CN109605419A - A kind of multiple dimensioned software grabbing device of multiple degrees of freedom - Google Patents
A kind of multiple dimensioned software grabbing device of multiple degrees of freedom Download PDFInfo
- Publication number
- CN109605419A CN109605419A CN201811512969.1A CN201811512969A CN109605419A CN 109605419 A CN109605419 A CN 109605419A CN 201811512969 A CN201811512969 A CN 201811512969A CN 109605419 A CN109605419 A CN 109605419A
- Authority
- CN
- China
- Prior art keywords
- finger
- slide block
- block assembly
- crankshaft
- limiting layer
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of multiple dimensioned software grabbing devices of multiple degrees of freedom, including mounting platform, crankshaft group and at least three groups of finger components, crankshaft group includes crankshaft, the driving gear, the driving motor that connect with crankshaft, crankshaft includes at least three connecting shafts, and the both ends of connecting shaft are respectively equipped with the articulated shaft positioned at connecting shaft heteropleural；Finger component includes slide block assembly, the finger below slide block assembly, the connecting rod connecting with slide block assembly, one end of connecting rod and slide block assembly are hinged, the other end is hinged with articulated shaft, one end of finger is connect with slide block assembly, the other end of finger passes through the bar shaped perforation on erecting bed, finger includes limiting layer and the strained layer inside and outside limiting layer, and the elasticity of strained layer is higher than the elasticity of limiting layer.The multiple dimensioned software grabbing device adaptivity of multiple degrees of freedom of the invention is high, mechanical structure is simple, is relatively low cost and easy to control.
Description
Technical field
The present invention relates to a kind of flexible grips of robot more particularly to a kind of multiple dimensioned software crawl dresses of multiple degrees of freedom
It sets.
Background technique
The multiple dimensioned grabbing device of multiple degrees of freedom is the end execution unit of robot, and functional structure directly determines machine
The work capacity of people and the advanced degree of adaptive ability are frangible easy for complex geometry in industrial production life
The crawl of damage article has considerable utilization demand, and the utilization and demand being also of practical significance in space industry.For
Gripper equipment, is generally divided into mechanical structure portion and electrically driven part, and mechanical structure portion is made by electrically driven part
It realizes for the driving of driver to the operation such as crawl of target.
Although having research of many experts and scholars to rigidity, flexible mechanical gripper equipment both at home and abroad, mesh is usually grabbed
Target shape is unknown, size is indefinite, rigid contact crawl may cause damage, and the grasping force control difficulty of breakables is big,
This requires gripper equipments to have high sensitive, high adaptivity, high control precision.It is multiple that this results in gripper equipment mechanical structure
Miscellaneous, sensor arrangement is accurate and control difficulty is big, in addition most software handgrips be confined to design size for large scale target without
Method capture, it is unreliable that too small size objectives are captured, thus is unable to satisfy the requirement of high adaptivity function.
For this purpose, that the invention proposes a kind of mechanisms is simple, quality is small, the multiple dimensioned software grabbing device of more freedom.
Summary of the invention
In order to solve the above technical problems, that the object of the present invention is to provide a kind of adaptivitys is high, mechanical structure is simple, cost
The multiple dimensioned software grabbing device of lower and easily controllable multiple degrees of freedom.
The multiple dimensioned software grabbing device of multiple degrees of freedom of the invention, including mounting platform, crankshaft group and at least three groups of hands
Finger assembly, the crankshaft group includes crankshaft above the mounting platform, the driving gear that connect with crankshaft, drives institute
The driving motor of sliding tooth wheel rotation is stated, the crankshaft includes at least three connecting shafts, and the angle between every two connecting shafts is
60 degree, the both ends of connecting shaft are respectively equipped with the articulated shaft positioned at connecting shaft heteropleural；
The finger component includes the slide block assembly being slidably disposed on mounting platform, is located at below slide block assembly simultaneously
The finger being connect with slide block assembly, the connecting rod being connect above mounting platform and with slide block assembly, one end of the connecting rod with
Slide block assembly is hinged, and the other end and articulated shaft of connecting rod are hinged, and one end of the finger is connect with slide block assembly, finger it is another
It holds bar shaped on erecting bed perforate and protrudes out the lower surface of erecting bed, the finger includes limiting layer and positioned at limiting layer
Inside and outside strained layer, the elasticity of the strained layer is higher than the elasticity of the limiting layer, the strained layer on the outside of limiting layer
It surrounds to form the first working chamber with the limiting layer, the strained layer on the inside of limiting layer and the limiting layer surround to form second
Working chamber, be additionally provided with the first input port connecting respectively with the first working chamber on finger, connect with the second working chamber it is second defeated
Entrance.
