CN110506499A - A kind of flexible pneumatic clamper based on active envelope - Google Patents
A kind of flexible pneumatic clamper based on active envelope Download PDFInfo
- Publication number
- CN110506499A CN110506499A CN201910920291.9A CN201910920291A CN110506499A CN 110506499 A CN110506499 A CN 110506499A CN 201910920291 A CN201910920291 A CN 201910920291A CN 110506499 A CN110506499 A CN 110506499A
- Authority
- CN
- China
- Prior art keywords
- clamping
- capsule
- fruit
- clamper
- shell
- 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.)
- Granted
Links
- 239000002775 capsule Substances 0.000 claims abstract description 93
- 239000000463 material Substances 0.000 claims abstract description 13
- 230000001681 protective effect Effects 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 239000012153 distilled water Substances 0.000 claims description 6
- 239000004816 latex Substances 0.000 claims description 5
- 229920000126 latex Polymers 0.000 claims description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 230000005389 magnetism Effects 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 235000013399 edible fruits Nutrition 0.000 abstract description 98
- 230000000694 effects Effects 0.000 abstract description 11
- 230000003245 working effect Effects 0.000 abstract description 9
- 230000006978 adaptation Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000001771 impaired effect Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000011109 contamination Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000005307 ferromagnetism Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- 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
- A01D46/24—Devices for picking apples or like fruit
- A01D46/243—Accessories specially adapted for manual picking, e.g. ladders, carts
-
- 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
- A01D46/24—Devices for picking apples or like fruit
- A01D46/247—Manually operated fruit-picking tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J1/00—Manipulators positioned in space by hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention belongs to clamper technical field, specifically a kind of flexible pneumatic clamper based on active envelope, including connecting rod, handle and self-clamping module；The present invention is cooperated by the clamping capsule in self-clamping module with air pump; so that the fruit that clamper adapts to different building shape carries out active envelope and flexible clamping; greatly reduce the difficulty of picking; reduce the consumption of manpower and material resources; preferably adaptation and protection can be also carried out to different clamping objects simultaneously, substantially increases the working effect of clamper；And the present invention is by being equipped with corrugated flexible hose and soft magnet in clamping capsule bottom, so that soft magnet drives corrugated flexible hose to be stretched when attracting each other and drawing close, so that corrugated flexible hose carries out envelope support to fruit bottom, the generation that falls out of clamper of clamping object is reduced, and then enhance clamper grips effect.
Description
Technical field
The invention belongs to clamper technical field, specifically a kind of flexible pneumatic clamper based on active envelope.
Background technique
Clamper is widely used in automatic production line, to realize the clipping operation of workpiece.With every profession and trade Automated water
Flat raising, clamper are not only widely used in traditional industrial circle, while being also gradually embedded in medical treatment, food, server
Device people, the seabed field Kai Tandeng, the needs of to meet multi items and varying environment, design and performance to clamper are proposed newly
Requirement.Currently, most of rigid holders can only execute single task under particular circumstances, multi items folder can not be adapted to
The demand held.This kind of rigid holder there are poor universality, contact surface is few, control is complicated, is easy to damage the problems such as object.
In particular for the delicate clamping object of some fragilities, such as in fruit picking, due to the complexity of fruit picking,
Although can reduce the damage in fruit picking process using picked by hand, its efficiency is extremely low, difficult especially for some both hands
With the fruit picked, picked by hand needs to consume great man power and material, and traditional clamper picker is adopted mostly
Is carried out with the clamper of rigidity, not only cannot the fruit to different size figure carry out unified picking, can also be to some mature easy
Impaired fruit outer surface damages, and greatly affected the quality of fruit picking.
In consideration of it, the present invention provides a kind of flexible pneumatic clampers based on active envelope, effectively to different building shape
Clamping object carry out active envelope flexible clamping, greatly reduce clamper during the work time to clamping object damage
It is bad.
Summary of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of flexible pneumatic clamper based on active envelope,
The flexible clamping that active envelope is effectively carried out to the clamping object of different building shape, greatly reduces clamper during the work time
Damage to clamping object.
