CN112428294A - Plant epidermis pore-imitated composite flexible manipulator - Google Patents
Plant epidermis pore-imitated composite flexible manipulator Download PDFInfo
- Publication number
- CN112428294A CN112428294A CN202011401233.4A CN202011401233A CN112428294A CN 112428294 A CN112428294 A CN 112428294A CN 202011401233 A CN202011401233 A CN 202011401233A CN 112428294 A CN112428294 A CN 112428294A
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- manipulator
- arm
- transmission mechanism
- spring steel
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- 239000002131 composite material Substances 0.000 title claims abstract description 30
- 210000002615 epidermis Anatomy 0.000 title claims description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 229910000639 Spring steel Inorganic materials 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 230000009471 action Effects 0.000 claims abstract description 12
- 239000011148 porous material Substances 0.000 claims description 7
- 239000003302 ferromagnetic material Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 241001272720 Medialuna californiensis Species 0.000 claims description 2
- 230000032683 aging Effects 0.000 claims description 2
- 230000007797 corrosion Effects 0.000 claims description 2
- 238000005260 corrosion Methods 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims description 2
- 238000003825 pressing Methods 0.000 claims description 2
- 238000000926 separation method Methods 0.000 claims description 2
- 150000001875 compounds Chemical class 0.000 claims 1
- 241000196324 Embryophyta Species 0.000 description 21
- 235000013399 edible fruits Nutrition 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 241000238413 Octopus Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 235000012055 fruits and vegetables Nutrition 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 244000141359 Malus pumila Species 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 235000013601 eggs Nutrition 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 210000003491 skin Anatomy 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a composite flexible manipulator imitating plant epidermal stomata, and belongs to the technical field of manipulators and flexible manipulators. Comprises a flexible arm, a pressure sensor, a spring steel sheet, an electromagnetic opening and closing device, a sleeve, a power transmission mechanism and a hydraulic power device; a spring steel sheet and a pressure sensor are embedded in the inner sides of the two flexible arms, the restoring force of the spring steel sheet is used as the clamping force for grabbing a target object, and the actual magnitude of the applied force is collected through the pressure sensor; the tail ends of the two flexible arms are fixed together through an electromagnetic opening and closing device; the two sleeves are respectively sleeved at the front ends of the two flexible arms and are connected with the transmission mechanism through mounting holes in the sleeves; the whole flexible arm part is installed and used with a required working platform through a corresponding power transmission mechanism. The manipulator snatchs the action various, has simple structure, with low costs, adaptability is high, uses hydraulic power, operates steadily, can carry out the characteristics that electrodeless regulation and controllability are high.
Description
Technical Field
The invention relates to a composite flexible manipulator imitating plant epidermal stomata, belongs to manipulators, and particularly relates to the technical field of flexible manipulators.
Background
The manipulator adopts pure mechanical structure mostly, and rigid contact can't satisfy the protection requirement to the easily damaged object, has a lot of inconvenient places to snatching of fragile object. Such gripper hands generally have the following disadvantages: the grabbing device is driven by a pure mechanical structure and realizes grabbing action, so that action stiffness is realized, and grabbing objects with various shapes are difficult to flexibly process; the control requirement is high, and the force has fine control capability and rapid feedback processing capability on force real-time data; the structure is complex, and the mechanical paw adopts a large number of parts and complex transmission mechanisms, so that the cost and the manufacturing difficulty are greatly increased.
Eggs, fruits, glasses and the like are common things in production and life, and for such soft or fragile objects, the development in the aspect of automatic production is difficult to popularize because the common rigid mechanical arm has the problems of difficult control and high cost.
For the grabbing of the soft or fragile object, a flexible manipulator can be adopted. A soft manipulator imitating an octopus tentacle is taken as an example and comprises a soft tentacle, an air pipe, an electric proportional valve, a strain gauge and an electromagnetic valve. The inside of the tentacle is provided with a group of ellipsoidal pressure-regulating cavities which are uniformly distributed, and a main air passage is arranged along the axis direction. Through the cooperation of foil gage, solenoid valve and electric proportional valve, realize that spherical pressure regulating chamber produces different shape changes, and then make tentacle crooked winding object, accomplish and snatch the action.
