CN108189059A - A kind of apery refers to inflatable software three and refers to clamper - Google Patents
A kind of apery refers to inflatable software three and refers to clamper Download PDFInfo
- Publication number
- CN108189059A CN108189059A CN201810097076.9A CN201810097076A CN108189059A CN 108189059 A CN108189059 A CN 108189059A CN 201810097076 A CN201810097076 A CN 201810097076A CN 108189059 A CN108189059 A CN 108189059A
- Authority
- CN
- China
- Prior art keywords
- software
- refers
- finger
- clamper
- air cavity
- 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
- B25J15/0023—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
- B25J15/0009—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)
- Prostheses (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
A kind of apery refers to inflatable software three and refers to clamper, it is related to one kind three and refers to clamper.The present invention solves the problems, such as that existing software clamper is relatively low there are load capacity.Each software finger module is mounted on by a module base on the end face of bottom plate, the first air cavity and the second air cavity are disposed in software finger module ontology, first air cavity is connected with one end of the first interphalangeal joint tracheae, second air cavity is connected with one end of the second interphalangeal joint tracheae, the finger back of software finger module ontology is machined at least two articulations digitorum manus clearance grooves along its length, except finger belly side cladding, there are one elastoplasts on software finger module ontology, elastomer is provided in the finger belly of software finger module ontology, limiting layer is provided between the finger belly and elastomer of software finger module ontology, limiting layer is made of the flexible material that cannot be extended.The present invention is used in the making such as software clamper, robot, artificial limb, rehabilitation hand.
Description
Technical field
The present invention relates to a kind of inflatable soft robot fingers, and in particular to one kind can drive software to imitate by air pressure
People refer to module realized in working space class people refer to formula clamping article apery refer to software clamper.
Background technology
In recent years, with the development of new material and rapid shaping technique, soft robot has worldwide been started
Research boom.Soft robot is related to bionics, and robotics, the subjects such as soft material and control, Inspiration Sources are in mould
The mollusk of imitative nature and structure.Software clamper, because it adapts to variously-shaped body surface, and pacified
Entirely, the grasping of submissive target and operation task, are one of soft robot research directions most popular at present.Conventional rigid clamps
Although device has high rigidity, the characteristics such as high-precision, speed is fast, repeatable accuracy is good, industry manufacture field, field of medical device and
Aerospace field extensive application, but when the object to be operated is different or during fragile article, it is desirable to rigidity clamping
Utensil has very high control accuracy, and which greatly increases clamper costs.Software clamper morphosis is simple, by material
Soft yielding characteristic can realize that safety, compliantly article grips, and energy density is high, and it is strong to resist external impact ability, multiple
Heterocycle border is adaptable, and flexible design, easily fabricated, of low cost, can make up conventional rigid clamping to a certain extent
The deficiency of device, advantage are mainly reflected in：1. adapt to the clamping of each foreign body object of more size shapes；2. with being grabbed connecing for object
It touches safer；3. it does not need to be accurately controlled, more simply.
It is found through inspection information, mainstream is still rigid holder currently on the market, and software clamper is then more rare.Mesh
Preceding existing software clamper mostly using air pressure type of drive, have the advantages that it is corresponding soon, Deformation Curvature it is big, but also generally deposit
In the shortcomings that simple in structure, load capacity is poor.Such as：The imitative starfish pneumatic clamps holder of Harvard University, clamper refer to starfish in six
Shape structure, six refer to air cavity connection, and expansion maximum gauge is 140mm, and maximum load capability is only 300g；The Massachusetts Institute of Technology develops
Pneumatic three refer to clamper, be driven using single-chamber, singly refer to size as 110mm*25mm*25mm, can only pick up tennis, pen,
The light-weight articles such as egg；A kind of microchannel holding finger has been invented by Chen Jiao sections of Zhejiang Polytechnical University et al., is spaced apart in finger
Multigroup straight quadrangular and straight triangular prism gas chamber, each gas chamber individually control, and can adjust digital flexion shape, but make and control hardly possible
Degree is big；A kind of software driving radial direction open-close type pneumatic gripping device has been invented by Guo Zhong China of Institutes Of Technology Of Nanjing et al., including software
Driving unit and clamping refer to, and clamping refers to be distributed along driving unit even circumferential, and using air bag as software driving unit, air bag is swollen
Expansible band, which moves lever and adjusts to clamp, refers to opening angle, can be only applied to the spherical underloading articles such as clamping apple.Although above-mentioned software folder
Holder has different advantages and an application scenario, but with a certain distance from also having from a wide range of practical application, and wherein the more important embodies
In the load capacity that software clamper is poor.