The technical solution adopted by the present invention to solve the technical problems is: a kind of flexible pneumatic clamping based on active envelope
Device, including connecting rod, handle and self-clamping module, the handle are located at connecting rod bottom end, and the self-clamping module is located at connecting rod top
Portion；The self-clamping module includes shell, air pump and work box；The air pump is located on the outer surface of shell, the work box position
In enclosure interior, the inside of the work box is equipped with elastomeric bladder, is equipped with distilled water inside the elastomeric bladder, the work box it is outer
Surface is connected with the clamping capsule of annular, and the clamping capsule is shaped to the arc-shaped of outwardly convex, and clamps convex in the middle part of capsule
The outer end risen is connected on the inner wall of the housing, is connected with tracheae between air pump at the top of the clamping capsule；Control is equipped in the shell
Device processed, the automatic running of the controller control device；When work, due to the complexity of fruit picking, though using picked by hand
The damage in fruit picking process can be so reduced, but its efficiency is extremely low, the fruit picked is difficult to especially for some both hands,
Picked by hand needs to consume great man power and material, and traditional automation picking mostly uses greatly rigid clamper to carry out,
Not only cannot the fruit to different size figure carry out unified picking, can also the fruit outer surface easily damaged to some maturations cause
Damage, greatly affected the quality of fruit picking；And the flexible pneumatic clamper of the active envelope used in the present invention is not only
Adaptability picking can be carried out to the fruit of different building shape, and its clamping setting flexible also greatly reduces in fruit picking process
Outer surface it is impaired；When operation, controller controls air pump and is evacuated by tracheae to clamping capsule, so that the gas that clamping is intracapsular
It reduces pressure to be lower, clamps capsule outer wall at this time and tighten on the inner wall of the housing under the action of ambient pressure, so that the intracorporal sky of shell
Between become larger, instant fruit stretches to enclosure interior, at this time the handle of manual control flexible pneumatic clamper, so that fruit is located at shell
Internal portion, controller control air pump is inflated clamping capsule at this time, becomes larger so that the gas for clamping intracapsular portion increases pressure, presss from both sides
It holds capsule gradually to expand under the action of air pressure inside and be gradually bonded with the fruit outer surface of housing central section, while fruit outer surface
To reversed extruding force is applied in the middle part of the clamping capsule of contact, so that fruit reduces clamping capsule to limiting in the middle part of clamping capsule
The dilatancy at middle part, so that the gas for clamping intracapsular portion flows into clamping capsule bottom end, so that the arc of outwardly convex presss from both sides
It holds capsule bottom end to occur bending and deformation to close to fruit bottom end under the pressure of the gas, while envelope and folder is carried out to fruit bottom
Tightly, to realize that clamping capsule is actively bonded envelope in the purpose of fruit outer surface with shape according to the size of fruit；And it is clamping
When capsule bottom end carries out package jack-up to fruit bottom, contact squeeze is carried out at the top of the elastomeric bladder and fruit at the top of fruit, and
The elastomeric bladder for filling distilled water simultaneously fits the outer surface of fruit when with fruit contact squeeze so that elastomeric bladder to fruit into
Row adequately contacts envelope, enhances the flexible clamping effect of clamper；Using having the beneficial effect that by clamping mould for the invention
Clamping capsule and air pump in block cooperate, so that the fruit that clamper adapts to different building shape carries out active envelope and flexibility is pressed from both sides
It holds, greatly reduces the difficulty of picking, reduce the consumption of manpower and material resources, while different clamping objects can also be carried out more
Good adaptation and protection, substantially increases the working effect of clamper.
Preferably, the clamping capsule bottom symmetrical connects flexible corrugated flexible hose, the inner bottom of the corrugated flexible hose
It is respectively equipped with soft magnet, the soft magnetism ferromagnetism is opposite；When work, occur when clamping capsule bottom end to the side close to fruit bottom end
When bending deformation, clamping capsule drives the corrugated flexible hose of bottom symmetrical connection to move closer to, so that the soft magnetism iron phase in corrugated flexible hose
Mutually attract draw close, soft magnet is driven while mutually drawing close on the outside of corrugated flexible hose stretched so that stretching wave
Line hose carries out envelope support to fruit bottom, reduces the generation that clamping object is fallen inside clamper, and then enhance folder
Holder grips effect.
Preferably, the clamping capsule is made of high-air-tightness and elastomeric latex material, and the bottom end of the clamping capsule is set
It is equipped with the convex grain of one group of elasticity；When work, the clamping capsule made of latex material has higher air-tightness, on the one hand can be reduced
The gas leakage for clamping intracapsular portion enhances the stability of clamping capsule work, and on the one hand elastomeric clamping capsule can be with clamping
Object carry out more flexible fitting with contact, clamping capsule preferably adapts to the object of clamping；And it clamps
The convex grain of capsule bottom end setting enhances the stiction between clamping capsule and the object of contact, so that clamping capsule is interior to being located at
The object of portion's clamping is preferably fixed.
