CN110539262A - Parallel-driven flexible under-actuated clamp holder - Google Patents
Parallel-driven flexible under-actuated clamp holder Download PDFInfo
- Publication number
- CN110539262A CN110539262A CN201910841614.5A CN201910841614A CN110539262A CN 110539262 A CN110539262 A CN 110539262A CN 201910841614 A CN201910841614 A CN 201910841614A CN 110539262 A CN110539262 A CN 110539262A
- Authority
- CN
- China
- Prior art keywords
- flexible hinge
- connecting rod
- clamping
- rod
- limiting part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000002457 bidirectional effect Effects 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 description 8
- 238000001746 injection moulding Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010923 batch production Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
Abstract
The invention provides a parallel-driven compliant under-actuated clamp, which comprises two clamp arms and a drive part, wherein the two clamp arms are connected with the drive part through a connecting rod; the two clamping arms are arranged in a mirror symmetry mode and are respectively connected with the driving part, and the driving part drives the two clamping arms to move so as to realize clamping or stretching movement; the clamping arm comprises a fixed part, a clamping rod vertically connected with the fixed part, a connecting rod, a flexible hinge and a limiting part; the clamping rod is connected with the fixing part through a flexible hinge and is of a segmented structure connected by the flexible hinge; one end of the connecting rod is connected with the fixed part through a flexible hinge, the other end of the connecting rod is connected with the clamping rod through a flexible hinge, and the connecting rod is of a segmented structure connected by the flexible hinge; the limiting part is arranged opposite to the flexible hinge on the connecting rod, so that the clamping rod is limited to move outwards. The gripper has strong flexibility and certain flexibility, and has strong self-adaptive capacity to the contour of a grabbed object, thereby effectively improving the universality of the gripper; meanwhile, the clamper can buffer the thrust of the driving component.
Description
Technical Field
The invention relates to the technical field of clamps, in particular to a parallel-driven flexible under-actuated clamp.
Background
a gripper is a device that grips an object and thereby manipulates the object, and is capable of gripping and releasing the object while performing certain actions. In a typical robot machining process, workpieces are required to be clamped, positioned, sorted and carried by a clamp.
at present, a gripper is generally installed at the end of a mechanical arm as a gripping tool, and an object is gripped and held by a gripper, and then transferred from an initial position to a target position or other operations as required. In the current stage of production, the widely adopted rigid clamp has the problems of poor universality, high manufacturing cost, insufficient flexibility and the like:
(1) The poor commonality leads to the clamp holder needing to be frequently replaced to adapt to the characteristic of fast production change of hardware manufacturing and processing, which is not favorable for the economy;
(2) The manufacturing cost is high, and the industrial application is not facilitated;
(3) The insufficient flexibility causes that the rigid clamp is easy to damage the surface of the hardware product, and the processing safety is influenced.
Therefore, it is desirable to design a low cost, compliant universal robot gripper.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings in the prior art and provide a parallel-driven flexible under-actuated clamp holder which has strong flexibility, certain flexibility and strong self-adaptive capacity to the contour of a captured object, thereby effectively improving the universality of the clamp holder; meanwhile, the clamp holder can buffer the thrust of the driving assembly and can protect a grabbed object through the flexibility of the clamp holder.
In order to achieve the purpose, the invention is realized by the following technical scheme: a parallel-driven compliant under-actuated gripper, comprising: comprises two clamping arms and a driving part; the two clamping arms are arranged in a mirror symmetry mode and are respectively connected with the driving part, and the driving part drives the two clamping arms to move so as to realize clamping or stretching movement;
The clamping arm comprises a fixing part, a clamping rod vertically connected with the fixing part, a connecting rod, a flexible hinge and a limiting part; the clamping rod is connected with the fixing part through a flexible hinge and is of a segmented structure connected by the flexible hinge; one end of the connecting rod is connected with the fixing part through a flexible hinge, the other end of the connecting rod is connected with the clamping rod through a flexible hinge, and the connecting rod is of a segmented structure connected by the flexible hinge; the limiting part is arranged opposite to the flexible hinge on the connecting rod, and the clamping rods are limited to move outwards, so that the clamping rods of the clamping arms are clamped inwards.
