CN110281257A - Can multi-direction bending the double air cavity flexible mechanical finger of modularization and its working method - Google Patents
Can multi-direction bending the double air cavity flexible mechanical finger of modularization and its working method Download PDFInfo
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- CN110281257A CN110281257A CN201910620171.7A CN201910620171A CN110281257A CN 110281257 A CN110281257 A CN 110281257A CN 201910620171 A CN201910620171 A CN 201910620171A CN 110281257 A CN110281257 A CN 110281257A
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- air cavity
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- deformable body
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- 238000005452 bending Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000005192 partition Methods 0.000 claims description 2
- 238000009423 ventilation Methods 0.000 claims description 2
- 230000037303 wrinkles Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 230000036544 posture Effects 0.000 abstract description 7
- 238000009434 installation Methods 0.000 description 3
- 238000009776 industrial production Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000012857 repacking Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses can multi-direction bending the double air cavity flexible mechanical finger of modularization and its working method.Existing flexible mechanical finger is single in the presence of steering, bending posture is fixed, grabs the problems such as complicated form object is difficult.Finger module one of the invention includes air cavity one and air cavity two；Finger module two includes air cavity three and air cavity four；Two one end of air cavity one and air cavity of finger starting point cover closure finger module one, air cavity spacing board two close two other end of air cavity one and air cavity of finger module one；The air cavity three of finger module two and four one end of air cavity are also closed by air cavity spacing board two, and the other end is closed by finger tips；Air cavity one, air cavity two, air cavity three and air cavity four include along venthole axial arranging and integrally formed multiple fold deformable bodies.Multi-direction bending can be achieved in the present invention, and has a variety of bending postures, can adapt to the complicated crawl object of various shapes size.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to it is a kind of can multi-direction bending the double air cavity flexible mechanicals of modularization
Finger and its working method.
Background technique
Currently, existing more molding flexible mechanical finger usually only has single air cavity, therefore, flexible finger is working
When be typically only capable to realize the bending in single direction, and its working morphology is single；The gripper being made of this kind of finger, because of its each hand
The movement of finger is single, lacks good adaptability to the object of crawl different size, different shape, is needing to grab special form
When shape object, it is often necessary to according to the size and shape information of crawl object, adjust the posture of its installation and chucking device, significantly
The working efficiency of gripper is reduced, this is but also existing flexible finger is difficult to promote in field of industrial production.Therefore, one is introduced
It kind can be suitably used for grabbing a variety of irregular shapes and different size of object and can realize multi-direction bending have dual segment structure
Flexible mechanical finger to improve crawl working efficiency, practical value with higher.
Summary of the invention
The purpose of the present invention is existing for existing flexible mechanical finger, steering is single, bending posture is fixed, it is multiple to grab
A series of problems, such as miscellaneous form object is difficult provides a kind of achievable multi-direction bending, the flexibility that posture is adjustable, crawl is adaptable
Mechanical finger and its working method, mating pneumatic equipment and existing flexible mechanical finger phase needed for flexible mechanical finger work
Together, it can be used cooperatively with the mating pneumatic equipment installation of existing Pneumatic flexible mechanical finger, have at low cost, easily promoted etc. excellent
Point.