However, the flexible manipulator imitating octopus has the following defects:
(1) the pertinence of grabbing the object is too strong, and the interchangeability commonality is poor, and can only grab cylindricality's object, has greatly restricted flexible manipulator's functionality.
(2) The structure is comparatively complicated, and the numerous pressure regulating chamber of quantity has increased the manufacturing degree of difficulty and manufacturing cost.
(3) The control difficulty is high, and the requirement on action matching among all parts of the paw is high during grabbing; for the grabbed objects with different sizes, more control parameters need to be changed, for example, the threshold value of the electric signal generated by a plurality of strain gauges needs to be dynamically adjusted.
Although the manipulator can realize flexible operation on the target object, the manipulator still has great improvement space in practical production application. Therefore, the composite flexible manipulator imitating the plant epidermis stomata can grab soft or fragile objects in different shapes in a larger size range.
Disclosure of Invention
The invention provides a composite flexible manipulator imitating plant skin pores, aiming at the problems of poor adaptability, economy and controllability of a rigid manipulator and an existing flexible manipulator imitating octopus in grabbing soft or fragile objects.
In order to achieve the purpose, the following technical scheme is adopted:
the composite flexible manipulator imitating the plant epidermis pore comprises a flexible arm, a pressure sensor, a spring steel sheet, an electromagnetic opening and closing device, a sleeve, a power transmission mechanism and a hydraulic power device;
wherein, the number of the flexible arms is two, the shapes of the two flexible arms are like a pair of guard cells of the stomata of the epidermis of the plant, and each flexible arm is in a half-moon shape; the two flexible arms are made of flexible materials with high elasticity and strong ageing resistance, the interior of each flexible arm is hollow, the inner side wall of each arm is thick, the outer side wall of each arm is thin, and the interior of each arm is filled with incompressible working fluid; the surface of the inner side of the flexible arm for clamping an object is provided with honeycomb-shaped patterns;
two pressure sensors are provided, and both the pressure sensors are piezoresistive pressure sensors;
the number of the spring steel sheets is two, and the spring steel material with good elasticity is adopted; the shape of the spring steel sheet is attached to the shape of the flexible arm;
the electromagnetic opening and closing device comprises a flat plate and a coil;
the number of the flat plates is 2, the flat plates are all made of corrosion-resistant ferromagnetic materials, a circular concave pit is formed in the center of one flat plate, a protrusion is formed in the center of the other flat plate, and the protrusion and the concave pit are meshed with each other; the coil is arranged in the flat plate and made of ferromagnetic materials;
the number of the sleeves is two, the shape of the sleeves is matched with the shape of the front end of the flexible arm, a hole is formed in the middle of each sleeve, the size and the shape of the hole are consistent with those of the hole in the hollow part of the flexible arm, and the upper end surface of each sleeve is provided with an inwards inclined sleeve arm with two mounting holes, which are matched with the connection relation of the power transmission mechanism;
the power transmission mechanism is divided into a connecting rod mechanism and a hydraulic transmission mechanism; the hydraulic power device consists of a small hydraulic pump;
the connection relation of all parts in the plant pore imitating composite flexible manipulator is as follows:
the flexible arm is connected with the sleeve, the spring steel sheet, the electromagnetic opening and closing device and the pressure sensor; the tail ends of the two flexible arms are connected through an electromagnetic opening and closing device; the hydraulic power device is connected with the sleeve through a power transmission mechanism.