In the scheme, the clamping arms arranged in mirror symmetry are driven by the driving part to clamp or open the clamped object. In the clamping arm clamping process, under the action of the flexible hinge and the connecting rod, the clamping rods are attached to the surface profile of a clamped object, the outer side flexible hinge is limited by the limiting part to increase the rotating angle, the clamping rods are limited to move outwards, the stability of the clamping arm structure is maintained, the clamping rods of the clamping arms are clamped inwards, and the clamping arms are clamped stably to the clamped object. The flexible under-actuated clamp holder is high in flexibility and has certain flexibility, and under the action of the flexible hinge and the connecting rod, the self-adaptive capacity to the contour of a grabbed object is high, so that the universality of the clamp holder is effectively improved. Meanwhile, the clamp holder can buffer the thrust of the driving assembly and can protect a grabbed object through the flexibility of the clamp holder.
the clamping rods comprise a far-end clamping rod, a middle clamping rod and a near-end clamping rod.
The flexible hinges include a first flexible hinge, a second flexible hinge, a third flexible hinge, a fourth flexible hinge, a fifth flexible hinge, and a sixth flexible hinge.
The clamping rod is a segmented structure connected by flexible hinges, and the segmented structure is as follows: the clamping rod is a segmented structure type clamping rod which is formed by connecting a far-end clamping rod, a middle clamping rod and a near-end clamping rod through a first flexible hinge and a third flexible hinge respectively; the near-end clamping rod is connected with the fixing part through a fifth flexible hinge.
the connecting rods comprise a middle connecting rod and a near-end connecting rod; the connecting rod is a segmented structure connected by flexible hinges, and the segmented structure is as follows: the connecting rod is a sectional structure type connecting rod formed by connecting the middle connecting rod and the near-end connecting rod through a fourth flexible hinge.
the middle connecting rod is connected with the bottom of the far-end clamping rod through a second flexible hinge; the near-end connecting rod is connected with the fixing part through a sixth flexible hinge.
The limiting part comprises a first limiting part connected with the far-end clamping rod, a second limiting part connected with the middle connecting rod and a third limiting part connected with the near-end connecting rod; the first limiting part is positioned on the outer side of the connecting rod and is opposite to the second flexible hinge; the second limiting part is positioned on the outer side of the connecting rod and is opposite to the fourth flexible hinge; the third limiting part is positioned on the outer side of the connecting rod and is opposite to the sixth flexible hinge.
The invention also comprises a first sleeve, a second sleeve and a third sleeve which are used for eliminating the clearance between the limiting part and the connecting rod; the first sleeve is sleeved on the end part of the first limiting part in an interference fit manner and abuts against the middle connecting rod; the second sleeve is sleeved at the end part of the second limiting part in an interference fit manner and abuts against the near-end connecting rod; the third sleeve is sleeved on the end part of the third limiting part in an interference fit mode and abuts against the fixing part. The first sleeve, the second sleeve and the third sleeve are respectively used for eliminating gaps between the first limiting part and the middle connecting rod, between the second limiting part and the near-end connecting rod and between the third limiting part and the fixing part due to processing. In the processing process of the clamping arm, a gap must exist between the limiting part and the connecting rod, and when the clamping arm is clamped in parallel, the existence of the gap cannot ensure the verticality of the far-end clamping rod, so that the clamped object is easily extruded.
The flexible hinge is a circular cut-groove flexible hinge. The circular-groove flexible hinge is adopted, so that the stability of the structure can be enhanced, the whole clamping arm can be integrally formed without assembly, the injection molding processing cost is low in batch production, and no friction exists.
the driving part is a power device driven in a bidirectional parallel manner; the clamping arm is an integrally formed soft rubber component. The clamping arm is an integrally formed soft rubber component, the clamping arm is integrally formed without assembly, and the mass production cost is low by using an injection molding method. The soft rubber component is made of soft rubber material with the Zhao's hardness of 90 degrees, can bear objects below 2KG approximately, and the increase of the thickness of the flexible hinge can further improve the load capacity of the clamping arm.
the gripper can realize multiple gripping modes under the condition of using a single driving source, and the gripping modes are parallel gripping and envelope gripping respectively, so that the self-adaptive capacity to the outline of an object is strong; and connecting rod and flexible hinge can cushion drive assembly's thrust to can be through the flexibility protection of self by the object of snatching, after snatching the object and having been by the centre gripping, the drive assembly continues to act on, also is difficult for crushing and catches the object.
the parallel-driven compliant underactuated clamp has the following advantages:
1. Economy (low cost): the clamping arms are integrally formed, assembly is avoided, and the mass production cost is low by using an injection molding method; in addition, the adopted driving part comprises few parts, the driving principle is simple, and the driving structure is simple.