The present invention is implemented with the following technical solutions:
The present invention can multi-direction bending the double air cavity flexible mechanical fingers of modularization, including finger module one, finger module two,
Air cavity spacing board one, air cavity spacing board two, finger starting end casing and finger tips；The finger module one includes gas
Cavity one and air cavity two；Air cavity one and an air cavity two and obligatory point are fixed and are encircled into the closed side of finger module one
Wall is separated between air cavity one and air cavity two by one piece of air cavity spacing board one being fixed on the obligatory point；The hand
Refer to that module two includes air cavity three and air cavity four；Air cavity three and air cavity four and another obligatory point are fixed and are encircled into hand
Refer to the closed side wall of module two, another piece of air cavity interval between air cavity three and air cavity four by being fixed on the obligatory point
Plate one separates；The finger starting gentle cavity spacing board two of end casing is fixed on one both ends of finger module, finger starting point
Two one end of air cavity one and air cavity of cover closure finger module one, air cavity spacing board two close the air cavity of finger module one
Two other end of body one and air cavity；Described two one end of finger module is fixed on air cavity spacing board two, and the other end is fixed with
Finger tips；The air cavity three of finger module two and four one end of air cavity are also closed by air cavity spacing board two, and the other end is by hand
Refer to endcapped；The finger starting end casing offers air inlet one, air inlet two, air inlet three and air inlet four；Hand
Refer to that the air inlet two of starting end casing is connected to air cavity two, air inlet three is connected to air cavity one；The air cavity interval
Plate two is opened up there are two venthole, and the air inlet one that finger originates end casing passes through snorkel one and one of venthole one end
The air inlet four of connection, finger starting end casing is connected to by snorkel two with another venthole one end；Two ventholes are another
One end is connected to air cavity three and air cavity four respectively.
Air cavity one, air cavity two, air cavity three and the air cavity four includes along venthole axial arranging and one
Body formed multiple fold deformable bodies；Fold deformable body is equipped with the two fold deformation axial and disposed in parallel perpendicular to venthole
Body thin-walled side；Two fold deformable body thin-walled sides are connected by multiple fold deformable body heavy wall sides, form the interior of fold deformable body
Chamber, and the inner cavity one end open setting of fold deformable body；The lateral wall of two fold deformable body thin-walled sides is close to fold deformable body
Integrally formed fin-is equipped at the open end position in inner cavity；In air cavity one, air cavity two, air cavity three or air cavity four,
The fin of adjacent pleats deformable body is connected, near air cavity spacing board two fold deformable body fin between air cavity
Partition two is fixed；Air cavity one and air cavity two rise with finger near the fin of the fold deformable body of finger starting end casing
Beginning cover board is fixed, and air cavity three and air cavity four are consolidated with finger tips near the fin of the fold deformable body of finger tips
It is fixed；Opposite the distance between the two fold deformable body thin-walled sides of two fold deformable bodies of arbitrary neighborhood are d1；Air cavity one
The distance between two fold deformable body thin-walled sides of air cavity three-phase pair and air cavity two and air cavity four it is opposite two
The distance between a fold deformable body thin-walled side is d2；D1 < d2.
This can multi-direction bending the double air cavity flexible mechanical fingers of modularization working method, it is specific as follows:
Air inlet one, air inlet two, air inlet three and the air inlet four of finger starting end casing are passed through into external gas respectively
Pipe is connect with charger, and a control valve and pressure gauge is arranged on every external tracheae.Charger is given by air inlet three
Air cavity one provides gas source, provides gas source to air cavity two by air inlet two；Charger passes through air inlet one, snorkel one
Air cavity three with venthole to finger module two provides gas source, by air inlet four, snorkel two and venthole to air cavity
Four provide gas source.
When air pressure keeps standard atmospheric pressure in air pressure increase in air cavity one, air cavity two, the fold shape of air cavity one
Variant expands, and air cavity one is bent；Since the obligatory point deformation in finger module one is unobvious, and the fold of air cavity two
Deformable body does not change actively, so that finger module one is influenced by air cavity one, generates warp tendency identical with air cavity one；
The curved curvature of finger module one increases with the air pressure in air cavity one and is become larger；When air pressure increase, air cavity in air cavity two
When air pressure keeps standard atmospheric pressure in one, finger module one generates warp tendency identical with air cavity two, and finger module one is curved
Bent curvature increases with the air pressure in air cavity two and is become larger；When air pressure is all larger than normal atmosphere in air cavity one and air cavity two
When pressure, air cavity one and the fold deformable body of air cavity two are expanded, and air cavity one and air cavity two generate bending, are made
It obtains finger module one and generates warp tendency along air cavity one and the curved Vector modulation direction of air cavity two, change air cavity one
With the air pressure ratio of air pressure in air cavity two, change the warp tendency of finger module one, realizes finger module one to different directions
Bending.Similarly, changing the air pressure in air cavity three and air cavity four realizes finger module two to the bending of different directions and curved
Curvature.