Further, the multiple dimensioned software grabbing device of multiple degrees of freedom of the invention, the slide block assembly include being symmetrical arranged
Two gripping blocks, the inside of gripping block is equipped with clamping slot, and the bottom end of gripping block is equipped with the sliding block being adapted to sliding rail on erecting bed,
The hinged seat connecting with connecting rod is additionally provided in gripping block, the first input port, the second input port of the finger are located at finger
Top, and the first input port, the second input port are adapted to the clamping slot respectively.
Further, multiple degrees of freedom of the invention multiple dimensioned software grabbing device is provided with above the slide block assembly
Airtight closing disk, there are two gas-guide tubes for setting in airtight closing disk, and the bottom end of one of gas-guide tube is connected to the first input port, another
The bottom end of a gas-guide tube is connected to the second input port.
Further, multiple degrees of freedom of the invention multiple dimensioned software grabbing device is additionally provided on the erecting bed and is used for
Cover the housing of slide block assembly, crankshaft and driving assembly.
Further, the multiple dimensioned software grabbing device of multiple degrees of freedom of the invention, the driving gear are located at the crankshaft
Lower section, the mounting platform be equipped with motor mounting shell, the driving motor be set to the motor mounting shell in.
According to the above aspect of the present invention, the present invention has at least the following advantages: the multiple dimensioned software crawl dress of multiple degrees of freedom of the invention
It sets, is arranged by components such as finger component, crankshafts, is changed into so that the finger of manipulator is realized to arrest by tradition machinery arm guiding
Air-actuated flexible finger realization is adaptively arrested, and finger is real by the design of the channel structure of the first working chamber and the second working chamber
Two kinds of different postures of finger are showed, and moving radially for finger are realized by crankshaft, connecting rod, driving motor etc..Specifically, this
Invention due to using the technology described above, is allowed to have the following advantages that compared with technology with existing traditional design and actively imitate
Fruit:
1. the finger of the flexible soft by silica gel material production, the characteristic with arbitrary deformation can be outwardly or inwardly curved
Song, adaptivity is strong, by using the first working chamber, the two-in-one channel structure of the second working chamber, so that finger can be to
Opposite direction bending, greatly promotes it and arrests range and adaptability.
2. the multiple dimensioned software grabbing device of multiple degrees of freedom of the invention is by even circumferential with reference to traditional scroll chuck formula distribution
The finger of distribution not only guarantees to arrest slide block assembly, crankshaft, connecting rod etc. reliable, but also that adapt to of the invention as end gripping device
The sliding diameter changing mechanism that component is constituted, simple and compact for structure, transmission control is easy.
3. the multiple dimensioned software grabbing device of multiple degrees of freedom of the invention can be assemblied in various mechanical arm tail ends as execution machine
Structure.And light weight is adjusted, existing rigidity freedom degree, i.e. the sliding diameter changing mechanism of the components such as crankshaft, connecting rod composition, and has
Flexible adaptivity, the i.e. flexibility of finger, rigid flexible system greatly improve the reliability of capture task.
4. the multiple dimensioned software grabbing device of multiple degrees of freedom of the invention, running part is ingenious in design, utilizes crankshaft, connecting rod
Diameter changing mechanism of the group as finger has reliable transmission, quality for rack-and-pinion or other gear drives
Gently, the advantages that structural member is few, good manufacturability.
In addition, the multiple dimensioned software grabbing device of multiple degrees of freedom of the invention uses the movement of ventilating control finger, cleaning peace
Entirely.
