CN109015724A - Pneumatic software handgrip - Google Patents
Pneumatic software handgrip Download PDFInfo
- Publication number
- CN109015724A CN109015724A CN201810784613.7A CN201810784613A CN109015724A CN 109015724 A CN109015724 A CN 109015724A CN 201810784613 A CN201810784613 A CN 201810784613A CN 109015724 A CN109015724 A CN 109015724A
- Authority
- CN
- China
- Prior art keywords
- pneumatic software
- pneumatic
- driver
- clamping device
- software
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/005—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs picking or shaking pneumatically
-
- 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
Abstract
The present invention provides a kind of pneumatic software handgrips, including pneumatic software driver, clamping device；Pneumatic software driver is pneumatic open column shape structure, and cross section is semicircle.Three pneumatic software drivers form handgrip by circumference uniform distribution, and one end of each pneumatic software driver is fixed on the clamping device of Computer Aided Design, and free end can generate the flexure operation towards center of circle direction under gas pressure, and three cooperations realize crawl task.The compressibility of gas and the elasticity of software driver make handgrip have the lossless superperformance for grabbing fragile goods.The clamping device of Computer Aided Design accesses gas source for pneumatic software driver, and software handgrip is made to be fixed on mechanical arm tail end.The software handgrip, which need to only inflate deflation two states, can realize that crawl and release to article operate.The configuration of the present invention is simple, adaptive ability are strong, control simple, at low cost, versatile, the automated jobs such as classification storage suitable for small-sized fruit and vegetable picking, daily small article.
Description
Technical field
The present invention relates to automated job fields, and in particular, to pneumatic software handgrip, it is small-sized more particularly, to being suitable for
The pneumatic software handgrip that the storage of the daily small articles such as fruit and vegetable picking classification, supermarket's snacks is put.
Background technique
Existing machinery handgrip is mostly rigid structure, poor to the adaptive ability for being grabbed article.To realize that complaisant grasping is often adopted
With the mode of drive lacking, the mechanical gripper problem that structure is complicated, control difficulty is big of design is thus brought, and is typically only capable to answer
For specific target object.
Patent document CN202292762U discloses a kind of fruit/vegetable picking under-actuated mechanical manipulator, including upper bed-plate, finger
Fixing piece, support column, lower bottom base, stepper motor, screw rod, nut, hoistable platform, guide post, far finger, middle finger, closely finger, first connect
Bar, second connecting rod, third connecting rod, fourth link, drive rod, the first torsional spring and the second torsional spring；Simultaneously using a stepper motor
While driving multiple fingers, using under-actuated finger mechanism, and uses torsional spring as limiting mechanism, grabbed with envelope
Function；Gripper face is equipped with contact force sensor, can pass through the detection feedback control grasping force to contact force.It is this to use tradition
The mechanical gripper of Design of Mechanical Structure is based on conventional rigid hinge arrangement, can realize the lossless crawl of fruits and vegetables to a certain extent,
But the realization of its function need to be done by touch force sensor feeds back, and structure is complicated.Country's fruit picking operation is substantially all at present
It is manually to carry out.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of pneumatic software handgrips.
A kind of pneumatic software handgrip provided according to the present invention, including pneumatic software driver, clamping device；
Pneumatic software driver is connect with clamping device, and under gas pressure, pneumatic software driver can be to a lateral bending
It is bent.
Preferably, the pneumatic software driver includes driver liner, limiting layer, kinking layer, outer casing, connection end
End；
Driver liner inner space forms air cavity；
Outer casing constitutes the outer surface of pneumatic software driver, wraps up driver liner；
Limiting layer, kinking layer are arranged in the gap of driver liner and outer casing, and limiting layer, kinking layer are located at driving
The side of device liner；
After air cavity is filled with gas, kinking layer constrains the radial dimension of increase of air cavity, and the axial direction of limiting layer limitation air cavity is stretched
It is long, drive pneumatic software driver to side bending jointly；
The one end position of outer casing is arranged in connection end, and connection end is connected with the clamping device.
Preferably, the pneumatic software driver uses the fibre structure based on silica gel material；
Wherein, driver liner, limiting layer, kinking layer, outer casing are made using silica gel.
Preferably, the clamping device includes wedge, gland and connecting flange；
Gland is connect with connecting flange；
Wedge is connect with gland；
One end of the pneumatic software driver is fastenedly connected between wedge and gland, the pneumatic software driving
Another end of device is free end.