Invention content
The present invention provides a kind of apery and refers to solve the problems, such as that existing software clamper is relatively low there are load capacity
Inflatable software three refers to clamper.
The present invention adopts the technical scheme that solve above-mentioned technical problem：
The apery of the present invention refers to the finger clamper of inflatable software three and includes the software hand of module base 2, three of bottom plate 1, three
Refer to module 3 and three elastoplasts 4, each software finger module 3 includes software finger module ontology, the first air cavity 5, the second gas
Chamber 7, the first interphalangeal joint tracheae 6, the second interphalangeal joint tracheae 8, limiting layer 10 and elastomer 9；Each software finger module 3 is logical
A module base 2 is crossed on the end face of bottom plate 1,5 He of the first air cavity is disposed in software finger module ontology
Second air cavity 7, the first air cavity 5 are connected with one end of the first interphalangeal joint tracheae 6, the second air cavity 7 and the second interphalangeal joint tracheae 8
One end connection, the finger back of software finger module ontology is machined at least two articulations digitorum manus clearance grooves along its length,
Except finger belly side cladding is there are one elastoplast 4 on software finger module ontology, set in the finger belly of software finger module ontology
Flexible body 9, is provided with limiting layer 10 between the finger belly of software finger module ontology and elastomer 9, limiting layer 10 is flexible
The material that cannot be extended is made.
Further, elastoplast 4 is bonded on the finger back of the body and both sides of software finger module ontology.
Further, the quantity of articulations digitorum manus clearance groove is three, and the first air cavity 5 is corresponding with first knuckle and second knuckle
Setting, the second air cavity 7 are correspondingly arranged with third knuckle.
Further, elastomer 9, the first air cavity 5 and the second air cavity 7 are made of silicon rubber composite material.
Further, the outer surface of elastomer 9 is machined with antiskid groove structure.
Further, the width of the phalanges of software finger module ontology is less than the width at articulations digitorum manus.
Further, the position and angle that module base 2 is mounted on bottom plate 1 can be adjusted.
Further, the first interphalangeal joint tracheae 6 and the second interphalangeal joint tracheae 8 are silicone tube.
Further, the fixing end of software finger module 3 is connected by two connection bolts with corresponding module base 2.
The present invention has the advantages that compared with prior art：
The apery of the present invention refers to the finger clamper of inflatable software three and refers to configuration design using apery, and it is curved can to realize that class people refers to
Qu Yundong and intersection extract movement can realize that apery refers to the article crawl and realize that apery refers to intersection and carries that formula is submissive, safe
The heavy load ability of object；
Clamper refers to module using three software aperies in the present invention, and initial position simulation human hand opens posture, with reference to certainly
The software Passive deformation ability of body realizes different sizes, the crawl function of different shape object；
Gripping finger point in the present invention is made of soft materials such as elastic silica gel material and reinforcing fibers, without any firm
Property parts, can be with the submissive safe contact of the object to be operated, and structural form is succinct, easy to manufacture；
Single software apery refers in the present invention is driven using two air pressures, and metacarpophalangeal joints are operated alone, two interphalangeal joints
Finger flexure operation is imitated in linkage, can adapt to the different article crawl of shape, specification；
The present invention refers to the design of formula configuration, the shape of imitation human finger, size, joint proportional die emulation finger using class people.