In conclusion the multiple dimensioned software grabbing device adaptivity of multiple degrees of freedom of the invention is high, mechanical structure is simple, at
This is lower and easily controllable.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
Detailed description of the invention
Fig. 1 is the multiple dimensioned software grabbing device front view of multiple degrees of freedom of the invention；
Fig. 2 is the top view of the multiple dimensioned software grabbing device of multiple degrees of freedom；
Fig. 3 is the front view of the multiple dimensioned software grabbing device (housing is not shown) of multiple degrees of freedom；
Fig. 4 is the top view of the multiple dimensioned software grabbing device (housing is not shown) of multiple degrees of freedom；
Fig. 5 is the cross-sectional view of finger component (connecting rod is not shown)；
Fig. 6 is the partial section enlarged view of finger component；
Fig. 7 is the three-dimensional structure diagram of airtight closing disk；
Fig. 8 is the three-dimensional structure diagram for driving gear and crankshaft；
Fig. 9 is gripping block three-dimensional structure diagram；
Figure 10 is the three-dimensional structure diagram outside finger；
Figure 11 is the three-dimensional structure diagram of finger component；
The posture schematic diagram of finger component when Figure 12 is the ventilation of the first working chamber；
The posture schematic diagram of finger component when Figure 13 is the ventilation of the second working chamber；
The schematic elevation view of the multiple dimensioned software grabbing device of multiple degrees of freedom when Figure 14 is finger to contract；
Figure 15 is finger to the stereoscopic schematic diagram of the contract constantly multiple dimensioned software grabbing device of multiple degrees of freedom；
Figure 16 is the schematic elevation view of multiple degrees of freedom multiple dimensioned software grabbing device when finger expands outwardly；
Figure 17 is the stereoscopic schematic diagram of multiple degrees of freedom multiple dimensioned software grabbing device when finger expands outwardly.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
Referring to Fig. 1 to Figure 17, the multiple dimensioned software grabbing device of the multiple degrees of freedom of a preferred embodiment of the present invention, including installation
Platform 1, crankshaft group and at least three groups of finger components, crankshaft group include the crankshaft 5 and crankshaft company above mounting platform
The driving motor of the driving gear 8, driving sliding tooth wheel rotation that connect, crankshaft includes at least three connecting shafts 11, every two connections
Angle between axis is 60 degree, and the both ends of connecting shaft are respectively equipped with the articulated shaft 12 positioned at connecting shaft heteropleural；
Finger component include the slide block assembly 13 being slidably disposed on mounting platform, be located at slide block assembly below and with
The finger 14 of slide block assembly connection, the connecting rod 6 being connect above mounting platform and with slide block assembly, one end of connecting rod and sliding block
Member hinges, the other end and articulated shaft of connecting rod are hinged, and one end of finger is connect with slide block assembly, and the other end of finger passes through peace
It fills the bar shaped perforation 15 on platform and protrudes out the lower surface of erecting bed, finger includes limiting layer 16 and is located inside and outside limiting layer
Strained layer 17, the elasticity of strained layer is higher than the elasticity of limiting layer, and the strained layer and limiting layer on the outside of limiting layer surround shape
At the first working chamber 18, strained layer and limiting layer on the inside of limiting layer surround to form the second working chamber 19, also set on finger
There are the first input port 20 connecting respectively with the first working chamber, the second input port 21 connecting with the second working chamber.
Specifically, slide block assembly is slidably matched with the guide rail 22 being set on mounting platform, and guide rail is along centered on crankshaft
Round radially extends, and when original state, angle is 120 degree between each connecting rod；
The moving direction of bar shaped perforation on erecting bed, length direction and sliding block is almost the same, when such sliding block is mobile
It is able to drive finger component while movement.
Finger is used for clamping workpiece comprising limiting layer and the strained layer positioned at its two sides, correspondingly, limiting layer is by finger
It is divided into finger outside 9 and finger interior 23, the first working chamber is located at outside finger, the second working chamber is located at finger interior, tool
When body running, mobile slide block assembly drives finger to move in or out, and to realize the clamping to workpiece or loosen, clamps work
When part, the external air source being connect with the first input port gas injection into the first working chamber, with the input of gas, the first work
Chamber gradually expands, since the elasticity of strained layer is greater than limiting layer, i.e. when the first working chamber expands, and stretching on strained layer length direction
Long amount is much higher than the elongation of limiting layer, when actual implementation, limiting layer by uniform wall thickness embedded silk screen or special presspaper
It being made, it is not extended substantially when the first working chamber expands, and strained layer by being similar to rubber there is elastomeric material to be made, the
One working chamber expand when its length be gradually increased so that the form of finger by the initial direction vertical with mounting platform by
It gradually curves inwardly, herein, refers to side of the limiting layer close to crankshaft on the inside of limiting layer, refer to the side far from crankshaft on the outside of limiting layer.