Preferably, the connection end is fastenedly connected between wedge and gland.
Preferably, supply air line, multiple-pass joint are provided in the clamping device；
The multiple-pass joint keeps multiple pneumatic software drivers to be connected to the same supply air line air-tightness；
Multiple pneumatic software drivers are distributed by even circumferential.
Preferably, the multiple-pass joint is four-way connection；The multiple pneumatic software driver is three.
Preferably, the connecting flange can connect the end of mechanical arm.
Preferably, the kinking layer uses symmetrical double helix kinking.
Preferably, pneumatic software driver is pneumatic open column shape structure, and cross section is semicircle.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, structure is simple, and software activation configuration is simple, be easy production, it is easy to control, it is only necessary to it is inflatable and deflatable can
To realize the operation of crawl and release.
2, safety and sanitation, handgrip are prepared by silica gel, and silica gel is non-toxic to humans, therefore have very high safety；It is soft
Body handgrip uses pneumatic actuation, therefore does not need the line services such as oil lubrication, relative to tradition machinery handgrip dry
Net health aspect is with the obvious advantage.
3, versatile, adaptive ability is strong, and lossless crawl fragile goods, the good flexibility of software driver can be real
Crawl now reliable and stable to various shape fruits and vegetables, and software handgrip be easily installed in various mechanical arm tail ends carry out using.
4, at low cost, the making material silica gel of software driver is easy to get, low in cost.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the whole installation diagram of pneumatic software handgrip；
Fig. 2 is the pneumatic software activation configuration figure of pneumatic software handgrip；
Fig. 3 is the seized condition schematic diagram of pneumatic software handgrip pick-and-place control；
Fig. 4 is the hold mode schematic diagram of pneumatic software handgrip pick-and-place control；
Fig. 5 is the release conditions schematic diagram of pneumatic software handgrip pick-and-place control.
It is shown in figure:
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
As shown in Figure 1, the present invention provides a kind of pneumatic software handgrip, including pneumatic software driver 1, clamping device；
Pneumatic software driver 1 is connect with clamping device, and under gas pressure, pneumatic software driver 1 is to curving.Clamping device
For installing software driver, introducing gas source and software handgrip being facilitated to be installed on mechanical arm tail end.Three pneumatic software drivings
Device forms grip portion.Three air impellers in software handgrip are connected to the same gas source pipe road with a four-way, only
The crawl and release movement of handgrip can be realized by needing to control inflation deflation.Pneumatic software driver 1 is pneumatic hollow
Column structure, cross section are semicircle.Three pneumatic software drivers 1 form handgrip by circumference uniform distribution, and each pneumatic software drives
One end of dynamic device 1 is fixed on the clamping device of Computer Aided Design, and free end can be generated towards the curved of center of circle direction under gas pressure
Song movement, three cooperations can realize crawl task.The compressibility of gas and the elasticity of software driver have this handgrip
There is the superperformance of lossless crawl fragile goods.The clamping device of Computer Aided Design has and accesses gas source and design for driver
There is the structure that mechanical arm tail end is fixed on convenient for software handgrip.
Specifically, as shown in Fig. 2, the pneumatic software driver 1 include driver liner 5, limiting layer 6, kinking layer 7,
Outer casing 8, connection end 9；5 inner space of driver liner forms closed air cavity 10；The setting of outer casing 8 is pneumatic soft
Driver liner 5 is wrapped up in the outer surface of body driver 1；Limiting layer 6, kinking layer 7 are arranged in driver liner 5 and outer casing 8
Gap in, limiting layer 6, kinking layer 7 are located at the side of pneumatic software driver 1；After air cavity 10 is filled with air pressure, silica gel production
Pneumatic software driver 1 inside driver liner 5 can expand around.Kinking layer 7 constrains the radial dimension of increasing of air cavity 10
Greatly, so that pneumatic software driver 1 be made to generate axial elongation；Limiting layer 6 limits the axial elongation of pneumatic software driver 1,
Drive pneumatic software driver 1 to side bending jointly, so entire pneumatic software driver 1 can be generated towards planar side
Bending deformation；One end of outer casing 8 is arranged in connection end 9, and connection end 9 is connected with the clamping device, specifically
Ground, the connection end 9 are fastenedly connected between wedge 2 and gland 3.