2. The self-adaptive capacity is strong: compared with a rigid mechanism, the clamp has compliance and better fits the surface contour of the clamped object, so that the self-adaptive capacity of the clamp to the contour surface of the object is further improved.
3. safety: the centre gripping arm can be through the flexibility protection of self snatched the object, because supporting rod and connecting rod are each through flexible hinged joint, when snatching article, flexible hinged joint can cushion drive assembly's thrust, when snatching the object and already being held the back, drive assembly continues the effect, also is difficult for crushing and snatchs the object.
Compared with the prior art, the invention has the following advantages and beneficial effects: the parallel-driven flexible under-actuated gripper has strong flexibility and certain flexibility, and has strong self-adaptive capacity to the contour of a gripped object, thereby effectively improving the universality of the gripper; meanwhile, the clamp holder can buffer the thrust of the driving assembly and can protect a grabbed object through the flexibility of the clamp holder.
Drawings
FIG. 1 is a perspective view of a parallel-driven compliant under-actuated clamp of the present invention;
FIG. 2 is a schematic view of a clamp arm of the present invention;
FIG. 3 is an exploded view of the parallel-actuated compliant under-actuated clamp of the present invention;
FIG. 4 is a schematic view of a sleeve of the present invention;
FIG. 5 is a simplified diagram of a pseudo-rigid body model of the present invention;
FIG. 6 is a diagrammatic view of the gripper of the present invention gripping a square object in parallel;
FIG. 7 is a diagrammatic view of the holder of the present invention enveloping a cylindrical object;
Fig. 8 is a diagrammatic view of the holder of the present invention enveloping an irregular object.
wherein, 1 is a far-end clamping rod, 2 is a middle clamping rod, 3 is a middle connecting rod, 4 is a near-end clamping rod, 5 is a near-end connecting rod, 6 is a fixing part, 7 is a first flexible hinge, 8 is a second flexible hinge, 9 is a third flexible hinge, 10 is a fourth flexible hinge, 11 is a fifth flexible hinge, 12 is a sixth flexible hinge, 13 is a first limiting part, 14 is a second limiting part, 15 is a third limiting part, 16 is a first sleeve, 17 is a driving connecting element, 18 is a driving part, 19 is a second sleeve, and 20 is a third sleeve.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Examples
As shown in fig. 1 to 8, the parallel-driven compliant under-actuated gripper of the present invention comprises two gripper arms and a driving part 18, wherein the driving part 2 is a bidirectional parallel-driven power device; the two clamping arms are arranged in a mirror symmetry mode and are respectively connected with the driving part 2 through the driving connecting element 17, and the driving part 2 drives the two clamping arms to move to realize clamping or stretching movement.
each clamping arm comprises a fixing part 6, a clamping rod vertically connected with the fixing part 6, a connecting rod, a flexible hinge and a limiting part, wherein the clamping rod is connected with the fixing part 6 through the flexible hinge and is of a segmented structure connected by the flexible hinge; one end of the connecting rod is connected with the fixing part 6 through a flexible hinge, the other end of the connecting rod is connected with the clamping rod through a flexible hinge, and the connecting rod is of a segmented structure connected by the flexible hinge; the limiting part is arranged opposite to the flexible hinge on the connecting rod, and the clamping rods are limited to move outwards so as to be clamped inwards by the clamping rods of the clamping arms.
In particular, the gripping shanks comprise a distal gripping shank 1, a middle gripping shank 2 and a proximal gripping shank 4. The flexible hinges include a first flexible hinge 7, a second flexible hinge 8, a third flexible hinge 9, a fourth flexible hinge 10, a fifth flexible hinge 11, and a sixth flexible hinge 12. The connecting rods comprise a middle connecting rod 3 and a proximal connecting rod 4.