The invention has the benefit that
1, flexible mechanical finger of the present invention can realize multi-direction bending, and have a variety of bending postures, can adapt to a variety of
The complicated crawl object of geomery does not need the size and shape information according to crawl object in actual industrial production, adjusts
The posture of its whole installation and chucking device, therefore actual production efficiency can be improved.
2, finger module one of the invention, finger module two, obligatory point, air cavity spacing board one, air cavity spacing board two,
Finger originates end casing and finger tips are flexible body, i.e., is made using flexible material (such as silica gel), can be preferable
Ground fitting crawl subject surface, adapts to surface crawl object easy to damage, therefore will not damage grabbed object.
3, identical as existing flexible mechanical finger on mounting means, it can join with existing conventional pneumatic flexible manipulator system
Repacking collaboration is closed to use.
Detailed description of the invention
Fig. 1 is the structural perspective after present invention removal finger tips；
Fig. 2 is top view of the invention；
Fig. 3 is the cross-sectional view of finger module one in the present invention；
Fig. 4 is the A-A cross-sectional view of Fig. 3；
Fig. 5 is the cross-sectional view of fold deformable body in the present invention；
Fig. 6 is the unilateral curved schematic diagram of the present invention；
In figure: 1, obligatory point, 2, snorkel one, 3, finger originate end casing, 4, air cavity one, 5, air inlet one, 6, into
Port three, 7, air inlet two, 8, air inlet four, 9, air cavity spacing board one, 10, snorkel two, 11, fold deformable body, 12, gas
Cavity spacing board two, 13, air cavity three, 14, finger tips, 15, air cavity four, 16, air cavity two, 17, finger module one,
18, finger module two, 19, fold deformable body thin-walled side, 19-1, fin, 20, fold deformable body heavy wall side.
Specific embodiment
With reference to the accompanying drawing and example the present invention will be further described.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, can multi-direction bending the double air cavity flexible mechanical fingers of modularization, including finger
Module 1, finger module 2 18, air cavity spacing board 1, air cavity spacing board 2 12, finger starting end casing 3 and finger
End 14；Finger module 1 includes air cavity 1 and air cavity 2 16；Air cavity 1 and air cavity 2 16 and a constraint
Body 1 is fixed and is encircled into the closed side wall of finger module 1, by being fixed on the constraint between air cavity 1 and air cavity 2 16
One piece of air cavity spacing board 1 on body 1 separates；Finger module 2 18 includes air cavity 3 13 and air cavity 4 15；Air cavity
3 13 fix with air cavity 4 15 and another obligatory point 1 and are encircled into the closed side wall of finger module 2 18, air cavity 3 13
It is separated between air cavity 4 15 by another piece of air cavity spacing board 1 being fixed on the obligatory point 1；Finger originates end casing
3 and air cavity spacing board 2 12 be fixed on one 17 both ends of finger module, finger originates the gas that end casing 3 closes finger module 1
2 16 one end of cavity 1 and air cavity, air cavity spacing board 2 12 close the air cavity 1 and air cavity two of finger module 1
16 other ends；2 18 one end of finger module is fixed on air cavity spacing board 2 12, and the other end is fixed with finger tips 14；Finger
The air cavity 3 13 of module 2 18 and 4 15 one end of air cavity are also closed by air cavity spacing board 2 12, and the other end is by finger tips
14 closings；Finger starting end casing 3 offers air inlet 1, air inlet 27, air inlet 36 and air inlet 48；Finger starting
The air inlet 27 of end casing 3 is connected to air cavity 2 16, and air inlet 36 is connected to air cavity 1；Air cavity spacing board 2 12
It opens up there are two venthole, the air inlet 1 that finger originates end casing 3 passes through snorkel 1 and one of venthole one end
The air inlet 48 of connection, finger starting end casing 3 is connected to by snorkel 2 10 with another venthole one end；Two ventilations
The hole other end is connected to air cavity 3 13 and air cavity 4 15 respectively.