After multiple fingers are gradually curved to the inside, the workpiece in the middle part of multiple fingers is just gradually by grip finger.On the contrary, working as hand
When finger needs to loosen workpiece, operator need to only be released the gas in the first working chamber, and finger sets back at this time,
Workpiece is relaxed.If workpiece volume is larger, operator similarly can be now placed in limitation to the second work interacvity air-filling
The strained layer of layer inside gradually extends, so that finger be driven gradually to open outward, until workpiece can be placed into each finger it
Between, the gas in subsequent second working chamber is gradually extracted out, and finger is gradually recovered original position, until workpiece be clamped to each finger it
Between.
Two articulated shafts at same connecting shaft both ends are located at the heteropleural of connecting shaft, i.e., if being located at one end of the connecting shaft
Articulated shaft is located at the left side of connecting shaft, then is located at the right side of connecting shaft positioned at the articulated shaft of the connecting shaft other end, such to set
It sets, so that being located at different elevation planes on the direction vertical with mounting platform from the hinged connecting rod of each articulated shaft, avoids
Interference when driving gear band dynamic crankshaft and mobile connecting rod between each connecting rod.When specific works, when driving motor drives sliding tooth
When wheel rotation, driving gear band dynamic crankshaft rotation, hinged connecting rod is just under the action of crankshaft along peace with articulated shaft on crankshaft
The guide rail of assembling platform moves in or out, so that slide block assembly and the finger connecting with slide block assembly is driven to shrink or expand,
Since each slide block assembly is uniformly distributed on the circumference centered on crankshaft, the angle between each connecting shaft is 60 degree, and crankshaft turns
When dynamic, the mobile identical distance of each slide block assembly, so that finger be driven to move in or out same distance.
Wherein strained layer is formed by the casting of rubber synthetic material and is connect by bonding process with limiting layer, and strained layer is whole
In folded bent shape, to increase the elongation of strained layer.Preferably, connecting shaft and the number of finger component are three.
Preferably, the multiple dimensioned software grabbing device of multiple degrees of freedom of the invention, slide block assembly include symmetrically arranged two
A gripping block 2, the inside of gripping block are equipped with clamping slot 24, and the bottom end of gripping block is equipped with the sliding block being adapted to sliding rail on erecting bed
25, the hinged seat 26 connecting with connecting rod is additionally provided in gripping block, and the first input port, the second input port of finger are located at finger
Top, and the first input port, the second input port are adapted to clamping slot respectively.
Specifically, gripping block is in Ω type, and sliding block is located at the two sides of Ω type gripping block, and hinged seat is located in two sliding blocks
The left and right edges in portion, two gripping blocks are fastened by bolts, and the first input port and the second input port are set in clamping slot, and are led to
Gripping block clamping is crossed, the distance between the clamping groove bottom of two gripping blocks is slightly less than the total of the first input port and the second input port
Length, so that finger component can be integrally clamped between gripping block securely.
Preferably, the multiple dimensioned software grabbing device of multiple degrees of freedom of the invention, it is provided with above slide block assembly airtight
Closing disk 3, there are two gas-guide tubes 7, the bottom end of one of gas-guide tube to be connected to the first input port for setting in airtight closing disk, another
The bottom end of gas-guide tube is connected to the second input port.
Specifically, two gas-guide tube difference are T-shaped round table-like, and the bottom of gas-guide tube is the gradually smaller tubulose knot of outer diameter
Structure, and the bottom of gas-guide tube passes through and airtight closing disk and is inserted into the first input port or the second input port, the first input port, the
Two input ports size under the action of gas-guide tube slightly becomes larger, and thus works more closely it with gripping block, avoids finger
Or gas-guide tube falls off.When practical application, the first input port, the second input port are made of material identical with limitation layer material,
It is integrally formed with limiting layer, and is located at the top of limiting layer, and be integrally square tubular structure.