By using the inner concave shape structure design that the joint of finger is wider, relatively narrow at three sections of phalanges, imitate people's both hands intersection and carries weight
Object acts, and realizes and big puies forward Beijing South Maxpower Technology Co. Ltd's power；
Software apery in the present invention refers to using elastical cloth, constrains the swelling volume of air cavity, improves the output of imitation human finger
Power/torque；
The present invention has wide range of applications, available for technologies such as mechanical arm tail end clamper, software manipulator, manipulators in rehabilitation
Field has the characteristics that deformability is strong, clamping object is friendly, strong shock resistance, and the single software finger of the present invention is long
110mm, the widest part 16mm, highest point 20mm, with adult's forefinger adjoining dimensions, weight 40g, clamper integrally weighs about
140g；Clamper can imitate human hand function, perform softness, frangible, complex-shaped object manipulation, such as apple, banana, Portugal
Grape just refer to the every-day objects such as towel, roll paper, flash disk, cap；Imitation human hand, which is carried, takes object motion that can lift more than 8kg weight
Load, for the ratio that bears a heavy burden more than 57, performance is significantly better than existing software clamper.
Description of the drawings
The apery that Fig. 1 is the present invention refers to the overall structure stereogram that inflatable software three refers to clamper；
Fig. 2 is the stereogram of software finger module 3 in specific embodiment one in the present invention (not including elastoplast 4)；
Fig. 3 is the front view of software finger module 3 in specific embodiment one in the present invention；
Fig. 4 is the main sectional view of software finger module 3 in specific embodiment one of the invention；
Fig. 5 is the sectional view of the I-I of Fig. 4.
Specific embodiment
Specific embodiment one：As shown in Fig. 1~5, the apery of present embodiment refers to inflatable software three and refers to clamper packet
It includes the software finger module 3 of module base 2, three of bottom plate 1, three and three elastoplasts 4, each software finger module 3 includes
Software finger module ontology, the first air cavity 5, the second air cavity 7, the first interphalangeal joint tracheae 6, the second interphalangeal joint tracheae 8, limitation
Layer 10 and elastomer 9；Each software finger module 3 is mounted on by a module base 2 on the end face of bottom plate 1, software hand
Refer to one end that the first air cavity 5 and the second air cavity 7, the first air cavity 5 and the first interphalangeal joint tracheae 6 are disposed in module body
Connection, the second air cavity 7 are connected with one end of the second interphalangeal joint tracheae 8, and the finger back of software finger module ontology is along its length
Direction is machined at least two articulations digitorum manus clearance grooves, stretches tight on software finger module ontology except finger belly side is coated there are one elastic
Band 4 is provided with elastomer 9 in the finger belly of software finger module ontology, between the finger belly of software finger module ontology and elastomer 9
Limiting layer 10 is provided with, limiting layer 10 is made of the flexible material that cannot be extended.
The present invention single long 110mm of software finger, the widest part 16mm, highest point 20mm, with adult's forefinger size
Close, weight 40g, clamper integrally weighs about 140g；
The present invention designs a kind of software apery and refers to module, and the module imitates adult's forefinger size, ratio and shape, single
Refer to and realize that class people refers to formula bending motion, more assignment conjunctions realize that apery refers to and intersect extract action.
The design concept that the software refers to module is imitation people's finger-type shape, size and function, realizes that class apery hand is cleverer
Holding capability living and it is larger put forward Beijing South Maxpower Technology Co. Ltd's power, limiting layer 10 is fixed together with elastomer 9, and limiting layer 10 is for limiting software
The axial elongation that apery refers to；Software finger module ontology expands band in three finger joint Position Design wedge-shaped groove structures, by air cavity
It moves it and bending is generated at finger joint；There are two cylindrical air cavitys for software finger module body interior arrangement, are respectively used to realize the palm
Articulations digitorum manus is moved with interphalangeal joint；3 inner surface of software finger module designs little groove anti-skid structure；Software apery refers to both sides and sets
In respect of articulations digitorum manus clearance groove, module interlocking can be formed two-by-two in bending process, enhance load capacity；Software finger module sheet
Body both sides and back side bonding elastical cloth limitation air cavity expansion, enhance its power output/torque；Module base 2 is used for fixed soft body hand
Refer to module 3, the position that software refers on pedestal can be adjusted the crawl to adapt to more articles.
Specific embodiment two：As shown in figures 1 and 3, present embodiment elastoplast 4 is bonded in software finger module sheet
On the finger back of the body of body and both sides.Elastoplast 4 has certain elasticity, and elastoplast 4 no longer extends after extending to a certain degree.So
Design can limit the swelling volume of the first air cavity 5 and the second air cavity 7, continue after the volume expansion to a certain extent of air cavity
Inflation can enhance pressure in air cavity, so as to improve air cavity driving force.Other compositions and connection relation and one phase of specific embodiment
Together.