As shown in Fig. 1, Fig. 4, Fig. 5 and Fig. 6, air cavity 1, air cavity 2 16, air cavity 3 13 and air cavity 4 15 are equal
Including along venthole axial arranging and integrally formed five fold deformable bodies 11；Fold deformable body 11 is equipped with perpendicular to venthole
Two folds deformable body thin-walled axial and disposed in parallel side 19；Two fold deformable body thin-walled sides 19 pass through three fold deformation
Body heavy wall side 20 connects, and forms the inner cavity of fold deformable body 11, and the inner cavity one end open setting of fold deformable body 11, makes fold
Deformable body 11 is easier to expand in fold deformable body thin-walled side 19 during expansion, to control 11 side of expansion of fold deformable body
To；The lateral wall of two fold deformable body thin-walled sides 19 be equipped at the open end position in 11 inner cavity of fold deformable body one at
The fin 19-1 of type；In air cavity 1, air cavity 2 16, air cavity 3 13 or air cavity 4 15, adjacent pleats deformable body 11
Fin is connected, and the fin near the fold deformable body 11 of air cavity spacing board 2 12 is consolidated with air cavity spacing board 2 12
It is fixed；Air cavity 1 and air cavity 2 16 are originated with finger near the fin of the fold deformable body 11 of finger starting end casing 3
End casing 3 is fixed, air cavity 3 13 and air cavity 4 15 near the fold deformable body 11 of finger tips 14 fin and hand
Refer to that end 14 is fixed；The distance between two opposite fold deformable body thin-walled sides 19 of two fold deformable bodies 11 of arbitrary neighborhood are equal
For d1；The distance between air cavity 1 and the opposite two fold deformable body thin-walled sides 19 of air cavity 3 13 and air cavity two
16 and opposite the distance between the two fold deformable body thin-walled sides 19 of air cavity 4 15 be d2；D1 < d2；Two neighboring pleat
The distance between two opposite fold deformable body thin-walled sides 19 of wrinkle deformable body 11 are smaller, and two neighboring fold deformable body 11 is made to exist
Power transmission can be easier when expanding.
This can multi-direction bending the double air cavity flexible mechanical fingers of modularization working method, it is specific as follows:
By air inlet 1, air inlet 27, air inlet 36 and the air inlet 48 of finger starting end casing 3 respectively by outer
Portion's tracheae is connect with charger (such as air pump), and when connection, a control valve and pressure gauge is arranged on every external tracheae.
Charger provides gas source to air cavity 1 by air inlet 36, is mentioned by air inlet 27 to air cavity 2 16
Air supply source；When air pressure keeps standard atmospheric pressure in air pressure increase in air cavity 1, air cavity 2 16, the fold of air cavity 1
Deformable body 11 expands, and air cavity 1 is bent；Since 1 deformation of obligatory point in finger module 1 is unobvious, and air cavity
2 16 fold deformable body 11 does not change actively, so that finger module 1 is influenced by air cavity 1, generates and air cavity one
4 identical warp tendencies；The curved curvature of finger module 1 increases with the air pressure in air cavity 1 and is become larger；Similarly, work as gas
Air pressure increase in cavity 2 16, when air pressure keeps standard atmospheric pressure in air cavity 1, finger module 1 generates and air cavity two
16 identical warp tendencies, the curved curvature of finger module 1 increase with the air pressure in air cavity 2 16 and are become larger；Work as air cavity
When air pressure is all larger than standard atmospheric pressure in body 1 and air cavity 2 16, the fold deformable body 11 of air cavity 1 and air cavity 2 16
It expands, air cavity 1 and air cavity 2 16 generate bending, so that finger module 1 is along air cavity 1 and gas
The curved Vector modulation direction of cavity 2 16 generates warp tendency, changes the air pressure of air pressure in air cavity 1 and air cavity 2 16
Than the warp tendency of finger module 1 then can be changed, realize bending of the finger module one to different directions；As it can be seen that cooperation changes
Become the air pressure size in air cavity 1 and air cavity 2 16, the bending direction and curvature of finger module 1 can be changed.
