CN110936400B - 柔性抽吸装置、使用该柔性抽吸装置的机器人系统和方法 - Google Patents
柔性抽吸装置、使用该柔性抽吸装置的机器人系统和方法 Download PDFInfo
- Publication number
- CN110936400B CN110936400B CN201910558886.4A CN201910558886A CN110936400B CN 110936400 B CN110936400 B CN 110936400B CN 201910558886 A CN201910558886 A CN 201910558886A CN 110936400 B CN110936400 B CN 110936400B
- Authority
- CN
- China
- Prior art keywords
- flexible
- suction device
- flexible suction
- segments
- tube portion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (15)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/137,705 US10369709B1 (en) | 2018-09-21 | 2018-09-21 | Flexible suction device, robot system and method using the same |
US16/137,705 | 2018-09-21 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110936400A CN110936400A (zh) | 2020-03-31 |
CN110936400B true CN110936400B (zh) | 2022-12-27 |
Family
ID=67477595
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910558886.4A Active CN110936400B (zh) | 2018-09-21 | 2019-06-25 | 柔性抽吸装置、使用该柔性抽吸装置的机器人系统和方法 |
Country Status (2)
Country | Link |
---|---|
US (1) | US10369709B1 (zh) |
CN (1) | CN110936400B (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112223328A (zh) * | 2020-11-17 | 2021-01-15 | 北自所(北京)科技发展有限公司 | 一种抽芯抓手装置及机械手 |
CN114750190B (zh) * | 2022-04-20 | 2023-08-15 | 北京理工大学重庆创新中心 | 一种胶粘式抓取装置、危爆品抓取系统及抓取方法 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4065001A (en) * | 1976-06-15 | 1977-12-27 | Shiroyama Kogyo Co., Ltd. | Manipulator |
US4266905A (en) * | 1979-04-20 | 1981-05-12 | Board Of Regents For Education Of The State Of Rhode Island | Apparatus for acquiring workpieces from a storage bin or the like |
US4784042A (en) * | 1986-02-12 | 1988-11-15 | Nathaniel A. Hardin | Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams and columns for controlling their movements |
FR2597453B1 (fr) * | 1986-04-18 | 1988-08-05 | Tech Nles Ste Gle | Dispositif pour le transfert d'objets, notamment de plaques de verre |
JPS63260776A (ja) * | 1987-04-17 | 1988-10-27 | 株式会社小松製作所 | 可撓腕ロボツトの制御装置 |
JPS6471686A (en) * | 1987-09-09 | 1989-03-16 | Komatsu Mfg Co Ltd | Flexible arm robot |
FR2644147B1 (fr) * | 1989-03-10 | 1994-02-11 | Thierion Sa Gm | Dispositif de manutention de bouteilles |
US5317952A (en) * | 1991-11-22 | 1994-06-07 | Kinetic Sciences Inc. | Tentacle-like manipulators with adjustable tension lines |
KR20030046306A (ko) * | 2001-12-05 | 2003-06-12 | 에섹 트레이딩 에스에이 | 반도체 칩을 설치하기 위한 장치 |
EP1919672A1 (en) * | 2005-06-21 | 2008-05-14 | Oliver Crispin Robotics Limited | Robotic arm comprising a plurality of articulated elements and means for determining the shape of the arm |
US9004846B2 (en) * | 2011-02-11 | 2015-04-14 | The Procter & Gamble Company | Gripper assembly for moving device |
CN102179813B (zh) * | 2011-04-21 | 2012-07-11 | 哈尔滨工程大学 | 柔性尺蠖机器人 |
US20150343649A1 (en) * | 2014-05-28 | 2015-12-03 | Richard Galinson | Tentacle mechanism |
CN105034019A (zh) * | 2015-08-21 | 2015-11-11 | 昆山硅步机器人技术有限公司 | 一种柔性机械手臂 |
CN105945930B (zh) * | 2016-05-20 | 2017-11-03 | 哈尔滨工业大学 | 线驱动式刚度可变软体机器人 |
US11103992B2 (en) * | 2017-02-28 | 2021-08-31 | Canon Kabushiki Kaisha | Apparatus of continuum robot |
CN107139199A (zh) * | 2017-05-17 | 2017-09-08 | 浙江工业大学 | 一种小型软体气吸式抓手装置 |
-
2018
- 2018-09-21 US US16/137,705 patent/US10369709B1/en active Active
-
2019
- 2019-06-25 CN CN201910558886.4A patent/CN110936400B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN110936400A (zh) | 2020-03-31 |
US10369709B1 (en) | 2019-08-06 |
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TA01 | Transfer of patent application right |
Effective date of registration: 20210420 Address after: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing Applicant after: Beijing Jingbangda Trading Co.,Ltd. Applicant after: JD.com American Technologies Corp. Address before: 100086 8th Floor, 76 Zhichun Road, Haidian District, Beijing Applicant before: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY Co.,Ltd. Applicant before: JD.com American Technologies Corp. Effective date of registration: 20210420 Address after: Room a1905, 19th floor, building 2, yard 18, Kechuang 11th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Applicant after: Beijing Jingdong Qianshi Technology Co.,Ltd. Applicant after: JD.com American Technologies Corp. Address before: 100080 First Floor 101, No. 2 Building, No. 20 Courtyard, Suzhou Street, Haidian District, Beijing Applicant before: Beijing Jingbangda Trading Co.,Ltd. Applicant before: JD.com American Technologies Corp. |
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