Wherein, the clamping rod is a segmented structure connected by a flexible hinge, and the segmented structure refers to that: the clamping rod is a segmented structure type clamping rod which is formed by connecting a far-end clamping rod 1, a middle clamping rod 2 and a near-end clamping rod 4 through a first flexible hinge 7 and a third flexible hinge 9 respectively, and the near-end clamping rod 4 is connected with a fixing part 6 through a fifth flexible hinge 11. The connecting rod is a segmented structure connected by flexible hinges, and the segmented structure is as follows: the connecting rod is a sectional structure type connecting rod formed by connecting the middle connecting rod 3 and the near-end connecting rod 5 through a fourth flexible hinge 10. The middle connecting rod 3 is connected with the bottom of the far-end clamping rod 1 through a second flexible hinge 8, and the near-end connecting rod 5 is connected with the fixing part 6 through a sixth flexible hinge 12.
The limiting parts comprise a first limiting part 13 connected with the far-end clamping rod 1, a second limiting part 14 connected with the middle connecting rod 3 and a third limiting part 15 connected with the near-end connecting rod 5, wherein the first limiting part 13 is positioned on the outer side of the connecting rod and is arranged opposite to the second flexible hinge 8, the second limiting part 14 is positioned on the outer side of the connecting rod and is arranged opposite to the fourth flexible hinge 10, and the third limiting part 15 is positioned on the outer side of the connecting rod and is arranged opposite to the sixth flexible hinge 12. The invention also comprises a first sleeve 16, a second sleeve 19 and a third sleeve 20 which are used for eliminating the clearance between the limiting part and the connecting rod, wherein the first sleeve 16 is sleeved on the end part of the first limiting part 13 in an interference fit manner and is propped against the middle connecting rod 3, and the second sleeve 19 is sleeved on the end part of the second limiting part 14 in an interference fit manner and is propped against the near-end connecting rod 5; the third sleeve 20 is fitted over the end of the third stopper 15 in an interference fit manner and abuts against the fixing portion 6. The first sleeve 16, the second sleeve 19 and the third sleeve 20 of the invention are used to eliminate the gaps between the first position-limiting part 13 and the middle connecting rod 3, between the second position-limiting part 14 and the proximal connecting rod 5 and between the third position-limiting part 15 and the fixing part 6 respectively due to processing. In the processing process of the clamping arm, a gap must exist between the limiting part and the connecting rod, and when the clamping arm is clamped in parallel, the existence of the gap cannot ensure the verticality of the far-end clamping rod, so that the clamped object is easily extruded.
The flexible hinge is a circular cut-groove flexible hinge. The circular-groove flexible hinge is adopted, so that the stability of the structure can be enhanced, the whole clamping arm can be integrally formed without assembly, the injection molding processing cost is low in batch production, and no friction exists.
the product purchased from the bidirectional parallel-driven power device of the embodiment is a bidirectional sliding platform type cylinder of FOSTO company, and the model is HGPLE-25-80-2, 8. The clamping arm is an integrally formed soft rubber component, the clamping arm is integrally formed without assembly, and the mass production cost is low by using an injection molding method. The soft rubber component is made of soft rubber material with the Zhao's hardness of 90 degrees, can bear objects below 2KG approximately, and the increase of the thickness of the flexible hinge can further improve the load capacity of the clamping arm.
The working principle of the invention is as follows:
In the initial state, the pseudo-rigid body model of the gripper is shown in fig. 5.
(1) When parallel gripping of objects is achieved, the mechanical sketch of the gripper is shown in fig. 6. The output end of the driving part 18 drives the left and right clamping elements to move towards the symmetrical center of the clamping device in parallel, when the far-end clamping rod 1 contacts an object, taking the right-side clamping arm as an example, the first limiting part 13, the second limiting part 14 and the third limiting part 15 respectively limit the increasing trend of the included angle between the far-end clamping rod 1 and the corresponding connecting rod, and as the far-end clamping rod 1 has the trend of clockwise rotation, the middle clamping rod 2 and the near-end clamping rod 4 are pulled at the moment, so that stable parallel clamping is realized.
The explanation will be given below with the distal clamping bar 1 replaced by the bar ABF, the intermediate connecting bar 3 replaced by the bar BC, the proximal connecting bar 5 replaced by the bar CD, and the fixing portion 6 replaced by the bar DE, respectively.