Preferably, the housing bottom is symmetrically installed with cutting box, and pressure chamber, the pressure are equipped with inside the cutting box
It is connected between power chamber and air pump with tracheae；It is equipped with piston inside the pressure chamber, is connected with push rod, the push rod on the piston
The other end is respectively connected with cutter；When work, after clamping capsule grips fruit completely, the air pump of controller control at this time passes through
Tracheae is inflated pressure chamber, and pressure chamber internal gas increases pressure and becomes larger at this time, and the piston inside pressure chamber is in gas pressure
It is slided under the action of power to pressure chamber outer end, piston drives it to connect push rod and cutter when sliding is to close to fruit bottom end
Side moved so that symmetrically arranged cutter to be located at fruit bottom end carpopodium cut, greatly reduce
The difficulty of fruit picking reduces the generation that the fruit in clamper is pullled by carpopodium and is not fixed firmly, further improves
The clamping effect of flexible pneumatic clamper.
Preferably, it is equipped with crushing block at the top of the outer end of the push rod, the crushing block, which is shaped to, to raise upward
Arc-shaped；When work, when moving to soft magnet bottom to the side close to fruit bottom end when symmetrical two push rod, set at the top of push rod
The crushing block to raise upward set carries out promotion jack-up to the soft magnet for being located at top, so that symmetrical soft magnet progress is closer
Absorption so that soft magnet drive corrugated flexible hose and fruit bottom carry out it is closer be adjacent to envelope, further enhance
The effect that is fixedly clamped of flexible pneumatic clamper.
Preferably, the enclosure interior bottom end is equipped with one group of equally distributed protective film, and the shape of the protective film is all provided with
It is set to the identical fan shape of size；When work, shell intracorporal clamping capsule is easy to make when contacting with external environment for a long time with elastomeric bladder
At surface contamination, the service life and working effect of clamping capsule are leveraged, and housing bottom is equipped with equally distributed protection
Film can carry out enclosure interior to block and protect well, reduce pollution and damage of the external environment to enclosure interior, and protect
Cuticula is shaped to the resistance that the identical sector of size can effectively reduce protective film to fruit, so that fruit is more easily
Disengaging and picking in shell, to further improve the working effect of flexible pneumatic clamper.
Beneficial effects of the present invention are as follows:
1. the present invention is cooperated by the clamping capsule in self-clamping module with air pump, so that clamper adapts to the water of different building shape
Fruit carries out active envelope and flexible clamping, greatly reduces the difficulty of picking, reduces the consumption of manpower and material resources, while also can
Different clamping objects preferably adapt to and protect, the working effect of clamper is substantially increased.
2. the present invention is by being equipped with corrugated flexible hose and soft magnet in clamping capsule bottom, so that soft magnet is drawn close attracting each other
When drive corrugated flexible hose stretched so that corrugated flexible hose to fruit bottom carry out envelope support, reduce clamping object from
The generation fallen in clamper, and then enhance clamper grips effect.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings.
Fig. 1 is stereoscopic schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of self-clamping module in the present invention；
Fig. 3 is the operation schematic diagram of self-clamping module in the present invention；
Fig. 4 is the enlarged drawing in Fig. 2 at A；
Fig. 5 is the structural schematic diagram of protective film in the present invention；
In figure: connecting rod 1, handle 2, self-clamping module 3, shell 4, air pump 5, work box 6, elastomeric bladder 61, clamping capsule 62, convex grain
621, corrugated flexible hose 63, soft magnet 64, cutting box 7, pressure chamber 71, piston 72, push rod 73, cutter 74, crushing block 75, protective film
8。
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Embodiment is closed, the present invention is further explained.