Specifically, the pneumatic software driver 1 uses the fibre structure based on silica gel material；Preferably, described
Pneumatic software driver 1 uses fiber reinforcement type structure.Wherein, driver liner 5, limiting layer 6, kinking layer 7, outer casing 8
It is made using silica gel, the kinking layer 7 uses symmetrical double helix kinking.Wherein, the production of driver liner 5 and outer casing 8
Using 3D modelling, i.e., mold first is produced with 3D printing method, then is poured silica gel and solidifies molding method.
Specifically, the clamping device includes wedge 2, gland 3 and connecting flange 4；Gland 3 is connect with connecting flange 4；Pressure
Seat 2 is connect with gland 3；The end of the pneumatic software driver 1 is fastenedly connected between wedge 2 and gland 3.Wedge 2, gland
3 and connecting flange 4 all using three-dimensional software design and 3D printing method production.Wherein, wedge 2 and gland 3 are mainly used for solid
Determine software driver and gas source is provided, connecting flange 4 provides the connection structure being easily installed in mechanical arm tail end, the connection method
Orchid 4 can connect the end of mechanical arm.
Specifically, supply air line, multiple-pass joint are provided in the clamping device；The multiple-pass joint keeps multiple pneumatic
Software driver 1 is connected to the same supply air line air-tightness.Clamping device is made of the method for 3D printing, is wrapped in design
It includes the gas circuit structure for guaranteeing device air-tightness and is easily installed in the general connection end of mechanical arm tail end.Preferably, described more
Pass joint is four-way connection；The multiple pneumatic software driver 1 is three.Preferably, spiral shell is used between gland 3 and wedge 2
It tethers and connects, gland 3 matches three pneumatic software drivers 1 of fastening with wedge 2, is connected between connecting flange 4 and gland 3 with bolt
It connects, connecting flange 4 can easily be connected to mechanical arm tail end.The air cavity 10 of three pneumatic software drivers 1 is in clamping device
One four-way connection in portion and the same supply air line are connected.The air pressure of external air source uses the fixed value using preceding calibration.Such as
Shown in Fig. 3, Fig. 4, Fig. 5, in crawl with the matched volume range of handgrip size when object of various shapes, gas circuit need to be only controlled
State, so that it may realize the crawl of software handgrip, holding and release operation.
The present invention possesses the ability of good self-adapting grasping object, can be realized to different shape object it is stable from
Crawl is adapted to, the storage for being highly suitable for the daily small articles such as small-sized fruit and vegetable picking classification, supermarket's snacks, which is put etc., to be automated
Field of operation.
In the description of the present application, it is to be understood that term " on ", "front", "rear", "left", "right", " is erected at "lower"
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, description the application is merely for convenience of and simplifies description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of pneumatic software handgrip, which is characterized in that including pneumatic software driver (1), clamping device；
Pneumatic software driver (1) is connect with clamping device, and under gas pressure, pneumatic software driver (1) can be to side
Bending.
2. pneumatic software handgrip according to claim 1, which is characterized in that the pneumatic software driver (1) includes driving
Dynamic device liner (5), limiting layer (6), kinking layer (7), outer casing (8), connection end (9)；
Driver liner (5) inner space forms air cavity (10)；
Outer casing (8) constitutes the outer surface of pneumatic software driver (1), wraps up driver liner (5)；
In the gap of driver liner (5) and outer casing (8), limiting layer (6) is twined for limiting layer (6), kinking layer (7) setting
Line layer (7) is located at the side of driver liner (5)；
After air cavity (10) is filled with gas, kinking layer (7) constrains air cavity (10) radial dimension of increase, and limiting layer (6) limits gas
The axial elongation of chamber (10) drives pneumatic software driver (1) to side bending jointly；
End (9) setting is connected in the one end position of outer casing (8), end (9) is connected and is connected with the clamping device.
3. pneumatic software handgrip according to claim 2, which is characterized in that the pneumatic software driver (1) use with
Fibre structure based on silica gel material；
Wherein, driver liner (5), limiting layer (6), kinking layer (7), outer casing (8) are made using silica gel.
4. pneumatic software handgrip according to claim 1, which is characterized in that the clamping device includes wedge (2), gland
(3) and connecting flange (4)；
Gland (3) is connect with connecting flange (4)；
Wedge (2) is connect with gland (3)；
One end of the pneumatic software driver (1) is fastenedly connected between wedge (2) and gland (3), described pneumatic soft
Another end of body driver (1) is free end.