When the rod ABF contacts with the clamped object, the rod ABF is subjected to a horizontal right acting force, and the rod ABF tends to rotate clockwise around a point F;
Secondly, the rod ABF tends to rotate clockwise around the point B relative to the rod BD, and the first limiting part 13 plays a limiting role, namely, the increasing trend of the included angle between the rod ABF and the rod BC is limited;
When the first limiting component 13 plays a limiting role, the rod AFB and the rod BC can be seen as a whole and have a clockwise rotation trend around the point C relative to the rod CD, and the second limiting component 14 plays a limiting role, namely, the increase trend of the included angle between the rod BD and the rod CD is limited;
When the first limiting part 13 and the second limiting part 14 play a limiting role, the rod AFB, the rod BC and the rod CD can be considered as a whole, and have a clockwise rotation trend around the point D relative to the rod DE, and the third limiting part 15 plays a limiting role, namely, the increasing trend of the included angle between the rod CD and the rod DE is limited.
(2) when the envelope clamping of the object is achieved, the mechanism diagram of the clamping element is shown in fig. 7, 8. The output end of the driving part 18 drives the left and right clamping arms to move towards the symmetrical center of the clamp holder in parallel, the near-end clamping rod 4 and the middle clamping rod 2 or the far-end clamping rod 1 are attached to the surface contour of the clamped object, as shown in fig. 7 and 8, the limiting part limits the flexible hinge with an increasing trend so as to maintain the stability of the mechanism and realize stable enveloping clamping.
The envelope clamping process is described below by taking the right clamping arm of fig. 8 as an example:
firstly, the right clamping arm is driven by a driving part to slide leftwards;
secondly, when the clamping arm does not contact the clamping object, the component of the clamping rod along the y-axis direction is the largest due to the vertical direction of the initial state FGH;
The clamping arm continues to move leftwards, when the clamping rod is in contact with a clamped object, the clamping rod can rotate, the point F inevitably moves towards the negative direction of the y axis, and the far-end clamping rod 1, the middle clamping rod 2 and the middle connecting rod 3 can be pressed downwards integrally, so that the shape of an envelope is formed.
And fourthly, because the BCDHGF is an under-actuated mechanism, the mechanism can be adaptive to fit the outline of the object until all degrees of freedom are limited to zero by the clamped object or the limiting part, so that the clamping steady state is achieved, and the enveloping clamping mode is completed.
The gripper can realize multiple gripping modes under the condition of using a single driving source, and the gripping modes are parallel gripping and envelope gripping respectively, so that the self-adaptive capacity to the outline of an object is strong; and connecting rod and flexible hinge can cushion drive assembly's thrust to can be through the flexibility protection of self by the object of snatching, after snatching the object and having been by the centre gripping, the drive assembly continues to act on, also is difficult for crushing and catches the object.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A parallel-driven compliant under-actuated gripper, comprising: comprises two clamping arms and a driving part; the two clamping arms are arranged in a mirror symmetry mode and are respectively connected with the driving part, and the driving part drives the two clamping arms to move so as to realize clamping or stretching movement;
The clamping arm comprises a fixing part, a clamping rod vertically connected with the fixing part, a connecting rod, a flexible hinge and a limiting part; the clamping rod is connected with the fixing part through a flexible hinge and is of a segmented structure connected by the flexible hinge; one end of the connecting rod is connected with the fixing part through a flexible hinge, the other end of the connecting rod is connected with the clamping rod through a flexible hinge, and the connecting rod is of a segmented structure connected by the flexible hinge; the limiting part is arranged opposite to the flexible hinge on the connecting rod, and the clamping rods are limited to move outwards, so that the clamping rods of the clamping arms are clamped inwards.
2. The parallel-driven compliant under-actuated gripper of claim 1, wherein: the clamping rods comprise a far-end clamping rod, a middle clamping rod and a near-end clamping rod.
3. The parallel-driven compliant under-actuated gripper of claim 2, wherein: the flexible hinges include a first flexible hinge, a second flexible hinge, a third flexible hinge, a fourth flexible hinge, a fifth flexible hinge, and a sixth flexible hinge.