As Figure 1-Figure 5, a kind of flexible pneumatic clamper based on active envelope of the present invention, including connecting rod
1, handle 2 and self-clamping module 3, the handle 2 are located at 1 bottom end of connecting rod, and the self-clamping module 3 is located at 1 top of connecting rod；It is described
Self-clamping module 3 includes shell 4, air pump 5 and work box 6；The air pump 5 is located on the outer surface of shell 4, the work box 6
Inside shell 4, the inside of the work box 6 is equipped with elastomeric bladder 61, is equipped with distilled water, the work inside the elastomeric bladder 61
The outer surface of case 6 is connected with the clamping capsule 62 of annular, and the clamping capsule 62 is shaped to the arc-shaped of outwardly convex, and presss from both sides
The outer end for holding 62 middle part protrusion of capsule is connected on 4 inner wall of shell, is connected with tracheae between 62 top of clamping capsule and air pump 5；
Controller, the automatic running of the controller control device are equipped in the shell 4；When work, due to the complexity of fruit picking
Property, although can reduce the damage in fruit picking process using picked by hand, its efficiency is extremely low, especially for some both hands
It is difficult to the fruit picked, picked by hand needs to consume great man power and material, and traditional automation picking mostly uses greatly
The clamper of rigidity carries out, not only cannot the fruit to different size figure carry out unified picking, can also to it is some it is mature vulnerable to
The fruit outer surface of damage damages, and greatly affected the quality of fruit picking；And the active envelope used in the present invention
Flexible pneumatic clamper can not only carry out adaptability picking to the fruit of different building shape, and its clamping setting flexible also subtracts significantly
The outer surface lacked in fruit picking process is impaired；When operation, controller control air pump 5 takes out clamping capsule 62 by tracheae
Gas, is lower so that the gas in clamping capsule 62 reduces pressure, clamps 62 outer wall of capsule at this time and tightens under the action of ambient pressure
On 4 inner wall of shell, so that the space in shell 4 becomes larger, instant fruit is stretched to inside shell 4, at this time manual control flexible air
The handle 2 of dynamic clamper, so that fruit is located inside shell 4, the 5 pairs of clamping capsules 62 of air pump of controller control at this time are inflated,
So that the gas inside clamping capsule 62 increases pressure and becomes larger, clamping capsule 62 gradually expands under the action of air pressure inside and and shell
The fruit outer surface at 4 middle parts is gradually bonded, while fruit outer surface is to applying reversed extruding force in the middle part of the clamping capsule 62 of contact,
So that fruit limits the middle part of clamping capsule 62, the dilatancy at 62 middle part of clamping capsule is reduced, so that inside clamping capsule 62
Gas flow into clamping 62 bottom end of capsule so that arc clamping 62 bottom end of capsule of outwardly convex is under the pressure of the gas to leaning on
Nearly fruit bottom end occurs bending and deformation, while carrying out envelope to fruit bottom and clamping, to realize clamping capsule 62 according to fruit
Size envelope is actively bonded with shape in the purpose of fruit outer surface；And fruit bottom is wrapped up in clamping 62 bottom end of capsule
When jack-up, contact squeeze is carried out at the top of the elastomeric bladder 61 and fruit at the top of fruit, and fill the elastomeric bladder of distilled water simultaneously
61 fit the outer surface of fruit when with fruit contact squeeze, so that elastomeric bladder 61 carries out adequately contact envelope to fruit,
Enhance the flexible clamping effect of clamper；Using the invention have the beneficial effect that by clamping capsule 62 in self-clamping module 3 with
Air pump 5 cooperates, so that the fruit that clamper adapts to different building shape carries out active envelope and flexible clamping, greatly reduces
The difficulty of picking reduces the consumption of manpower and material resources, while can also carry out preferably adapting to and protecting to different clamping objects
Shield, substantially increases the working effect of clamper.
As one embodiment of the present invention, 62 bottom symmetrical of clamping capsule connects flexible corrugated flexible hose 63,
The inner bottom of the corrugated flexible hose 63 is respectively equipped with soft magnet 64, and the soft magnet 64 is magnetic opposite；When work, when clamping capsule
When 62 bottom ends occur bending and deformation to the side close to fruit bottom end, clamping capsule 62 drives the corrugated flexible hose 63 of bottom symmetrical connection
It moves closer to, so that the soft magnet 64 in corrugated flexible hose 63 attracts each other and draws close, drive while mutually drawing close of soft magnet 64
The corrugated flexible hose 63 in outside is stretched, so that the corrugated flexible hose 63 stretched carries out envelope support to fruit bottom, is reduced
The generation that is fallen inside clamper of clamping object, and then enhance clamper grips effect.