Air cavity three 13 of the charger by air inlet 1, snorkel 1 and venthole to finger module 2 18 provides
Gas source provides gas source to air cavity 4 15 by air inlet 48, snorkel 2 10 and venthole；Similarly, change air cavity 3 13
Bending and bending curvature of the finger module 2 18 to different directions are realized with the air pressure in air cavity 4 15.When air cavity 3 13
When air pressure keeps standard atmospheric pressure in interior air pressure increase, air cavity 4 15, the fold deformable body 11 of air cavity 3 13 is expanded,
Air cavity 3 13 is bent；Since 1 deformation of obligatory point in finger module 2 18 is unobvious, and the fold deformable body of air cavity 4 15
11 do not change actively, so that finger module 2 18 is influenced by air cavity 3 13, generate bending identical with air cavity 3 13 and become
Gesture；The curved curvature of finger module 2 18 increases with the air pressure in air cavity 3 13 and is become larger；Similarly, when gas in air cavity 4 15
When pressure increases, air pressure keeps standard atmospheric pressure in air cavity 3 13, finger module 2 18 generates identical with air cavity 4 15 curved
Bent trend, the curved curvature of finger module 2 18 increase with the air pressure in air cavity 4 15 and are become larger；When air cavity 3 13 and gas
When air pressure is all larger than standard atmospheric pressure in cavity 4 15, the fold deformable body 11 of air cavity 3 13 and air cavity 4 15 occurs swollen
Swollen, air cavity 3 13 and air cavity 4 15 generate bending, so that finger module 2 18 is along air cavity 3 13 and air cavity four
15 curved Vector modulation directions generate warp tendency, change the air pressure ratio of air pressure in air cavity 3 13 and air cavity 4 15, then
The warp tendency of changeable finger module 2 18, realizes bending of the finger module 2 18 to different directions.
Finger module 1 and finger module 2 18 are the independently-controlled, generate differently curved form, it can be achieved that entire finger spirit
Changeable operating attitude living.
Claims (2)
1. can multi-direction bending the double air cavity flexible mechanical fingers of modularization, including between finger module one, finger module two, air cavity
Partition one, air cavity spacing board two, finger starting end casing and finger tips, it is characterised in that: the finger module one is wrapped
Include air cavity one and air cavity two；Air cavity one and an air cavity two and obligatory point are fixed and are encircled into the envelope of finger module one
Side wall is closed, is separated between air cavity one and air cavity two by one piece of air cavity spacing board one being fixed on the obligatory point；It is described
Finger module two include air cavity three and air cavity four；Air cavity three is fixed and is surrounded with air cavity four and another obligatory point
Another piece of air cavity at the closed side wall of finger module two, between air cavity three and air cavity four by being fixed on the obligatory point
Spacing board one separates；The finger starting gentle cavity spacing board two of end casing is fixed on one both ends of finger module, and finger rises
Two one end of air cavity one and air cavity of beginning cover closure finger module one, air cavity spacing board two close finger module one
Two other end of air cavity one and air cavity；Described two one end of finger module is fixed on air cavity spacing board two, and the other end is solid
Surely there are finger tips；The air cavity three of finger module two and four one end of air cavity are also closed by air cavity spacing board two, the other end
It is closed by finger tips；The finger starting end casing offers air inlet one, air inlet two, air inlet three and air inlet
Four；The air inlet two of finger starting end casing is connected to air cavity two, and air inlet three is connected to air cavity one；The air cavity
Spacing board two is opened up there are two venthole, and the air inlet one that finger originates end casing passes through snorkel one and one of venthole
The air inlet four of one end connection, finger starting end casing is connected to by snorkel two with another venthole one end；Two ventilations
The hole other end is connected to air cavity three and air cavity four respectively；
Air cavity one, air cavity two, air cavity three and the air cavity four include along venthole axial arranging and one at
Multiple fold deformable bodies of type；Fold deformable body is equipped with perpendicular to venthole, two fold deformable bodies axial and disposed in parallel are thin
Wall side；Two fold deformable body thin-walled sides are connected by multiple fold deformable body heavy wall sides, form the inner cavity of fold deformable body, and
The inner cavity one end open of fold deformable body is arranged；The lateral wall of two fold deformable body thin-walled sides is opened close to fold deformable body inner cavity
It puts and is equipped with integrally formed fin-at end position；In air cavity one, air cavity two, air cavity three or air cavity four, adjacent pleat
Wrinkle deformable body fin be connected, near air cavity spacing board two fold deformable body fin with air cavity spacing board two
It is fixed；Air cavity one and air cavity two originate end cap with finger near the fin of the fold deformable body of finger starting end casing
Plate is fixed, and air cavity three and air cavity four are fixed with finger tips near the fin of the fold deformable body of finger tips；Appoint
Opposite the distance between the two fold deformable body thin-walled sides of two neighboring fold deformable body of anticipating are d1；Air cavity one and air cavity
The distance between two opposite fold deformable body thin-walled sides of body three and opposite two folds of air cavity two and air cavity four
The distance between deformable body thin-walled side is d2；D1 < d2.