4. The parallel-driven compliant under-actuated gripper of claim 3, wherein: the clamping rod is a segmented structure connected by flexible hinges, and the segmented structure is as follows: the clamping rod is a segmented structure type clamping rod which is formed by connecting a far-end clamping rod, a middle clamping rod and a near-end clamping rod through a first flexible hinge and a third flexible hinge respectively; the near-end clamping rod is connected with the fixing part through a fifth flexible hinge.
5. The parallel-driven compliant under-actuated gripper of claim 4, wherein: the connecting rods comprise a middle connecting rod and a near-end connecting rod; the connecting rod is a segmented structure connected by flexible hinges, and the segmented structure is as follows: the connecting rod is a sectional structure type connecting rod formed by connecting the middle connecting rod and the near-end connecting rod through a fourth flexible hinge.
6. the parallel-driven compliant under-actuated gripper of claim 5, wherein: the middle connecting rod is connected with the bottom of the far-end clamping rod through a second flexible hinge; the near-end connecting rod is connected with the fixing part through a sixth flexible hinge.
7. the parallel-driven compliant under-actuated gripper of claim 6, wherein: the limiting part comprises a first limiting part connected with the far-end clamping rod, a second limiting part connected with the middle connecting rod and a third limiting part connected with the near-end connecting rod; the first limiting part is positioned on the outer side of the connecting rod and is opposite to the second flexible hinge; the second limiting part is positioned on the outer side of the connecting rod and is opposite to the fourth flexible hinge; the third limiting part is positioned on the outer side of the connecting rod and is opposite to the sixth flexible hinge.
8. The parallel-driven compliant under-actuated gripper of claim 7, wherein: the first sleeve, the second sleeve and the third sleeve are used for eliminating a gap between the limiting part and the connecting rod; the first sleeve is sleeved on the end part of the first limiting part in an interference fit manner and abuts against the middle connecting rod; the second sleeve is sleeved at the end part of the second limiting part in an interference fit manner and abuts against the near-end connecting rod; the third sleeve is sleeved on the end part of the third limiting part in an interference fit mode and abuts against the fixing part.
9. The parallel-driven compliant under-actuated gripper of claim 1, wherein: the flexible hinge is a circular cut-groove flexible hinge.
10. the parallel-driven compliant under-actuated gripper of claim 1, wherein: the driving part is a power device driven in a bidirectional parallel manner; the clamping arm is an integrally formed soft rubber component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910841614.5A CN110539262A (en) | 2019-09-06 | 2019-09-06 | Parallel-driven flexible under-actuated clamp holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910841614.5A CN110539262A (en) | 2019-09-06 | 2019-09-06 | Parallel-driven flexible under-actuated clamp holder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110539262A true CN110539262A (en) | 2019-12-06 |
Family
ID=68712836
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910841614.5A Pending CN110539262A (en) | 2019-09-06 | 2019-09-06 | Parallel-driven flexible under-actuated clamp holder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110539262A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100263500A1 (en) * | 2009-04-19 | 2010-10-21 | Karl Storz Gmbh & Co. Kg | Manipulator tool and holding and/or expanding tool with at least one manipulator tool |
| CN102282973A (en) * | 2011-07-11 | 2011-12-21 | 浙江理工大学 | Multi-finger under-actuated end effector with sensing function |
| CN102601799A (en) * | 2012-03-30 | 2012-07-25 | 北京工业大学 | Flexible mechanical finger adaptive to shapes of clamped objects |
| US20170252930A1 (en) * | 2014-09-12 | 2017-09-07 | Polyvalor, Limited Partnership | Mechanical finger for grasping apparatus |