The installation process of each part in the plant pore imitating composite flexible manipulator is as follows:
the inner sides of the two flexible arms are respectively embedded with a spring steel sheet and a pressure sensor, the restoring force of the spring steel sheet is used as the clamping force for grabbing a target object, and the actual magnitude of the force applied to the object is acquired through the pressure sensors;
the tail ends of the two flexible arms are fixed together through an electromagnetic opening and closing device; the two sleeves are respectively sleeved at the front ends of the two flexible arms, and the hydraulic power device is connected with the power transmission mechanism through mounting holes in the sleeves;
the flexible manipulator is installed with the working platform through the power transmission mechanism and is put into use;
the functions of all parts in the plant pore-simulated composite flexible manipulator are as follows:
the flexible arm is used as a main body for grabbing an object and is used for realizing the opening and clamping of the oval cuff and the flexible contact of a target object; the spring steel sheet is used as a framework of the flexible arm to provide clamping force when an object is grabbed; the pressure sensor collects pressure data in real time and feeds the pressure data back to the working platform; the electromagnetic opening and closing device realizes the fixation and separation of the tail ends of the two flexible arms through the on-off of the coil current, thereby realizing the switching of the working modes of the flexible manipulator; the sleeve is used as a connecting part of the flexible arm and the transmission mechanism; the power transmission mechanism and the hydraulic power device realize two kinds of driving of the flexible arm under two working modes.
The plant pore imitating composite flexible manipulator switches two working modes of clamping and sleeving and grabs a target object, and comprises the following steps:
step 1: the electromagnetic opening and closing device is powered off, and the tail ends of the two flexible arms are separated;
step 2: the hydraulic power device drives the two flexible arms through a connecting rod mechanism connected with the sleeve arms, so that the clamping of large-size soft or fragile objects is realized;
and step 3: the electromagnetic opening and closing device is electrified to ensure that the tail ends of the two flexible arms are occluded and fixed, and the working mode of the flexible manipulator is switched from clamping to nesting;
and 4, step 4: starting the hydraulic power device, applying pressure to the working fluid in the flexible arms, and respectively deforming and bending the two flexible arms to two sides under the action of the pressure to form an oval ferrule;
and 5: the flexible manipulator moves to the position near the object through the working platform and sleeves the object;
step 6: the hydraulic power device is placed and pressed, the flexible arm is restored under the restoring force of the spring steel sheet to enable the sleeve opening to be reduced, the target object is gradually clamped in the process, and when the numerical value of the pressure sensor reaches a preset value, the hydraulic power device stops releasing pressure, and sleeving and taking actions are achieved.
Advantageous effects
Compared with the existing octopus-imitating mechanical hand, the plant pore-imitating composite flexible mechanical hand has the following beneficial effects:
1. the structure is simple, and the difficulty of large-scale production is small;
2. the manufacturing cost is low;
3. the grabbing action is various, and the adaptability is high;
4. hydraulic power is used, the operation is stable, and stepless adjustment can be performed;
5. the operation is simple, and the controllability is high.
Drawings
FIG. 1 is a schematic view of a microstructure of a plant epidermis stomata imitated by a composite flexible manipulator imitating plant stomata of the invention;
FIG. 2 is a schematic structural diagram of a front view of a composite flexible manipulator simulating a plant stomata according to the present invention;
FIG. 3 is an internal structure diagram of a flexible arm of the composite flexible manipulator imitating the plant stomata according to the invention;
FIG. 4 is a schematic structural diagram of a composite type flexible manipulator imitating a plant stomata in embodiment 2 of the invention;
FIG. 5 is a schematic drawing of the extraction of a plant stomata-imitating composite flexible manipulator according to the present invention in example 1;
illustration of the drawings:
1-guard cell, 2-air hole, 3-sleeve, 3-1-sleeve arm, 4-flexible arm, 6-electromagnetic opening and closing device, 7-flexible arm internal cavity, 8-target object, 9-push rod, 10-fixing frame and 11-connecting rod.
Detailed Description
The following describes a composite flexible manipulator imitating plant stomata in detail with reference to the accompanying drawings and specific embodiments.
Example 1
The embodiment details a specific implementation method for grabbing a larger target by the composite flexible manipulator imitating the plant stomata in the clamping working mode.
For a manipulator with a pure mechanical mechanism to grab soft or fragile objects, such as glass cups, the precision of grabbing control is extremely high, and if the nesting working mode of the invention is adopted, the time consumption is relatively long on one hand, and the size of a target object is limited on the other hand.