As one embodiment of the present invention, the clamping capsule 62 is by high-air-tightness and elastomeric latex material system
At the bottom end of the clamping capsule 62 is provided with the convex grain 621 of one group of elasticity；When work, capsule 62 is clamped made of latex material
With higher air-tightness, the gas leakage inside clamping capsule 62 on the one hand can be reduced, enhance the stabilization that clamping capsule 62 works
Property, on the one hand elastomeric clamping capsule 62 can be carried out with the object of clamping more flexible fitting with contact so that clamping capsule 62
The object of clamping can preferably be adapted to；And the convex grain 621 for clamping the setting of 62 bottom end of capsule enhances clamping capsule 62 and connects
Stiction between the object of touching, so that clamping capsule 62 preferably fixes the object for being located at internal clamp.
As one embodiment of the present invention, 4 bottom end of shell is symmetrically installed with cutting box 7, in the cutting box 7
Portion is equipped with pressure chamber 71, is connected between the pressure chamber 71 and air pump 5 with tracheae；Piston is equipped with inside the pressure chamber 71
72, push rod 73 is connected on the piston 72, and 73 other end of push rod is respectively connected with cutter 74；When work, when clamping capsule 62
After gripping completely to fruit, controller control air pump 5 is inflated pressure chamber 71 by tracheae at this time, at this time pressure chamber
71 internal gas increase pressure and become larger, the piston 72 inside pressure chamber 71 under the action of gas pressure to 71 outer end of pressure chamber into
Row sliding, piston 72 drives it to connect push rod 73 when sliding are moved with cutter 74 to the side close to fruit bottom end, from
And symmetrically arranged cutter 74 cuts the carpopodium for being located at fruit bottom end, the difficulty of fruit picking is greatly reduced,
The generation that the fruit in clamper is pullled by carpopodium and is not fixed firmly is reduced, flexible pneumatic clamper is further improved
Clamping effect.
As one embodiment of the present invention, crushing block 75, the extruding are equipped at the top of the outer end of the push rod 73
Block 75 is shaped to the arc-shaped to raise upward；When work, transported when symmetrical two push rod 73 to the side close to fruit bottom end
When moving to 64 bottom of soft magnet, the crushing block 75 to raise upward being arranged at the top of push rod 73 carries out the soft magnet 64 for being located at top
Push and jack up so that symmetrical soft magnet 64 carries out closer absorption so that soft magnet 64 drive corrugated flexible hose 63 with
Fruit bottom carry out it is closer be adjacent to envelope, further enhance the effect that is fixedly clamped of flexible pneumatic clamper.
As one embodiment of the present invention, 4 inner bottom of shell is equipped with one group of equally distributed protective film 8,
The shape of the protective film 8, which is all provided with, is set to the identical fan shape of size；Clamping capsule 62 and elastomeric bladder 61 when work, in shell 4
It is easy to cause surface contamination when contacting for a long time with external environment, leverages the service life and working effect of clamping capsule 62,
And 4 bottom end of shell is equipped with equally distributed protective film 8 and can reduce extraneous to closure well and protection is carried out inside shell 4
Environment is to the pollution and damage inside shell 4, and protective film 8 is shaped to the identical sector of size can effectively reduce guarantor
Cuticula 8 to the resistance of fruit so that fruit passed in and out more easily in shell 4 with picking, to further improve flexible air
The working effect of dynamic clamper.