| CN108453778A (en) * | 2018-02-05 | 2018-08-28 | 中国科学技术大学 | A kind of drive lacking vacuum cup paw with a variety of grasp modes |
| CN108501029A (en) * | 2018-06-13 | 2018-09-07 | 清华大学深圳研究生院 | A kind of flexible under-actuated finger based on fin ray formula structure |
| CN108687794A (en) * | 2018-06-08 | 2018-10-23 | 重庆大学 | The Electrostatic Absorption flexible grips of marmem driving |
| CN108839046A (en) * | 2018-08-21 | 2018-11-20 | 佛山科学技术学院 | A kind of clamp assemblies and flexible retainer |
| CN110053064A (en) * | 2019-04-09 | 2019-07-26 | 合肥工业大学 | A kind of flexible cable traction finger manipulator of drive lacking four with elastic joint |
| CN110696020A (en) * | 2019-09-05 | 2020-01-17 | 上海大学 | Self-adaptive underactuated manipulator |
| CN210704429U (en) * | 2019-09-06 | 2020-06-09 | 佛山科学技术学院 | Parallel-driven flexible under-actuated clamp holder |
-
2019
- 2019-09-06 CN CN201910841614.5A patent/CN110539262A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100263500A1 (en) * | 2009-04-19 | 2010-10-21 | Karl Storz Gmbh & Co. Kg | Manipulator tool and holding and/or expanding tool with at least one manipulator tool |
| CN102282973A (en) * | 2011-07-11 | 2011-12-21 | 浙江理工大学 | Multi-finger under-actuated end effector with sensing function |
| CN102601799A (en) * | 2012-03-30 | 2012-07-25 | 北京工业大学 | Flexible mechanical finger adaptive to shapes of clamped objects |
| US20170252930A1 (en) * | 2014-09-12 | 2017-09-07 | Polyvalor, Limited Partnership | Mechanical finger for grasping apparatus |
| CN108453778A (en) * | 2018-02-05 | 2018-08-28 | 中国科学技术大学 | A kind of drive lacking vacuum cup paw with a variety of grasp modes |
| CN108687794A (en) * | 2018-06-08 | 2018-10-23 | 重庆大学 | The Electrostatic Absorption flexible grips of marmem driving |
| CN108501029A (en) * | 2018-06-13 | 2018-09-07 | 清华大学深圳研究生院 | A kind of flexible under-actuated finger based on fin ray formula structure |
| CN108839046A (en) * | 2018-08-21 | 2018-11-20 | 佛山科学技术学院 | A kind of clamp assemblies and flexible retainer |
| CN110053064A (en) * | 2019-04-09 | 2019-07-26 | 合肥工业大学 | A kind of flexible cable traction finger manipulator of drive lacking four with elastic joint |
| CN110696020A (en) * | 2019-09-05 | 2020-01-17 | 上海大学 | Self-adaptive underactuated manipulator |
| CN210704429U (en) * | 2019-09-06 | 2020-06-09 | 佛山科学技术学院 | Parallel-driven flexible under-actuated clamp holder |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110561478B (en) | Rigid-flexible coupling clamp holder | |
| CN203697028U (en) | Three-jaw clamp holder with manually adjustable angles between fingers | |
| CN107838938B (en) | Robot gripper | |
| CN210704429U (en) | Parallel-driven flexible under-actuated clamp holder | |
| JP2011177848A (en) | Robot hand and conveying robot | |
| CN210704891U (en) | Flexible clamp holder | |
| CN110539262A (en) | Parallel-driven flexible under-actuated clamp holder | |
| CN110002223B (en) | Clamp holder with surface adhesion capability | |
| CN117283591A (en) | Self-adaptive mechanical clamping jaw | |
| CN209871712U (en) | Simple box holder | |
| CN210081756U (en) | Device for handling spectacle lenses | |
| CN205520539U (en) | Automatic alignment fixture | |
| EP4288244A1 (en) | A method and a device for supporting of machined components during machining | |
| CN115488916A (en) | Self-adaptive flexible grabbing method | |
| CN218052675U (en) | Manipulator for precision finishing | |
| CN214237862U (en) | Workpiece clamping device for mechanical product design | |
| CN112247968A (en) | High-end equipment manufacturing mechanical arm bracket | |
| CN212287662U (en) | Robot clamping jaw | |
| CN215825330U (en) | Novel manipulator snatchs mechanism | |
| CN215789922U (en) | Corn clamping manipulator for corn leaf wrapping and removing device | |
| CN111661636A (en) | Mechanical gripper and cotton spinning conveying line comprising same | |
| CN219633802U (en) | Robot grabbing device | |
| CN218776091U (en) | Clamping jaw structure for inverted lathe | |
| CN216613030U (en) | A anchor clamps that is used for dark basket unordered snatching to have a through-hole wait to get thing | |
| CN214981125U (en) | Feeding and discharging paw for clamping cylindrical workpiece |
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 |