Preferably, the multiple dimensioned software grabbing device of multiple degrees of freedom of the invention, it is additionally provided on erecting bed for covering
The housing 10 of slide block assembly, crankshaft and driving assembly.
On the one hand the setting of housing realizes and blocks to component each on mounting platform, increases its safety and beauty
Degree, while housing can also be connect with manipulator, realize the assembling of multiple degrees of freedom multiple dimensioned software grabbing device and manipulator.
Preferably, the multiple dimensioned software grabbing device of multiple degrees of freedom of the invention, driving gear is located at the lower section of crankshaft, peace
Assembling platform is equipped with motor mounting shell 4, and driving motor is set in motor mounting shell.
When actual implementation, the output axis connection output gear of driving motor, output gear is engaged with driving gear again, thus
Realize the rotation of driving gear.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where spirit or essential attributes of the invention, those skilled in the art can realize this in other specific forms
Invention.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, the present invention
Protection scope be indicated by the appended claims rather than the foregoing description.
In addition, being not intended to restrict the invention the above is only the preferred embodiment of the present invention, it is noted that for this
For the those of ordinary skill of technical field, without departing from the technical principles of the invention, several improvement can also be made
And modification, these improvements and modifications also should be regarded as protection scope of the present invention.Although it will also be appreciated that this specification according to
Embodiment is described, and every embodiment includes only a single technical solution, this narration of specification
Mode is merely for the sake of clarity, and the skilled in the art should refer to the specification as a whole, the technology in each embodiment
Scheme may also be suitably combined to form that other embodiments which can be understood by those skilled in the art.
Claims (5)
1. a kind of multiple dimensioned software grabbing device of multiple degrees of freedom, it is characterised in that: including mounting platform (1), crankshaft group and extremely
Few three groups of finger components, the crankshaft group include above the mounting platform crankshaft (5), the driving that is connect with crankshaft
Gear (8), driving sliding tooth wheel rotation driving motor, the crankshaft includes at least three connecting shafts (11), every two
Angle between connecting shaft is 60 degree, and the both ends of connecting shaft are respectively equipped with the articulated shaft (12) positioned at connecting shaft heteropleural；
The finger component includes the slide block assembly (13) being slidably disposed on mounting platform, is located at below slide block assembly simultaneously
The finger (14) being connect with slide block assembly, the connecting rod (6) being connect above mounting platform and with slide block assembly, the connecting rod
One end is hinged with slide block assembly, and the other end and articulated shaft of connecting rod are hinged, and one end of the finger is connect with slide block assembly, finger
The other end pass through the bar shaped perforation (15) on erecting bed and protrude out the lower surface of erecting bed, the finger includes limiting layer
(16) strained layer (17) and inside and outside limiting layer, the elasticity of the strained layer are higher than the elasticity of the limiting layer, position
Strained layer and the limiting layer on the outside of limiting layer surround to form the first working chamber (18), the strained layer on the inside of limiting layer
It surrounds to be formed the second working chamber (19) with the limiting layer, the first input connecting respectively with the first working chamber is additionally provided on finger
Mouth (20), the second input port (21) being connect with the second working chamber.
2. the multiple dimensioned software grabbing device of multiple degrees of freedom according to claim 1, it is characterised in that: the slide block assembly packet
Symmetrically arranged two gripping blocks (2) are included, the inside of gripping block is equipped with clamping slot (24), and the bottom end of gripping block is equipped with and erecting bed
The sliding block (25) of upper sliding rail adaptation is additionally provided with the hinged seat (26) connecting with connecting rod in gripping block, and the first of the finger is defeated
Entrance, the second input port are located at the top of finger, and the first input port, the second input port are adapted to the clamping slot respectively.
3. the multiple dimensioned software grabbing device of multiple degrees of freedom according to claim 2, it is characterised in that: the slide block assembly
Top is provided with airtight closing disk (3), and setting is there are two gas-guide tube (7) in airtight closing disk, the bottom end of one of gas-guide tube and the
The connection of one input port, the bottom end of another gas-guide tube is connected to the second input port.
4. the multiple dimensioned software grabbing device of multiple degrees of freedom according to claim 1, it is characterised in that: on the erecting bed also
It is provided with the housing (10) for covering slide block assembly, crankshaft and driving assembly.