Specific embodiment three：As shown in Figure 2 and Figure 4, the quantity of present embodiment articulations digitorum manus clearance groove is three, the
One air cavity 5 is correspondingly arranged with first knuckle and second knuckle, and the second air cavity 7 is correspondingly arranged with third knuckle.It is so designed that, software
Finger module ontology is controlled using two air cavitys and two gas circuits, wherein the first air cavity 5 be used to implement two interphalangeal joints into
Row linkage, the second air cavity 7 are used to implement metacarpophalangeal joints independently moving, refer to software apery and are easily bent in joint, air cavity expansion
Arthrogryposis is driven, realizes class finger flexure operation.Other compositions and connection relation are the same as one or two specific embodiments.
Specific embodiment four：As shown in Figure 2 and Figure 4, present embodiment elastomer 9, the first air cavity 5 and the second air cavity 7
It is made of silicon rubber composite material.It is so designed that, elastomer 9 can improve light using the slightly larger silastic material of hardness
The holding capability of sliding class article；First air cavity 5 and the second air cavity 7 use the preferable silica gel material of ductility, it is ensured that gas
The ductility of chamber.Other compositions and connection relation are identical with specific embodiment three.
Specific embodiment five：Shown as shown in Figure 1, Figure 3 and Figure 4, the outer surface of present embodiment elastomer 9 is machined with anti-skidding
Groove structure.It is so designed that, the holding capability of the smooth class article to surface of software finger module 3 can be improved.It is other composition and
Connection relation is identical with specific embodiment one, two or four.
Specific embodiment six：Refer to as shown in Fig. 2, the width of the phalanges of present embodiment software finger module ontology is less than
The width of joint.It is so designed that, can be intersected with apish both hands and propose weight action, promoted software finger module ontology and carry weight
Ability.Other compositions and connection relation are identical with specific embodiment five.
Specific embodiment seven：As shown in Figure 1, present embodiment module base 2 is mounted on position and angle on bottom plate 1
It can adjust.It is so designed that, is adapted to the gripping of different size article.Other compositions and connection relation and specific embodiment
First, two, four or six are identical.
Specific embodiment eight：As shown in figure 4, the first interphalangeal joint of present embodiment tracheae 6 and the second interphalangeal joint gas
Pipe 8 is silicone tube.It is so designed that, can air cavity be controlled by the first interphalangeal joint tracheae 6 and the second interphalangeal joint tracheae 8
Aeration quantity, so as to control the curvature of finger.Other compositions and connection relation are identical with specific embodiment seven.
Specific embodiment nine：As depicted in figs. 1 and 2, the fixing end of present embodiment software finger module 3 passes through two
Connection bolt is connected with corresponding module base 2.It is so designed that, it is easy to disassemble, it is convenient and efficient.It is other composition and connection relation with
Specific embodiment one, two, four, six or eight are identical.
Claims (9)
1. a kind of apery refers to inflatable software three and refers to clamper, the software three refers to clamper and includes bottom plate (1), three module bottoms
Seat (2), three software finger modules (3) and three elastoplasts (4), it is characterised in that：Each software finger module (3) includes
Software finger module ontology, the first air cavity (5), the second air cavity (7), the first interphalangeal joint tracheae (6), the second interphalangeal joint tracheae
(8), limiting layer (10) and elastomer (9)；Each software finger module (3) is by a module base (2) mounted on bottom plate (1)
End face on, be disposed with the first air cavity (5) and the second air cavity (7) in software finger module ontology, the first air cavity (5) with
One end connection of first interphalangeal joint tracheae (6), the second air cavity (7) are connected with one end of the second interphalangeal joint tracheae (8), software
The finger back of finger module ontology is machined at least two articulations digitorum manus clearance grooves, software finger module ontology along its length
It is upper to remove elastoplast (4) there are one the claddings of finger belly side, elastomer (9) is provided in the finger belly of software finger module ontology, it is soft
Limiting layer (10) is provided between the finger belly of body finger module ontology and elastomer (9), limiting layer (10) cannot be stretched to be flexible
Long material is made.