2. according to claim 1 can multi-direction bending the double air cavity flexible mechanical fingers of modularization working method, feature
Be: this method is specific as follows:
By finger starting end casing air inlet one, air inlet two, air inlet three and air inlet four respectively by external tracheae with
Charger connects, and a control valve and pressure gauge is arranged on every external tracheae；Charger gives air cavity by air inlet three
Body one provides gas source, provides gas source to air cavity two by air inlet two；Charger is by air inlet one, snorkel one and leads to
Stomata provides gas source to the air cavity three of finger module two, is mentioned by air inlet four, snorkel two and venthole to air cavity four
Air supply source；
When air pressure keeps standard atmospheric pressure in air pressure increase in air cavity one, air cavity two, the fold deformable body of air cavity one
It expands, air cavity one is bent；Since the obligatory point deformation in finger module one is unobvious, and the fold deformation of air cavity two
Body does not change actively, so that finger module one is influenced by air cavity one, generates warp tendency identical with air cavity one；Finger
The curved curvature of module one increases with the air pressure in air cavity one and is become larger；When in air pressure increase in air cavity two, air cavity one
When air pressure keeps standard atmospheric pressure, finger module one generates warp tendency identical with air cavity two, and finger module one is curved
Curvature increases with the air pressure in air cavity two and is become larger；When air pressure is all larger than standard atmospheric pressure in air cavity one and air cavity two
When, air cavity one and the fold deformable body of air cavity two expand, and air cavity one and air cavity two generate bending, so that
Finger module one generates warp tendency along air cavity one and the curved Vector modulation direction of air cavity two, change air cavity one with
The air pressure ratio of air pressure in air cavity two changes the warp tendency of finger module one, realizes finger module one to the curved of different directions
It is bent；Similarly, bending and bending of the finger module two to different directions are realized in the air pressure changed in air cavity three and air cavity four
Curvature.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910620171.7A CN110281257B (en) | 2019-07-10 | 2019-07-10 | Modularized double-air-cavity flexible mechanical finger capable of being bent in multiple directions and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910620171.7A CN110281257B (en) | 2019-07-10 | 2019-07-10 | Modularized double-air-cavity flexible mechanical finger capable of being bent in multiple directions and working method thereof |
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| CN110281257B CN110281257B (en) | 2024-02-13 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590618A (en) * | 2020-06-16 | 2020-08-28 | 杭州义顺科技有限公司 | Bending-twisting coupling flexible clamping jaw with controllable posture |
| CN111975807A (en) * | 2020-07-08 | 2020-11-24 | 河海大学常州校区 | Air control soft bionic manipulator |
| CN111975808A (en) * | 2020-07-08 | 2020-11-24 | 河海大学常州校区 | Air control soft bionic mechanical finger |
| CN112828931A (en) * | 2021-01-06 | 2021-05-25 | 张家港市万荣金属制品有限公司 | Flexible bionic motion joint |
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