By switching the working modes of the flexible grabbing manipulator, the flexible grabbing manipulator adopts a clamping working mode, not only can the advantage of high working efficiency of a common rigid manipulator be kept, but also the flexible grabbing action on articles with larger sizes can be completed.
The specific application effect of this example is as shown in fig. 4, the electromagnetic opening and closing device 6 at the end of the flexible arm 4 is separated after power failure, the flexible arm 4 is connected with the sleeve 3, the sleeve 3 is connected with the connecting rod 11 through the sleeve arm 3-1, the connecting rod 11 is connected with the push rod 9, the connecting rod 11 is hinged with the fixed frame 10, and a guide groove in the same direction as the push rod is formed at the intersection of the fixed frame 10 and the push rod 9.
When the flexible manipulator is in work, the tail ends of the two flexible arms 4 are separated after the electromagnetic opening and closing device 6 is powered off, the hydraulic power device drives the push rod 9 to move along the guide groove of the fixing frame 10, the push rod 9 pushes the connecting rod 11 to enable the flexible manipulator to clamp an object, and the reverse movement of the push rod 9 enables the flexible manipulator to loosen the target object. Here, the honeycomb-shaped soft material can be used for clamping fragile articles.
By switching the working modes, the invention can simply and efficiently clamp an object which has a larger size and requires flexible operation in a clamping mode, and can be widely applied to the field of daily robots.
Example 2
The embodiment details the specific implementation of the plant pore-simulated composite flexible manipulator in the aspect of picking smaller targets, such as fruits and vegetables.
The structure is as shown in fig. 2 and fig. 3, the sleeve 3 is sleeved at the front end of the flexible arm 4, a cavity 7 is formed in the flexible arm 4, incompressible working liquid is injected when the cavity works, the spring steel sheet 6 is embedded in the inner side of the flexible arm 7, the structure of the guard cell 1 in fig. 1 is simulated in principle, the tail ends of the two flexible arms 7 are connected together through the electromagnetic opening and closing device 5 to form a sleeve opening, and the shape of the plant air hole 2 formed by the two half-moon-shaped guard cells 1 in fig. 1 is simulated. In practice, the object 8, i.e. the fruit, will be gripped by the flexible robot wrapping as shown in fig. 5.
During operation, 5 circular telegrams of electromagnetism switching device, two flexible arm 4 ends link firmly, power device pressurizes to the inside cavity 7 of flexible arm, flexible arm 4 expands and the bending under the pressure effect, form an oval linking, the manipulator moves the linking around the fruit under work platform's removal after that, power device begins to put the pressure, flexible arm 4 slowly overlaps tight fruit under the restoring force of spring steel sheet 6, the realization is to the action of getting of cover of object, can pick the fruit under work platform's drive after snatching successfully.
And to some fruits and vegetables that do not have high or the size is great relatively to flexible operation requirement, the flexible manipulator can carry out the outage operation to electromagnetism switching device 5, and two flexible arm 4 end parts are partd, and two flexible arm 4's operating mode is got by the cover and is changed into the clamp and get.
Example 3
In the aspect of automatic picking of orchards, particularly automatic picking of round fruits such as apples and oranges, the traditional manipulator can achieve the purpose of picking, but has the defects of poor universality and easiness in damaging the fruits. In comparison, the invention can achieve more excellent effects: the fruit picker has strong adaptability to fruits with different shapes, positions and angles, and can achieve the picking purpose on the premise of hardly damaging the fruits. The operation of the robot is as described above.
Furthermore, the fruits with different sizes of one tree are judged through machine vision and switched between two modes.
While the foregoing is directed to the preferred embodiment of the present invention, it is not intended that the invention be limited to the embodiment and the drawings disclosed herein. It is intended that all equivalents and modifications which come within the spirit of the disclosure be protected by the present invention.