2. apery according to claim 1 refers to inflatable software three and refers to clamper, it is characterised in that：Elastoplast (4) is viscous
It is connected on the finger back of the body and both sides of software finger module ontology.
3. apery according to claim 1 or 2 refers to inflatable software three and refers to clamper, it is characterised in that：Articulations digitorum manus gap
The quantity of groove is three, and the first air cavity (5) is correspondingly arranged with first knuckle and second knuckle, and the second air cavity (7) refers to third
Section is correspondingly arranged.
4. apery according to claim 3 refers to inflatable software three and refers to clamper, it is characterised in that：Elastomer (9), first
Air cavity (5) and the second air cavity (7) are made of silicon rubber composite material.
5. the apery according to claim 1,2 or 4 refers to inflatable software three and refers to clamper, it is characterised in that：Elastomer (9)
Outer surface be machined with antiskid groove structure.
6. apery according to claim 5 refers to inflatable software three and refers to clamper, it is characterised in that：Software finger module sheet
The width of the phalanges of body is less than the width at articulations digitorum manus.
7. the apery according to claim 1,2,4 or 6 refers to inflatable software three and refers to clamper, it is characterised in that：Module bottom
Position and angle of the seat (2) on bottom plate (1) can be adjusted.
8. apery according to claim 7 refers to inflatable software three and refers to clamper, it is characterised in that：First interphalangeal joint gas
It is silicone tube to manage (6) and the second interphalangeal joint tracheae (8).
9. the apery according to claim 1,2,4,6 or 8 refers to inflatable software three and refers to clamper, it is characterised in that：Software
The fixing end of finger module (3) is connected by two connection bolts with corresponding module base (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810097076.9A CN108189059A (en) | 2018-01-31 | 2018-01-31 | A kind of apery refers to inflatable software three and refers to clamper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810097076.9A CN108189059A (en) | 2018-01-31 | 2018-01-31 | A kind of apery refers to inflatable software three and refers to clamper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108189059A true CN108189059A (en) | 2018-06-22 |
Family
ID=62592099
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810097076.9A Pending CN108189059A (en) | 2018-01-31 | 2018-01-31 | A kind of apery refers to inflatable software three and refers to clamper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108189059A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818591A (en) * | 2018-07-25 | 2018-11-16 | 清华大学 | Soft grasping device |
| CN109746933A (en) * | 2019-01-14 | 2019-05-14 | 燕山大学 | A kind of nothing is tethered at software end effector |
| CN110076811A (en) * | 2019-05-23 | 2019-08-02 | 五邑大学 | A kind of contact force induction software finger of Coupled Rigid-flexible |
| CN110091348A (en) * | 2019-05-28 | 2019-08-06 | 南京林业大学 | A kind of dynamic software gripper of apery luck |
| CN110141465A (en) * | 2019-04-24 | 2019-08-20 | 杭州电子科技大学 | A kind of soft mechanical hand stick |
| CN110281257A (en) * | 2019-07-10 | 2019-09-27 | 浙江理工大学 | Can multi-direction bending the double air cavity flexible mechanical finger of modularization and its working method |
| CN110405800A (en) * | 2019-08-02 | 2019-11-05 | 成都易爪机器人科技有限公司 | A kind of combination of rigidity and flexibility mechanical paw |
| CN110434882A (en) * | 2019-09-26 | 2019-11-12 | 滁州职业技术学院 | A kind of apery refers to that inflation soft body three refers to clamper |
| CN110478192A (en) * | 2019-08-30 | 2019-11-22 | 哈工大机器人湖州国际创新研究院 | Software auxiliary glove and its manufacturing method |
| CN111015721A (en) * | 2019-12-26 | 2020-04-17 | 哈尔滨工业大学 | Variable-rigidity software module and clamp holder of glass-like sponge framework structure |
| CN111300459A (en) * | 2020-03-13 | 2020-06-19 | 哈尔滨工业大学 | Multi-degree-of-freedom humanoid rigid-flexible hybrid hand and manufacturing process thereof |
| CN113370242A (en) * | 2021-06-28 | 2021-09-10 | 燕山大学 | Horizontal-longitudinal coupling pneumatic type multi-finger soft manipulator |
| CN113417239A (en) * | 2021-06-02 | 2021-09-21 | 深圳市图元科技有限公司 | Environmental sanitation cleaning system and method adapting to different road sections based on artificial intelligence recognition |
| CN113771068A (en) * | 2021-08-05 | 2021-12-10 | 中国地质大学（武汉） | Modularized pneumatic soft human-simulated finger capable of being bent in segmented mode and manufacturing method thereof |
| CN113799159A (en) * | 2021-09-27 | 2021-12-17 | 哈尔滨工业大学 | Manual-imitating pneumatic soft dexterous hand |
| CN115648233A (en) * | 2022-09-09 | 2023-01-31 | 广东海洋大学 | Grab net manipulator |
| CN116237321A (en) * | 2023-03-15 | 2023-06-09 | 清华大学深圳国际研究生院 | Flexible pipeline robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101402200A (en) * | 2008-11-03 | 2009-04-08 | 浙江工业大学 | Multi-finger dexterous hand of robot based on pneumatic flexible driver |
| US20160075036A1 (en) * | 2014-09-17 | 2016-03-17 | Joshua Aaron Lessing | Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators |
| CN105726261A (en) * | 2016-04-01 | 2016-07-06 | 北京所乐思国际商务有限公司 | Joint motion assisting device |
| CN205704256U (en) * | 2016-07-01 | 2016-11-23 | 北京软体机器人科技有限公司 | A kind of software three refers to robot |
| CN106182053A (en) * | 2016-08-20 | 2016-12-07 | 北华大学 | Four refer to flexible manipulator |
-
2018
- 2018-01-31 CN CN201810097076.9A patent/CN108189059A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101402200A (en) * | 2008-11-03 | 2009-04-08 | 浙江工业大学 | Multi-finger dexterous hand of robot based on pneumatic flexible driver |
| US20160075036A1 (en) * | 2014-09-17 | 2016-03-17 | Joshua Aaron Lessing | Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators |
| CN105726261A (en) * | 2016-04-01 | 2016-07-06 | 北京所乐思国际商务有限公司 | Joint motion assisting device |
| CN205704256U (en) * | 2016-07-01 | 2016-11-23 | 北京软体机器人科技有限公司 | A kind of software three refers to robot |
| CN106182053A (en) * | 2016-08-20 | 2016-12-07 | 北华大学 | Four refer to flexible manipulator |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818591A (en) * | 2018-07-25 | 2018-11-16 | 清华大学 | Soft grasping device |
| CN109746933A (en) * | 2019-01-14 | 2019-05-14 | 燕山大学 | A kind of nothing is tethered at software end effector |
| CN110141465A (en) * | 2019-04-24 | 2019-08-20 | 杭州电子科技大学 | A kind of soft mechanical hand stick |
| CN110141465B (en) * | 2019-04-24 | 2021-09-21 | 杭州电子科技大学 | Use method of flexible manipulator crutch |
| CN110076811A (en) * | 2019-05-23 | 2019-08-02 | 五邑大学 | A kind of contact force induction software finger of Coupled Rigid-flexible |
| CN110091348A (en) * | 2019-05-28 | 2019-08-06 | 南京林业大学 | A kind of dynamic software gripper of apery luck |
| CN110281257A (en) * | 2019-07-10 | 2019-09-27 | 浙江理工大学 | Can multi-direction bending the double air cavity flexible mechanical finger of modularization and its working method |
| CN110281257B (en) * | 2019-07-10 | 2024-02-13 | 浙江理工大学 | Modularized double-air-cavity flexible mechanical finger capable of being bent in multiple directions and working method thereof |
| CN110405800A (en) * | 2019-08-02 | 2019-11-05 | 成都易爪机器人科技有限公司 | A kind of combination of rigidity and flexibility mechanical paw |
| CN110405800B (en) * | 2019-08-02 | 2024-02-06 | 成都易爪机器人科技有限公司 | Rigid-flexible composite mechanical gripper |
| CN110478192A (en) * | 2019-08-30 | 2019-11-22 | 哈工大机器人湖州国际创新研究院 | Software auxiliary glove and its manufacturing method |