5. the multiple dimensioned software grabbing device of multiple degrees of freedom according to claim 1, it is characterised in that: the driving gear position
In the lower section of the crankshaft, the mounting platform is equipped with motor mounting shell (4), and the driving motor is installed set on the motor
In shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811512969.1A CN109605419A (en) | 2018-12-11 | 2018-12-11 | A kind of multiple dimensioned software grabbing device of multiple degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811512969.1A CN109605419A (en) | 2018-12-11 | 2018-12-11 | A kind of multiple dimensioned software grabbing device of multiple degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109605419A true CN109605419A (en) | 2019-04-12 |
Family
ID=66008045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811512969.1A Pending CN109605419A (en) | 2018-12-11 | 2018-12-11 | A kind of multiple dimensioned software grabbing device of multiple degrees of freedom |
Country Status (1)
| Country | Link |
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| CN (1) | CN109605419A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110666788A (en) * | 2019-09-27 | 2020-01-10 | 南京荧河谷科技有限公司 | Flexible pneumatic manipulator |
| CN110682284A (en) * | 2019-09-30 | 2020-01-14 | 南京荧河谷科技有限公司 | Electric flexible grabbing robot |
| CN111230920A (en) * | 2020-01-19 | 2020-06-05 | 广州大学 | Pneumatic soft clamping device |
| CN111844119A (en) * | 2020-08-21 | 2020-10-30 | 福州大学 | Variable-stroke soft pneumatic clamping device and working method thereof |
| CN112077822A (en) * | 2020-09-22 | 2020-12-15 | 武汉轻工大学 | Wheel diameter mechanism and manipulator |
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| US4815782A (en) * | 1986-12-08 | 1989-03-28 | United Technologies Corporation | Grappling device |
| EP0437792A1 (en) * | 1989-12-20 | 1991-07-24 | Kabushiki Kaisha Toshiba | Flexible finger member |
| CN103406913B (en) * | 2013-08-05 | 2016-08-10 | 江苏大学 | A kind of three claw robot being made up of three groups of slider-crank mechanisms |
| CN206764818U (en) * | 2017-06-06 | 2017-12-19 | 北京软体机器人科技有限公司 | Soft grasping device with function of weighing |
| US10112310B2 (en) * | 2015-06-26 | 2018-10-30 | Soft Robotics, Inc. | Food handling gripper |
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| US4815782A (en) * | 1986-12-08 | 1989-03-28 | United Technologies Corporation | Grappling device |
| EP0437792A1 (en) * | 1989-12-20 | 1991-07-24 | Kabushiki Kaisha Toshiba | Flexible finger member |
| CN103406913B (en) * | 2013-08-05 | 2016-08-10 | 江苏大学 | A kind of three claw robot being made up of three groups of slider-crank mechanisms |
| US10112310B2 (en) * | 2015-06-26 | 2018-10-30 | Soft Robotics, Inc. | Food handling gripper |
| CN206764818U (en) * | 2017-06-06 | 2017-12-19 | 北京软体机器人科技有限公司 | Soft grasping device with function of weighing |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110666788A (en) * | 2019-09-27 | 2020-01-10 | 南京荧河谷科技有限公司 | Flexible pneumatic manipulator |
| CN110682284A (en) * | 2019-09-30 | 2020-01-14 | 南京荧河谷科技有限公司 | Electric flexible grabbing robot |
| CN111230920A (en) * | 2020-01-19 | 2020-06-05 | 广州大学 | Pneumatic soft clamping device |
| CN111230920B (en) * | 2020-01-19 | 2021-10-26 | 广州大学 | Pneumatic soft clamping device |
| CN111844119A (en) * | 2020-08-21 | 2020-10-30 | 福州大学 | Variable-stroke soft pneumatic clamping device and working method thereof |
| CN112077822A (en) * | 2020-09-22 | 2020-12-15 | 武汉轻工大学 | Wheel diameter mechanism and manipulator |
| CN112077822B (en) * | 2020-09-22 | 2021-12-21 | 武汉轻工大学 | Wheel diameter mechanism and manipulator |
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Application publication date: 20190412 |