Claims (8)
1. The utility model provides a compound flexible manipulator of imitative plant epidermis gas pocket which characterized in that: comprises a flexible arm, a pressure sensor, a spring steel sheet, an electromagnetic opening and closing device, a sleeve, a power transmission mechanism and a hydraulic power device;
wherein, the number of the flexible arms is two;
two pressure sensors are provided, and both the pressure sensors are piezoresistive pressure sensors;
the number of the spring steel sheets is two, and the spring steel material with good elasticity is adopted; the shape of the spring steel sheet is attached to the shape of the flexible arm;
the electromagnetic opening and closing device comprises a flat plate and a coil;
the number of the flat plates is 2, the flat plates are all made of corrosion-resistant ferromagnetic materials, a circular concave pit is formed in the center of one flat plate, a protrusion is formed in the center of the other flat plate, and the protrusion and the concave pit are meshed with each other; the coil is arranged in the flat plate and made of ferromagnetic materials;
the number of the sleeves is two, the shape of the sleeves is matched with the shape of the front end of the flexible arm, a hole is formed in the middle of each sleeve, the size and the shape of the hole are consistent with those of the hole in the hollow part of the flexible arm, and the upper end surface of each sleeve is provided with an inwards inclined sleeve arm with two mounting holes, which are matched with the connection relation of the power transmission mechanism;
the power transmission mechanism is divided into a connecting rod mechanism and a hydraulic transmission mechanism; the hydraulic power device consists of a small hydraulic pump;
the connection relation of all parts in the plant pore imitating composite flexible manipulator is as follows:
the flexible arm is connected with the sleeve, the spring steel sheet, the electromagnetic opening and closing device and the pressure sensor; the tail ends of the two flexible arms are connected through an electromagnetic opening and closing device; the hydraulic power device is connected with the sleeve through a power transmission mechanism;
the functions of all parts in the plant pore-simulated composite flexible manipulator are as follows:
the flexible arm is used as a main body for grabbing an object and is used for realizing the opening and clamping of the oval cuff and the flexible contact of a target object; the spring steel sheet is used as a framework of the flexible arm to provide clamping force when an object is grabbed; the pressure sensor collects pressure data in real time and feeds the pressure data back to the working platform; the electromagnetic opening and closing device realizes the fixation and separation of the tail ends of the two flexible arms through the on-off of the coil current, thereby realizing the switching of the working modes of the flexible manipulator; the sleeve is used as a connecting part of the flexible arm and the transmission mechanism; the power transmission mechanism and the hydraulic power device realize two kinds of driving of the flexible arm under two working modes;
the plant pore imitating composite flexible manipulator switches two working modes of clamping and sleeving and grabs a target object, and comprises the following steps:
step 1: the electromagnetic opening and closing device is powered off, and the tail ends of the two flexible arms are separated;
step 2: the hydraulic power device drives the two flexible arms through a connecting rod mechanism connected with the sleeve arms, so that the clamping of large-size soft or fragile objects is realized;
and step 3: the electromagnetic opening and closing device is electrified to ensure that the tail ends of the two flexible arms are occluded and fixed, and the working mode of the flexible manipulator is switched from clamping to nesting;
and 4, step 4: starting the hydraulic power device, applying pressure to the working fluid in the flexible arms, and respectively deforming and bending the two flexible arms to two sides under the action of the pressure to form an oval ferrule;
and 5: the flexible manipulator moves to the position near the object through the working platform and sleeves the object;
step 6: the hydraulic power device is placed and pressed, the flexible arm is restored under the restoring force of the spring steel sheet to enable the sleeve opening to be reduced, the target object is gradually clamped in the process, and when the numerical value of the pressure sensor reaches a preset value, the hydraulic power device stops releasing pressure, and sleeving and taking actions are achieved.
2. The composite type flexible manipulator imitating plant epidermal stomata as claimed in claim 1, characterized in that: the two flexible arms are shaped like a pair of guard cells of the stomata of the epidermis of the plant, each flexible arm having a half-moon shape.
3. The composite type flexible manipulator imitating plant epidermal stomata as claimed in claim 1, characterized in that: the two flexible arms are made of flexible materials with high elasticity and strong ageing resistance, the interior of each flexible arm is hollow, the inner side wall of each arm is thick, the outer side wall of each arm is thin, and the interior of each arm is filled with incompressible working liquid.
4. The composite type flexible manipulator imitating plant epidermal stomata as claimed in claim 1, characterized in that: the surface of the inner side of the flexible arm for clamping objects is provided with honeycomb-shaped patterns.
5. The composite type flexible manipulator imitating plant epidermal stomata as claimed in claim 1, characterized in that: the inner sides of the two flexible arms are embedded with a spring steel sheet and a pressure sensor, the restoring force of the spring steel sheet is used as the clamping force for grabbing a target object, and the actual magnitude of the force applied to the object is acquired through the pressure sensor.
6. The composite type flexible manipulator imitating plant epidermal stomata as claimed in claim 1, characterized in that: the tail ends of the two flexible arms are fixed together through an electromagnetic opening and closing device.
7. The composite type flexible manipulator imitating plant epidermal stomata as claimed in claim 1, characterized in that: the two sleeves are respectively sleeved at the front ends of the two flexible arms, and the hydraulic power device is connected with the power transmission mechanism through mounting holes in the sleeves.
8. The composite type flexible manipulator imitating plant epidermal stomata as claimed in claim 1, characterized in that: the flexible manipulator is installed with the working platform through the power transmission mechanism and is put into use.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011401233.4A CN112428294B (en) | 2020-12-02 | 2020-12-02 | Compound flexible manipulator imitating plant epidermis air holes |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011401233.4A CN112428294B (en) | 2020-12-02 | 2020-12-02 | Compound flexible manipulator imitating plant epidermis air holes |
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| Publication Number | Publication Date |
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| CN112428294A true CN112428294A (en) | 2021-03-02 |
| CN112428294B CN112428294B (en) | 2023-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114161470A (en) * | 2021-12-28 | 2022-03-11 | 上海大学 | Underwater flexible manipulator |
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|---|---|---|---|---|
| JPS51143258A (en) * | 1975-06-04 | 1976-12-09 | F I T:Kk | Gripper |
| CN103753524A (en) * | 2013-12-16 | 2014-04-30 | 北京化工大学 | Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof |
| US20190160692A1 (en) * | 2017-11-27 | 2019-05-30 | Squse Inc. | Finger Mechanism, Robot Hand and Robot Hand Controlling Method |
| CN111360866A (en) * | 2020-03-31 | 2020-07-03 | 上海交通大学 | Pneumatic soft gripper with automatically adjustable working space, mechanical arm and gripping method |
| CN211541255U (en) * | 2020-01-21 | 2020-09-22 | 苏州迪天机器人自动化有限公司 | Flexible gripping device |
| CN214265625U (en) * | 2020-12-02 | 2021-09-24 | 北京理工大学 | Compound flexible manipulator |
-
2020
- 2020-12-02 CN CN202011401233.4A patent/CN112428294B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS51143258A (en) * | 1975-06-04 | 1976-12-09 | F I T:Kk | Gripper |
| CN103753524A (en) * | 2013-12-16 | 2014-04-30 | 北京化工大学 | Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof |
| US20190160692A1 (en) * | 2017-11-27 | 2019-05-30 | Squse Inc. | Finger Mechanism, Robot Hand and Robot Hand Controlling Method |
| CN211541255U (en) * | 2020-01-21 | 2020-09-22 | 苏州迪天机器人自动化有限公司 | Flexible gripping device |
| CN111360866A (en) * | 2020-03-31 | 2020-07-03 | 上海交通大学 | Pneumatic soft gripper with automatically adjustable working space, mechanical arm and gripping method |
| CN214265625U (en) * | 2020-12-02 | 2021-09-24 | 北京理工大学 | Compound flexible manipulator |
Non-Patent Citations (1)
| Title |
|---|
| 金虎: "一种可模块化组装柔体机器人的柔性智能模块化结构", 《中国博士学位论文全文数据库 信息科技辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114161470A (en) * | 2021-12-28 | 2022-03-11 | 上海大学 | Underwater flexible manipulator |
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| CN112428294B (en) | 2023-12-19 |
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