 | Flexible clamp and packaging bottle boxing clamp |
| CN111015697A (en) * | 2019-11-18 | 2020-04-17 | 中山大学 | Bionic soft gripper for collecting particles underwater |
| CN111300460A (en) * | 2020-04-09 | 2020-06-19 | 苏州大学 | Flexible finger structure of robot |
| CN112476472A (en) * | 2020-11-21 | 2021-03-12 | 西安交通大学 | Pneumatic soft gripper with adjustable shape |
| CN114559456A (en) * | 2022-04-29 | 2022-05-31 | 太原福莱瑞达物流设备科技有限公司 | A transport manipulator for stereoscopic warehouse |
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|---|---|---|---|---|
| CN110562520A (en) * | 2019-10-15 | 2019-12-13 | 广东人励智能工程有限公司 | Flexible clamp and packaging bottle boxing clamp |
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| CN111300460A (en) * | 2020-04-09 | 2020-06-19 | 苏州大学 | Flexible finger structure of robot |
| CN112476472A (en) * | 2020-11-21 | 2021-03-12 | 西安交通大学 | Pneumatic soft gripper with adjustable shape |
| CN112476472B (en) * | 2020-11-21 | 2022-08-05 | 西安交通大学 | Pneumatic soft gripper with adjustable shape |
| CN114559456A (en) * | 2022-04-29 | 2022-05-31 | 太原福莱瑞达物流设备科技有限公司 | A transport manipulator for stereoscopic warehouse |
| CN114559456B (en) * | 2022-04-29 | 2022-07-19 | 太原福莱瑞达物流设备科技有限公司 | A transport manipulator for stereoscopic warehouse |
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| CN108098808B (en) | 2024-04-12 |
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