When work, controller control air pump 5 is evacuated clamping capsule 62 by tracheae, so that the gas in clamping capsule 62
It reduces pressure to be lower, clamps 62 outer wall of capsule at this time and tighten on 4 inner wall of shell under the action of ambient pressure, so that in shell 4
Space become larger, instant fruit stretches to inside shell 4, at this time the handle 2 of manual control flexible pneumatic clamper, so that fruit
Inside shell 4, the 5 pairs of clamping capsules 62 of air pump of controller control at this time are inflated, so that the gas inside clamping capsule 62 increases
Multiple pressure becomes larger by force, clamps capsule 62 and gradually expands under the action of air pressure inside and gradually paste with the fruit outer surface at 4 middle part of shell
It closes, while fruit outer surface is to applying reversed extruding force in the middle part of the clamping capsule 62 of contact, so that fruit is to clamping in capsule 62
Portion is limited, and the dilatancy at 62 middle part of clamping capsule is reduced, so that the gas inside clamping capsule 62 flows into clamping 62 bottom of capsule
End, so that arc clamping 62 bottom end of capsule of outwardly convex bends change to close to fruit bottom end under the pressure of the gas
Shape, while envelope is carried out to fruit bottom and is clamped, to realize that clamping capsule 62 is actively bonded according to the size of fruit with shape
Purpose of the envelope in fruit outer surface；And when clamping 62 bottom end of capsule carries out package jack-up to fruit bottom, it is located at the top of fruit
Elastomeric bladder 61 and fruit at the top of carry out contact squeeze, and fill the elastomeric bladder 61 of distilled water simultaneously when with fruit contact squeeze
The outer surface of fruit is fitted, so that elastomeric bladder 61 carries out adequately contact envelope to fruit, enhances the flexible folder of clamper
Holding effect fruit；It is cooperated by the clamping capsule 62 in self-clamping module 3 with air pump 5 using having the beneficial effect that for the invention, so that folder
The fruit that holder adapts to different building shape carries out active envelope and flexible clamping, greatly reduces the difficulty of picking, reduces people
The consumption of power and material resources, while also different clamping objects can be carried out preferably to adapt to and protect, substantially increase clamper
Working effect.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and only illustrating for the description in above embodiments and description is of the invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (6)
1. a kind of flexible pneumatic clamper based on active envelope, including connecting rod (1), handle (2) and self-clamping module (3), institute
It states handle (2) and is located at connecting rod (1) bottom end, the self-clamping module (3) is located at the top of connecting rod (1)；It is characterized by: the folder
Holding module (3) includes shell (4), air pump (5) and work box (6)；The air pump (5) is located on the outer surface of shell (4), described
Work box (6) is located at shell (4) inside, and the inside of the work box (6) is equipped with elastomeric bladder (61), and the elastomeric bladder (61) is internal
Equipped with distilled water, the outer surface of the work box (6) is connected with the clamping capsule (62) of annular, and the shape of clamping capsule (62) is set
It is set to the arc-shaped of outwardly convex, and the outer end for clamping protrusion in the middle part of capsule (62) is connected on shell (4) inner wall, the clamping capsule
(62) tracheae is connected between top and air pump (5)；Controller is equipped in the shell (4), the controller control device
Automatic running.
2. a kind of flexible pneumatic clamper based on active envelope according to claim 1, it is characterised in that: the clamping
Capsule (62) bottom symmetrical connects flexible corrugated flexible hose (63), and the inner bottom of the corrugated flexible hose (63) is respectively equipped with soft magnetism
Iron (64), the soft magnet (64) are magnetic opposite.
3. a kind of flexible pneumatic clamper based on active envelope according to claim 2, it is characterised in that: the clamping
Capsule (62) is made of high-air-tightness and elastomeric latex material, and the bottom end of clamping capsule (62) is provided with the convex of one group of elasticity
Grain (621).
4. a kind of flexible pneumatic clamper based on active envelope according to claim 1, it is characterised in that: the shell
(4) bottom end is symmetrically installed with cutting box (7), is equipped with pressure chamber (71) inside the cutting box (7), the pressure chamber (71) with
It is connected between air pump (5) with tracheae；Piston (72) are equipped with inside the pressure chamber (71), are connected with push rod on the piston (72)
(73), push rod (73) other end is respectively connected with cutter (74).
5. a kind of flexible pneumatic clamper based on active envelope according to claim 4, it is characterised in that: the push rod
(73) it is equipped with crushing block (75) at the top of outer end, the crushing block (75) is shaped to the arc-shaped to raise upward.