| CN110434882B (en) * | 2019-09-26 | 2024-05-24 | 滁州职业技术学院 | Three finger holders of imitative people finger inflatable software |
| CN110434882A (en) * | 2019-09-26 | 2019-11-12 | 滁州职业技术学院 | A kind of apery refers to that inflation soft body three refers to clamper |
| CN111015721A (en) * | 2019-12-26 | 2020-04-17 | 哈尔滨工业大学 | Variable-rigidity software module and clamp holder of glass-like sponge framework structure |
| CN111300459A (en) * | 2020-03-13 | 2020-06-19 | 哈尔滨工业大学 | Multi-degree-of-freedom humanoid rigid-flexible hybrid hand and manufacturing process thereof |
| CN113417239A (en) * | 2021-06-02 | 2021-09-21 | 深圳市图元科技有限公司 | Environmental sanitation cleaning system and method adapting to different road sections based on artificial intelligence recognition |
| CN113370242A (en) * | 2021-06-28 | 2021-09-10 | 燕山大学 | Horizontal-longitudinal coupling pneumatic type multi-finger soft manipulator |
| CN113771068A (en) * | 2021-08-05 | 2021-12-10 | 中国地质大学（武汉） | Modularized pneumatic soft human-simulated finger capable of being bent in segmented mode and manufacturing method thereof |
| CN113799159A (en) * | 2021-09-27 | 2021-12-17 | 哈尔滨工业大学 | Manual-imitating pneumatic soft dexterous hand |
| CN113799159B (en) * | 2021-09-27 | 2023-03-14 | 哈尔滨工业大学 | Manual-imitating pneumatic soft dexterous hand |
| CN115648233A (en) * | 2022-09-09 | 2023-01-31 | 广东海洋大学 | Grab net manipulator |
| CN116237321A (en) * | 2023-03-15 | 2023-06-09 | 清华大学深圳国际研究生院 | Flexible pipeline robot |
| CN116237321B (en) * | 2023-03-15 | 2023-10-17 | 清华大学深圳国际研究生院 | Flexible pipeline robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108189059A (en) | A kind of apery refers to inflatable software three and refers to clamper | |
| Zhong et al. | A soft pneumatic dexterous gripper with convertible grasping modes | |
| Hao et al. | Universal soft pneumatic robotic gripper with variable effective length | |
| Wang et al. | A novel soft robotic hand design with human-inspired soft palm: Achieving a great diversity of grasps | |
| CN107081744B (en) | Flexible hose fluid underactuated multi-joint robot finger device | |
| CN109048980A (en) | A kind of pneumatic software gripper of articulated type endoskeleton | |
| CN212326883U (en) | Integral type soft finger and finger trainer | |
| CN108326833B (en) | Super-redundant flexible mechanical arm and use method thereof | |
| CN108481355B (en) | Deformable flexible hand based on pressure control | |
| CN109910049B (en) | Self-locking rigid-flexible coupling mechanical gripper | |
| CN113172640B (en) | Software driver | |
| CN209022098U (en) | A kind of pneumatic software gripper of articulated type endoskeleton | |
| CN113104576B (en) | Soft pneumatic claw | |
| CN208179515U (en) | Super redundancy flexible mechanical arm | |
| CN114474115A (en) | Rigid-flexible coupling bionic finger and clamping jaw | |
| CN107650119A (en) | The soft handgrip of intelligence | |
| CN110497395A (en) | A kind of bidirectional-movement Pneumatic flexible actuator and its working method | |
| CN110434882A (en) | A kind of apery refers to that inflation soft body three refers to clamper | |
| CN107693175A (en) | A kind of artificial limb manipulator and its arm | |
| Zhang et al. | A herringbone soft pneu-net actuator for enhanced conformal gripping | |
| CN106346508B (en) | The flat folder indirect self-adaptive robot finger apparatus of double leval jib driving wheel straight line | |
| CN111975807B (en) | Pneumatic control soft bionic manipulator | |
| CN111975808A (en) | Air control soft bionic mechanical finger | |
| CN209755262U (en) | Self-adaptive variable-rigidity soft hand grab | |
| CN210476974U (en) | Three-finger gripper of human-finger-simulated inflatable soft body |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180622 |