5. pneumatic software handgrip according to claim 2, which is characterized in that the connection end (9), which is fastenedly connected, to be pressed
Between seat (2) and gland (3).
6. pneumatic software handgrip according to claim 1, which is characterized in that be provided with air supply pipe in the clamping device
Road, multiple-pass joint；
The multiple-pass joint keeps multiple pneumatic software drivers (1) to be connected to the same supply air line air-tightness；
Multiple pneumatic software drivers (1) are distributed by even circumferential.
7. pneumatic software handgrip according to claim 6, which is characterized in that the multiple-pass joint is four-way connection；It is described
Multiple pneumatic software drivers (1) are three.
8. pneumatic software handgrip according to claim 4, which is characterized in that the connecting flange (4) can connect machinery
The end of arm.
9. pneumatic software handgrip according to claim 2, which is characterized in that the kinking layer (7) uses symmetrical double helix
Kinking.
10. pneumatic software handgrip according to claim 1, which is characterized in that pneumatic software driver (1) is pneumatic
Open column shape structure, cross section are semicircle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810784613.7A CN109015724A (en) | 2018-07-17 | 2018-07-17 | Pneumatic software handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810784613.7A CN109015724A (en) | 2018-07-17 | 2018-07-17 | Pneumatic software handgrip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109015724A true CN109015724A (en) | 2018-12-18 |
Family
ID=64643066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810784613.7A Pending CN109015724A (en) | 2018-07-17 | 2018-07-17 | Pneumatic software handgrip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109015724A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746933A (en) * | 2019-01-14 | 2019-05-14 | 燕山大学 | A kind of nothing is tethered at software end effector |
| CN109760099A (en) * | 2019-01-22 | 2019-05-17 | 广东工业大学 | A kind of pneumatic software clamper of the pure two-way opening and closing of two dimension of soft or hard mixed constraints |
| CN109769662A (en) * | 2019-03-06 | 2019-05-21 | 北京农学院 | A kind of irrigation multiple degrees of freedom flexible pipe structure |
| CN109941746A (en) * | 2019-04-23 | 2019-06-28 | 东莞市真爱酷橡塑制品有限公司 | One kind automatically grabbing fixture |
| CN110076811A (en) * | 2019-05-23 | 2019-08-02 | 五邑大学 | A kind of contact force induction software finger of Coupled Rigid-flexible |
| CN110315560A (en) * | 2019-07-13 | 2019-10-11 | 苏州亨允晟机电科技有限公司 | A kind of chucking appliance system |
| CN110561451A (en) * | 2019-09-06 | 2019-12-13 | 大连理工大学 | Manufacturing method of bionic jellyfish soft robot clamping device |
| CN110625639A (en) * | 2019-09-16 | 2019-12-31 | 南京航空航天大学 | Software manipulator |
| CN111360866A (en) * | 2020-03-31 | 2020-07-03 | 上海交通大学 | Pneumatic soft gripper with automatically adjustable working space, mechanical arm and gripping method |
| CN111392029A (en) * | 2020-02-25 | 2020-07-10 | 浙江工业大学 | Pneumatic driven multistable structure |
| CN111390962A (en) * | 2019-11-19 | 2020-07-10 | 浙江工业大学 | Pneumatic flexible tongs with bistable characteristic |
| CN111390876A (en) * | 2020-01-03 | 2020-07-10 | 腾讯科技（深圳）有限公司 | Intelligent soft manipulator |
| CN111687867A (en) * | 2020-06-11 | 2020-09-22 | 哈尔滨工业大学 | Soft mechanical arm with active rigidity changing function |
| CN111713834A (en) * | 2020-07-03 | 2020-09-29 | 上海大学 | Multifunctional head health care machine |
| CN111844119A (en) * | 2020-08-21 | 2020-10-30 | 福州大学 | Variable-stroke soft pneumatic clamping device and working method thereof |
| CN112405577A (en) * | 2020-11-20 | 2021-02-26 | 上海交通大学 | Rigid-flexible coupled multi-degree-of-freedom humanoid dexterous hand |
| CN113400288A (en) * | 2021-06-18 | 2021-09-17 | 大连理工大学 | Pneumatically-driven snake-shaped-imitating soft robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102642611A (en) * | 2012-04-24 | 2012-08-22 | 哈尔滨工业大学 | Actively deformed stressed-skin structure based on pneumatic muscles |
| US20140109560A1 (en) * | 2010-11-19 | 2014-04-24 | President And Fellows Of Harvard College | Soft robotic actuators |
| CN104959992A (en) * | 2015-06-30 | 2015-10-07 | 北京航空航天大学 | Pneumatic soft body grasping device |
| CN105619379A (en) * | 2016-02-21 | 2016-06-01 | 北京航空航天大学 | Soft human-simulated finger and preparing method thereof |
| CN105729465A (en) * | 2016-04-15 | 2016-07-06 | 东南大学 | Pneumatic soft linear telescopic device |
| CN108044640A (en) * | 2017-12-21 | 2018-05-18 | 天津大学 | A kind of air pressure drives soft soft mixing bionic mechanical hand |
| CN108247926A (en) * | 2017-12-21 | 2018-07-06 | 天津大学 | A kind of air pressure drives soft soft mixing bionic mechanical hand mold and preparation method |
| CN108274485A (en) * | 2018-02-28 | 2018-07-13 | 深圳臻迪信息技术有限公司 | A kind of software finger, grabbing device and crawl control system |
-
2018
- 2018-07-17 CN CN201810784613.7A patent/CN109015724A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140109560A1 (en) * | 2010-11-19 | 2014-04-24 | President And Fellows Of Harvard College | Soft robotic actuators |
| CN102642611A (en) * | 2012-04-24 | 2012-08-22 | 哈尔滨工业大学 | Actively deformed stressed-skin structure based on pneumatic muscles |
| CN104959992A (en) * | 2015-06-30 | 2015-10-07 | 北京航空航天大学 | Pneumatic soft body grasping device |
| CN105619379A (en) * | 2016-02-21 | 2016-06-01 | 北京航空航天大学 | Soft human-simulated finger and preparing method thereof |
| CN105729465A (en) * | 2016-04-15 | 2016-07-06 | 东南大学 | Pneumatic soft linear telescopic device |
| CN108044640A (en) * | 2017-12-21 | 2018-05-18 | 天津大学 | A kind of air pressure drives soft soft mixing bionic mechanical hand |
| CN108247926A (en) * | 2017-12-21 | 2018-07-06 | 天津大学 | A kind of air pressure drives soft soft mixing bionic mechanical hand mold and preparation method |
| CN108274485A (en) * | 2018-02-28 | 2018-07-13 | 深圳臻迪信息技术有限公司 | A kind of software finger, grabbing device and crawl control system |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746933A (en) * | 2019-01-14 | 2019-05-14 | 燕山大学 | A kind of nothing is tethered at software end effector |
| CN109760099A (en) * | 2019-01-22 | 2019-05-17 | 广东工业大学 | A kind of pneumatic software clamper of the pure two-way opening and closing of two dimension of soft or hard mixed constraints |
| CN109760099B (en) * | 2019-01-22 | 2023-10-03 | 广东工业大学 | Pneumatic soft gripper capable of realizing soft and hard mixed constraint and pure two-dimensional bidirectional opening and closing |
| CN109769662A (en) * | 2019-03-06 | 2019-05-21 | 北京农学院 | A kind of irrigation multiple degrees of freedom flexible pipe structure |
| CN109941746A (en) * | 2019-04-23 | 2019-06-28 | 东莞市真爱酷橡塑制品有限公司 | One kind automatically grabbing fixture |
| CN110076811A (en) * | 2019-05-23 | 2019-08-02 | 五邑大学 | A kind of contact force induction software finger of Coupled Rigid-flexible |
| CN110315560B (en) * | 2019-07-13 | 2020-08-14 | 柳州市上宏智能化科技有限公司 | Clamp system and using method thereof |
| CN110315560A (en) * | 2019-07-13 | 2019-10-11 | 苏州亨允晟机电科技有限公司 | A kind of chucking appliance system |
| CN110561451A (en) * | 2019-09-06 | 2019-12-13 | 大连理工大学 | Manufacturing method of bionic jellyfish soft robot clamping device |
| CN110561451B (en) * | 2019-09-06 | 2020-10-20 | 大连理工大学 | Manufacturing method of bionic jellyfish soft robot clamping device |
| CN110625639A (en) * | 2019-09-16 | 2019-12-31 | 南京航空航天大学 | Software manipulator |
| CN111390962A (en) * | 2019-11-19 | 2020-07-10 | 浙江工业大学 | Pneumatic flexible tongs with bistable characteristic |
| CN111390876A (en) * | 2020-01-03 | 2020-07-10 | 腾讯科技（深圳）有限公司 | Intelligent soft manipulator |
| CN111392029A (en) * | 2020-02-25 | 2020-07-10 | 浙江工业大学 | Pneumatic driven multistable structure |
| CN111392029B (en) * | 2020-02-25 | 2022-04-08 | 浙江工业大学 | Pneumatic driven multistable structure |
| CN111360866A (en) * | 2020-03-31 | 2020-07-03 | 上海交通大学 | Pneumatic soft gripper with automatically adjustable working space, mechanical arm and gripping method |
| CN111360866B (en) * | 2020-03-31 | 2022-07-22 | 上海交通大学 | Pneumatic soft gripper with automatically adjustable working space, mechanical arm and gripping method |
| CN111687867A (en) * | 2020-06-11 | 2020-09-22 | 哈尔滨工业大学 | Soft mechanical arm with active rigidity changing function |
| CN111713834A (en) * | 2020-07-03 | 2020-09-29 | 上海大学 | Multifunctional head health care machine |
| CN111844119A (en) * | 2020-08-21 | 2020-10-30 | 福州大学 | Variable-stroke soft pneumatic clamping device and working method thereof |
| CN112405577A (en) * | 2020-11-20 | 2021-02-26 | 上海交通大学 | Rigid-flexible coupled multi-degree-of-freedom humanoid dexterous hand |
| CN112405577B (en) * | 2020-11-20 | 2022-03-01 | 上海交通大学 | Rigid-flexible coupled multi-degree-of-freedom humanoid dexterous hand |
| CN113400288A (en) * | 2021-06-18 | 2021-09-17 | 大连理工大学 | Pneumatically-driven snake-shaped-imitating soft robot |
| CN113400288B (en) * | 2021-06-18 | 2021-12-03 | 大连理工大学 | Pneumatically-driven snake-shaped-imitating soft robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109015724A (en) | Pneumatic software handgrip | |
| CN109262646A (en) | A kind of chain-plate type flexible finger | |
| CN201419397Y (en) | Multidimensional composite flexible joint | |
| CN101531009A (en) | Three-dimensional composite flexible joint | |
| CN113104576B (en) | Soft pneumatic claw | |
| CN110202606B (en) | Dexterous soft-touch end effector capable of changing various fingers and finger nails | |
| CN111660317B (en) | Gripper module and pneumatic universal gripper capable of continuously adjusting gripping posture | |
| US10695904B2 (en) | Bionic pneumatic soft gripping device | |
| CN107414882B (en) | Pneumatic flexible manipulator of type of swallowing | |
| CN109176573A (en) | A kind of software grabbing device | |
| CN102756376A (en) | Finger device for underactuated robot adapting along with shapes automatically | |
| CN110238836A (en) | A kind of pneumatic software bending steering structure | |
| CN112060111A (en) | Self-adaptive winding type large-bearing software gripping device | |
| CN110253606A (en) | A kind of software handgrip of imitative origami structure | |
| CN106976100A (en) | Bionic soft multi-finger clever hand with pose feedback function | |
| CN206296906U (en) | Robot reach up device and the robot with it | |
| CN208084337U (en) | A kind of soft robot | |
| CN202702248U (en) | Finger device for shape-following self-adapting underactuated robot | |
| CN208196802U (en) | A kind of software telecontrol equipment and soft robot | |
| CN208196803U (en) | A kind of cloth gripping device and soft robot | |
| Cao et al. | A novel pneumatic gripper driven by combination of soft fingers and bellows actuator for flexible grasping | |
| CN206326528U (en) | A kind of heterogeneous differential high flexibility air-actuated jaw of modularization | |
| CN214358848U (en) | Parallel robot for conveying flexible object packages | |
| CN208196837U (en) | A kind of material object grabbing device and soft robot | |
| JPH08132378A (en) | Hand for nipping device, and nipping device |
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: 20181218 |
|
| RJ01 | Rejection of invention patent application after publication |