6. a kind of flexible pneumatic clamper based on active envelope according to claim 4, it is characterised in that: the shell
(4) inner bottom is equipped with one group of equally distributed protective film (8), and the shape of the protective film (8) is all provided with that be set to size identical
Fan shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910920291.9A CN110506499B (en) | 2019-09-26 | 2019-09-26 | Flexible pneumatic clamp holder based on initiative envelope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910920291.9A CN110506499B (en) | 2019-09-26 | 2019-09-26 | Flexible pneumatic clamp holder based on initiative envelope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110506499A true CN110506499A (en) | 2019-11-29 |
| CN110506499B CN110506499B (en) | 2024-05-24 |
Family
ID=68632387
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910920291.9A Active CN110506499B (en) | 2019-09-26 | 2019-09-26 | Flexible pneumatic clamp holder based on initiative envelope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110506499B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022263456A1 (en) * | 2021-06-14 | 2022-12-22 | Fieldwork Robotics Limited | An end-effector |
| CN117699637A (en) * | 2023-11-15 | 2024-03-15 | 广东伟业铝材有限公司 | Section bar hoist device |
| CN117699637B (en) * | 2023-11-15 | 2024-10-25 | 广东伟业铝材有限公司 | Section bar hoist device |
Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2237645A2 (en) * | 1973-07-16 | 1975-02-14 | Guichard Paul | |
| KR20080053595A (en) * | 2006-12-11 | 2008-06-16 | 임장혁 | Fine-cone pick system |
| KR20080053637A (en) * | 2006-12-11 | 2008-06-16 | 임장혁 | Aerial plant an atrophy natural object pick system |
| CN101601346A (en) * | 2009-07-09 | 2009-12-16 | 华南农业大学 | A kind of portable fruit picking machine capable of automatic gripping and cutting |
| KR101191100B1 (en) * | 2012-04-10 | 2012-10-18 | (주)오씨티 | Harvestng end-effector for melon |
| US20160001444A1 (en) * | 2013-03-04 | 2016-01-07 | President And Fellows Of Harvard College | Magnetic assembly of soft robots with hard components |
| US20160075036A1 (en) * | 2014-09-17 | 2016-03-17 | Joshua Aaron Lessing | Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators |
| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| WO2016055552A1 (en) * | 2014-10-07 | 2016-04-14 | Katholieke Universiteit Leuven | Automated harvesting apparatus |
| CN105818143A (en) * | 2016-05-26 | 2016-08-03 | 南京理工大学 | Flexible multi-arm pneumatic gripper based on active wrapping and passive shaping |
| CN205928689U (en) * | 2016-05-26 | 2017-02-08 | 南京理工大学 | Pneumatic multijaw holder based on particulate matter is moulding |
| CN107567815A (en) * | 2017-10-12 | 2018-01-12 | 谷新运 | A kind of gasbag-type citrus picking mechanical arm end effector and picking method |
| CN206978074U (en) * | 2017-06-29 | 2018-02-09 | 江西科技学院 | A kind of picking fruit device |
| CN108544515A (en) * | 2018-04-24 | 2018-09-18 | 温州大学激光与光电智能制造研究院 | Controllable-mechanism type manipulator |
| CN207927269U (en) * | 2018-03-16 | 2018-10-02 | 成都大学 | A kind of portable fruit grasping picker |
| CN109048969A (en) * | 2018-10-25 | 2018-12-21 | 董翰泽 | A kind of self-adapting grasping manipulator |
| CN109121716A (en) * | 2018-08-20 | 2019-01-04 | 陇东学院 | A kind of walnut picker and its collection device |
| CN109964645A (en) * | 2019-04-29 | 2019-07-05 | 上海工程技术大学 | A kind of gasbag-type fruit picker |
| KR101963631B1 (en) * | 2019-02-14 | 2019-07-31 | 주식회사 아성 | Clamping apparatus |
| CN209425189U (en) * | 2019-02-12 | 2019-09-24 | 滁州职业技术学院 | A kind of automobile parts processing mold protective device |
| CN210537513U (en) * | 2019-09-26 | 2020-05-19 | 滁州职业技术学院 | Flexible pneumatic clamp holder based on active envelope |
-
2019
- 2019-09-26 CN CN201910920291.9A patent/CN110506499B/en active Active
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2237645A2 (en) * | 1973-07-16 | 1975-02-14 | Guichard Paul | |
| KR20080053595A (en) * | 2006-12-11 | 2008-06-16 | 임장혁 | Fine-cone pick system |
| KR20080053637A (en) * | 2006-12-11 | 2008-06-16 | 임장혁 | Aerial plant an atrophy natural object pick system |
| CN101601346A (en) * | 2009-07-09 | 2009-12-16 | 华南农业大学 | A kind of portable fruit picking machine capable of automatic gripping and cutting |
| KR101191100B1 (en) * | 2012-04-10 | 2012-10-18 | (주)오씨티 | Harvestng end-effector for melon |
| US20160001444A1 (en) * | 2013-03-04 | 2016-01-07 | President And Fellows Of Harvard College | Magnetic assembly of soft robots with hard components |
| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| US20160075036A1 (en) * | 2014-09-17 | 2016-03-17 | Joshua Aaron Lessing | Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators |
| WO2016055552A1 (en) * | 2014-10-07 | 2016-04-14 | Katholieke Universiteit Leuven | Automated harvesting apparatus |
| CN205928689U (en) * | 2016-05-26 | 2017-02-08 | 南京理工大学 | Pneumatic multijaw holder based on particulate matter is moulding |
| CN105818143A (en) * | 2016-05-26 | 2016-08-03 | 南京理工大学 | Flexible multi-arm pneumatic gripper based on active wrapping and passive shaping |
| CN206978074U (en) * | 2017-06-29 | 2018-02-09 | 江西科技学院 | A kind of picking fruit device |
| CN107567815A (en) * | 2017-10-12 | 2018-01-12 | 谷新运 | A kind of gasbag-type citrus picking mechanical arm end effector and picking method |
| CN207927269U (en) * | 2018-03-16 | 2018-10-02 | 成都大学 | A kind of portable fruit grasping picker |
| CN108544515A (en) * | 2018-04-24 | 2018-09-18 | 温州大学激光与光电智能制造研究院 | Controllable-mechanism type manipulator |
| CN109121716A (en) * | 2018-08-20 | 2019-01-04 | 陇东学院 | A kind of walnut picker and its collection device |
| CN109048969A (en) * | 2018-10-25 | 2018-12-21 | 董翰泽 | A kind of self-adapting grasping manipulator |
| CN209425189U (en) * | 2019-02-12 | 2019-09-24 | 滁州职业技术学院 | A kind of automobile parts processing mold protective device |
| KR101963631B1 (en) * | 2019-02-14 | 2019-07-31 | 주식회사 아성 | Clamping apparatus |
| CN109964645A (en) * | 2019-04-29 | 2019-07-05 | 上海工程技术大学 | A kind of gasbag-type fruit picker |
| CN210537513U (en) * | 2019-09-26 | 2020-05-19 | 滁州职业技术学院 | Flexible pneumatic clamp holder based on active envelope |
Non-Patent Citations (1)
| Title |
|---|
| 张立彬;王志恒;鲍官军;钱少明;杨庆华;: "基于气动柔性驱动器的侧摆关节特性", 农业工程学报, no. 08, 31 August 2009 (2009-08-31), pages 71 - 77 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022263456A1 (en) * | 2021-06-14 | 2022-12-22 | Fieldwork Robotics Limited | An end-effector |
| CN117699637A (en) * | 2023-11-15 | 2024-03-15 | 广东伟业铝材有限公司 | Section bar hoist device |
| CN117699637B (en) * | 2023-11-15 | 2024-10-25 | 广东伟业铝材有限公司 | Section bar hoist device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110506499B (en) | 2024-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204160486U (en) | For the vacuum type mechanical grip hand of robot for carrying and piling | |
| CN206748458U (en) | A kind of manipulator clamping device | |
| CN204487583U (en) | Software drives radial open-close type pneumatic gripping device | |
| CN105856264A (en) | Software-driven radial opening and closing type pneumatic clamping device | |
| CN208246855U (en) | Vacuum chuck based on hierarchical cellular structure | |
| CN106881725A (en) | A kind of flexible grips structure | |
| CN110506499A (en) | A kind of flexible pneumatic clamper based on active envelope | |
| CN114407063B (en) | Multifunctional mechanical arm end effector | |
| CN207459070U (en) | A kind of soft pack cell clamp device | |
| CN107378768B (en) | Polishing clamp for elliptical workpiece | |
| CN212372214U (en) | Pneumatic finger | |
| CN210537513U (en) | Flexible pneumatic clamp holder based on active envelope | |
| CN206393617U (en) | A kind of absorption type picks up fixture | |
| CN217707890U (en) | Resistor disc batch grabbing device | |
| CN108673548B (en) | Vacuum adsorption device applied to glass transfer mechanism | |
| CN219192810U (en) | Release paper removing device | |
| CN215245890U (en) | Vacuum control device of packaging machine | |
| CN215789954U (en) | Automatic clamping device for glass processing | |
| CN211224104U (en) | Opening device for packaging machine | |
| CN216067500U (en) | Rotary telescopic clamping type mechanical claw | |
| CN211254388U (en) | End effector of whole-support egg boxing and carrying robot | |
| CN206466220U (en) | A kind of intelligent and high-efficiency vacuum packing machine | |
| CN210704884U (en) | Flexible vacuum adsorption device | |
| CN204802635U (en) | Vacuum adsorption device | |
| CN206978263U (en) | A kind of edible fungus culturing is with efficiently turning over bagging apparatus |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |