CN113635331B - Clamping mechanism and flexible manipulator - Google Patents
Clamping mechanism and flexible manipulator Download PDFInfo
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- CN113635331B CN113635331B CN202110919706.8A CN202110919706A CN113635331B CN 113635331 B CN113635331 B CN 113635331B CN 202110919706 A CN202110919706 A CN 202110919706A CN 113635331 B CN113635331 B CN 113635331B
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- end fixing
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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
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Abstract
The invention provides a clamping mechanism and a flexible manipulator, which comprise a rack connected with a mechanical arm, a wiring harness assembly and a driving assembly, wherein a clamping space is arranged in the rack, the wiring harness assembly is arranged outside the clamping space, the wiring harness assembly comprises a plurality of elastic wiring harnesses distributed in the circumferential direction of the clamping space in a surrounding manner and two wire end fixing pieces arranged on the rack, the two wire end fixing pieces are respectively positioned at two ends of the clamping space, two ends of each elastic wiring harness are respectively connected to the two wire end fixing pieces, an inlet for articles to enter the clamping space is formed in one of the two wire end fixing pieces, and the driving assembly can drive the two wire end fixing pieces to rotate relatively. The problem of flexible hand snatch the too big stress of correspondence that leads to because of snatching the area of contact little to and the stress concentration that leads to because of snatching the structure, make the flexible hand of dog be applicable to the problem that multiple fragile article snatched is solved.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a clamping mechanism and a flexible manipulator.
Background
With the development of industrial production, an end effector having an excellent gripping function for fragile articles and a high success rate will greatly relieve heavy physical labor of people. The rigid executing mechanism has made a remarkable contribution to the industrial process and the automatic process, but for the clamping field of irregular-shaped fragile objects, the rigid executing mechanism lacks the flexible grabbing capacity and cannot be competent for the work. The flexible actuating mechanism is a main solution for fixing and clamping fragile articles, and various flexible actuating structures are designed for the fragile articles with different characteristics and the articles with irregular shapes.
However, in current production, the design of the flexible hand is mainly aimed at the grabbing of small and medium-sized objects. Because the self-weight of the small and medium-sized objects is light, when the flexible hand clamps the objects in a small contact area, the concentrated stress degree on the unit area is within the acceptable range of the grabbed objects; however, for a medium-large article, under the condition that the coverage rate of the contact area is low, the stress on the contact area is multiplied, so that the flexible hand can only grab a medium-small light object and cannot be applied to a medium-large fragile flexible article. When the existing flexible hand grabs an article, most of clamping force applied to the article is concentrated at a certain position of the article to form concentrated stress, so that the force applied to the article is concentrated at a certain position and cannot be uniformly applied, and therefore, the existing flexible hand can only grab the article capable of bearing the concentrated stress, but cannot be suitable for grabbing other articles.
Therefore, how to solve the problem that the gripping of the flexible hand to the object causes the corresponding stress to be too large due to the small gripping contact area, and the problem that the flexible hand of the toggle catch cannot be applied to gripping various fragile articles due to the stress concentration caused by the gripping structure, is an important issue to be solved in the industry at present.
Disclosure of Invention
The invention provides a clamping mechanism and a flexible manipulator, which are used for solving the problems that the corresponding stress is overlarge due to the small contact area for grabbing an object by a flexible hand, and the stress concentration is caused by a grabbing structure, so that an elbow-pulling flexible hand cannot be suitable for grabbing various fragile objects; the structure of the space conical curved surface formed by the wire harness assembly can ensure that the clamping force in the uniform circumferential direction is applied to any cross section of the object to be grabbed, theoretically avoids the existence of concentrated stress, enables the clamping mechanism to grab large-sized objects or objects with heavier mass or incapable of bearing the concentrated stress, and is suitable for grabbing different objects, especially objects with extremely high requirements on the clamping force.
The invention provides a gripping mechanism, comprising:
the clamping device comprises a rack and a clamping mechanism, wherein the rack is used for being connected with a mechanical arm, and a clamping space is arranged in the rack;
the wire harness assembly is arranged outside the clamping space and comprises a plurality of elastic wire harnesses distributed in the circumferential direction of the clamping space in a surrounding manner and two wire end fixing pieces arranged on the rack, the two wire end fixing pieces are respectively positioned at two ends of the clamping space, two ends of each elastic wire harness are respectively connected to the two wire end fixing pieces, and one of the two wire end fixing pieces is provided with an inlet for articles to enter the clamping space;
and the driving assembly can drive the two wire end fixing pieces to relatively rotate.
According to the clamping mechanism provided by the invention, the wire end fixing part is provided with a plurality of holes for embedding the end parts of the elastic wire harnesses.
According to the clamping mechanism provided by the invention, the line end fixing part comprises a line end fixing ring and a line end fixing cover which is in butt joint with the line end fixing ring, a plurality of first grooves are formed in the line end fixing ring, a plurality of second grooves which are in one-to-one correspondence with the first grooves are formed in the line end fixing cover, and the first grooves and the second grooves are in butt joint to form the holes.
According to the clamping mechanism provided by the invention, the line end fixing part and the end part of the rack are provided with the line end gasket, and the line end gasket is rotatably connected with the rack.
According to the clamping mechanism provided by the invention, the line end gasket is fixedly connected with the line end fixing ring, the line end fixing cover is positioned between the line end gasket and the line end fixing ring, and the outer diameter of the line end gasket is larger than the inner diameter of the line end fixing cover.
According to the clamping mechanism provided by the invention, the two wire end fixing parts are rotatably connected with the rack through bearings.
According to the clamping mechanism provided by the invention, the rack comprises two groups of outer fixing pieces which are respectively used for fixing the two bearings, and the two groups of outer fixing pieces are connected through the supporting plate.
According to the clamping mechanism provided by the invention, the outer fixing piece comprises a first fixing piece and a second fixing piece which are meshed with the outer wall of the bearing, and the first fixing piece and the second fixing piece are fixedly connected.
According to the clamping mechanism provided by the invention, the driving assembly comprises a transmission assembly connected with the wire end fixing member and a power source for driving the transmission assembly to rotate.
The invention also provides a flexible manipulator which comprises a clamping mechanism, wherein the clamping mechanism is any one of the clamping mechanisms.
According to the clamping mechanism and the flexible manipulator provided by the invention, the two ends of the elastic wire harnesses are relatively rotated through the relative rotation of the two wire end fixing parts, so that the centers of the elastic wire harnesses are close to the center of the clamping space and continuously relatively rotate along with the two wire end fixing parts to form a moving space conical curved surface structure, and the clamping surfaces and the clamping force of the elastic wire harnesses are diffused from the center to the two ends, so that articles can be enveloped, and the articles can be grabbed. When the clamping mechanism clamps an article, due to the enveloping effect of the space closed conical curved surface formed by the elastic wire harnesses, the stress area and the stress position of the article are increased, the symmetry of the clamping surface of the clamping mechanism is improved, the clamping force is reduced in a mode of increasing the stress area, the existence of concentrated stress (clamping force) is reduced, the clamping mechanism can clamp large articles or articles with heavier mass or incapable of bearing the concentrated stress, and the clamping mechanism is suitable for clamping different articles.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a first perspective view of a grasping mechanism provided by the present invention;
FIG. 2 is a second perspective view of the grasping mechanism provided by the present invention;
FIG. 3 is a front view of a grasping mechanism provided by the present invention;
FIG. 4 is a schematic view of a clamping mechanism according to the present invention with an elastic strand hidden;
FIG. 5 is a diagram illustrating the positional relationship between the bearing and the first fixing member provided by the present invention;
fig. 6 is a cross-sectional view of the position relationship of the cord end spacer and the cord end retainer ring in accordance with the present invention;
fig. 7 is a diagram of the positional relationship of a cord end spacer and a cord end retainer ring in accordance with the present invention;
FIG. 8 is a diagram of the positional relationship between the bearing and the outer fixing member provided by the present invention;
fig. 9 is a partial schematic view of a grasping mechanism provided by the present invention.
Reference numerals:
1: a first fixing member; 2: fastening a nut; 3: fastening a bolt;
4: a support plate; 5: a driving gear; 6: a steering engine;
7: a wire end fixing cover; 8: a wire end fixing ring; 9: a bearing;
10: a transmission gear; 11: clamping the bolt; 12: clamping the nut;
13: a wire end spacer; 14: a clamping ring in the bearing; 15: an elastic wire harness;
16: a first groove; 17: a second groove; 18: and connecting teeth.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The gripping mechanism of the present invention is described below with reference to fig. 1 to 9, and includes a frame for connecting to the robot arm, a wire harness assembly and a driving assembly, wherein a gripping space is provided in the frame, and the wire harness assembly is provided outside the gripping space.
Wherein, the pencil subassembly includes many elastic wire restraints 15 and two line end mountings, and two line end mountings all set up in the frame, and many elastic wire restraints 15 encircle distribute in the circumference of pressing from both sides the space so that will be located and press from both sides the article of getting in the space and carry. And two line end fixing parts are respectively positioned at two ends of the clamping space, two ends of the elastic wire harness 15 are respectively connected to the two line end fixing parts, and one of the two line end fixing parts is provided with an inlet for articles to enter the clamping space, namely the inlet is communicated with the clamping space.
The driving assembly can drive the two wire end fixing members to rotate relatively, so that the two ends of the plurality of elastic wire harnesses 15 rotate relatively, and the plurality of elastic wire harnesses 15 clamp the object.
In one mode, one of the two wire end fixing parts is fixedly connected with the rack, and the other one of the two wire end fixing parts is rotatably connected with the rack, namely, the driving assembly can drive one wire end fixing part to rotate, so that the two wire end fixing parts rotate relatively, therefore, the driving assembly can drive the two ends of the elastic wire harnesses 15 to rotate relatively, so that the elastic wire harnesses 15 form a space-like conical curved surface, and therefore the elastic wire harnesses 15 clamp objects tightly.
In another mode, the two wire end fixing members are rotatably connected to the frame, and the driving assembly can drive the two wire end fixing members to rotate in opposite directions, that is, the driving assembly can drive the two ends of the elastic wire harnesses 15 to rotate in opposite directions, so that the elastic wire harnesses 15 clamp the object.
Through the relative rotation of two line end fixings, make many elastic wire harness 15's center draw close to the center of pressing from both sides the space of getting to along with many elastic wire harness 15 continue relative rotation, form the space circular cone curved surface structure of motion, the clamping face and the clamping-force of pencil subassembly are by center to both ends diffusion, thereby can get up the envelope of article. Therefore, the stress positions of the articles are increased, the symmetry of the clamping surfaces of the clamping mechanism is improved, the existence of concentrated stress (clamping force) is reduced, and the clamping mechanism can grab large articles or articles with heavier mass or incapable of bearing the concentrated stress, so that the clamping mechanism is suitable for grabbing different articles.
So set up, solved flexible hand and lead to the too big problem of stress that corresponds because of snatching the area of contact little to what the object snatched to and because of snatching the stress concentration that the structure leads to, make the flexible hand of dog be unable to be applicable to the problem that multiple fragile article snatched.
In this embodiment, the wire end fixing member is provided with a plurality of apertures for the end portions of the elastic wire harnesses 15 to be inserted, so that the elastic wire harnesses 15 are connected to the wire end fixing member.
Specifically, the wire end fixing part comprises a wire end fixing ring 8 and a wire end fixing cover 7 connected with the wire end fixing ring 8 in a butt joint mode, a plurality of first grooves 16 are formed in the wire end fixing ring 8, a plurality of second grooves 17 are formed in the wire end fixing cover 7, the first grooves 16 correspond to the second grooves 17 one to one, the first grooves 16 and the second grooves 17 are connected in a butt joint mode to form holes, and therefore the wire end fixing ring 8 and the wire end fixing cover 7 clamp the elastic wire harness 15 tightly, and connection of the elastic wire harness 15 and the wire end fixing part is achieved.
It should be noted that the inlet of the string end fixing member is the inner hole of the string end fixing ring 8.
Specifically, when each elastic wire harness 15 is a single wire, the upper and lower ends of the single wire pass through the corresponding apertures, and are knotted at the side where the two wire end fixing members are far away from each other, so that the wire is fixed on the wire end fixing member. Here, the knots at both ends of the wire have a diameter larger than the diameter of the pores.
When each elastic wire harness 15 is a closed coil (for example, the elastic wire harness 15 is a rubber band), the upper and lower ends of the closed coil are respectively sleeved on the positions of the wire end fixing pieces, where the holes are formed, so that the two ends of the closed coil are connected with the two wire end fixing pieces.
Here, a plurality of connection teeth 18 are provided at the edge of the wire end fixing ring 8, the plurality of connection teeth 18 are circumferentially distributed in the circumferential direction of the wire end fixing ring 8 and are structured as one body with the wire end fixing ring 8, and a first groove 16 is provided at the upper end of the connection teeth 18 so that the elastic wire harness 15 is fitted over the connection teeth 18 and is caught in the first groove 16.
As shown in fig. 6, the outer diameter of the circle formed by the plurality of coupling teeth 18 is the same as the outer diameter of the wire end fixing cover 7, and the shape of the wire end fixing cover 7 and the shape of the coupling teeth 18 are matched, thereby facilitating the fixing of the elastic wire harness 15.
In this embodiment, in order to avoid the mutual abrasion between the line end fixing member and the rack, the line end gasket 13 is disposed between the line end fixing member and the end portion of the rack, so that the line end gasket 13 is spaced between the line end fixing member and the rack, so that the line end fixing member and the end portion of the rack have a certain distance, and the line end fixing member does not contact with the rack, thereby avoiding the abrasion.
It should be noted that the line end spacer 13 is rotatably connected to the housing to avoid interfering with the rotation of the line end fixture.
Wherein, the line end gasket 13 is fixedly connected with the line end fixing ring 8, the line end fixing cover 7 is positioned between the line end gasket 13 and the line end fixing ring 8, and the outer diameter of the line end gasket 13 is larger than the inner diameter of the line end fixing cover 7, so that the line end gasket 13 and the line end fixing ring 8 clamp the line end fixing cover 7 tightly, thereby realizing the fixed connection of the line end fixing cover 7 and the line end fixing ring 8, and realizing the connection of the elastic wire harness 15 and the line end fixing part.
In this embodiment, both wire end fixing parts can be rotatably connected with the rack through the bearing 9, so as to realize the rotation of both ends of the wire harness assembly.
The frame comprises two groups of external fixing pieces for fixing two bearings 9 respectively, and the two groups of external fixing pieces are connected through the supporting plate 4 to realize the connection of the bearings 9 and the frame.
Specifically, the external fixing member includes a first fixing member 1 and a second fixing member, the first fixing member 1 and the second fixing member are engaged with the outer wall of the bearing 9, and the first fixing member 1 and the second fixing member are fixedly connected, so that the first fixing member 1 and the second fixing member clamp the bearing 9, thereby forming an external fixing clamping sleeve of the bearing 9, so that the bearing 9 is fixed on the frame.
First mounting 1 and second mounting all include interlock portion and two connecting portion that are the integral type structure with interlock portion, and two connecting portions are located the both ends of interlock portion respectively to two connecting portions of first mounting 1 pass through fastening bolt 3 with two connecting portions of second mounting respectively to be connected, and the both ends of two fastening bolt 3 all are provided with fastening nut 2, in order to improve the steadiness that first mounting 1 and second mounting are connected.
Preferably, the engagement portion may have an arc structure and match with the radian of the outer wall of the bearing 9, so as to improve the engagement degree of the first fixing member 1 and the second fixing member with the bearing 9, and improve the stability of the connection of the bearing 9 with the frame.
It should be noted that the outer fixing member may be connected to the robot arm, so that the robot arm controls the clamping mechanism.
In this embodiment, inner bearing clamping rings 14 are further provided at the upper and lower ends of the bearing 9 to clamp the bearing 9 up and down. The bearing inner clamping ring 14 is provided with a through hole for the clamping bolt 11 to pass through so as to avoid influencing the connection of the wire end fixing ring 8 and the bearing 9.
Here, the two wire end spacers 13 are provided, the two wire end spacers 13 are respectively located between the two wire end fixing members and both ends of the rack, specifically, the wire end spacer 13 is connected to the bearing inner clamping ring 14 through a screw nut, and the wire end fixing ring 8 and the wire end fixing cover 7 are connected to the bearing inner clamping ring 14 through the wire end spacer 13, so that the wire end fixing ring 8 and the wire end fixing cover 7 have a certain distance from the outer fixing member, to prevent the wire end fixing ring 8 and the wire end fixing cover 7 from being worn away from the outer fixing member.
In this embodiment, drive assembly includes drive assembly and power supply, and drive assembly is connected with the line end mounting, power supply and frame fixed connection, and the power supply is used for driving drive assembly rotatory to the drive line end mounting is rotatory, thereby realizes the centre gripping of many elasticity pencil 15 to article.
The transmission assembly comprises a transmission gear 10 connected with an inner ring of the bearing 9 and a driving gear 5 connected with an output end of the power source, and the transmission gear 10 is meshed with the driving gear 5 to realize transmission connection.
It should be noted that the power source may be the steering engine 6, and may also be a motor.
In this embodiment, press from both sides and get mechanism still including control system, control system can be by arduino MEGA 2560 singlechip as main control unit, and the steering wheel module of control steering wheel 6 of arranging again drives steering wheel 6 rotatory, and steering wheel 6 drives transmission gear 10 rotatory, drives the rotation of line end mounting to play the effect that the line was restrainted, was got.
The frame of the clamping mechanism is a wrist joint of a flexible manipulator and is connected with a mechanical arm, and a driving assembly on the frame provides power for the screwing motion of an internal wiring harness assembly. The rack is also responsible for adjusting the space attitude and the position of the wiring harness assembly and is an important rigid structure in the manipulator. Every elasticity pencil 15 among the pencil subassembly connects gradually about two fixed rings 8 of line end, the fixed ring 8 of line end and the drive assembly connection in the frame to drive two fixed rings 8 of line end and do and rotate in opposite directions, make many elasticity pencil 15 produce the effect of screwing. When the clamping mechanism is used, the flexible hand is driven by the mechanical arm to move up and down to sleeve and take articles, so that the articles enter the clamping space; then, the steering gear 6 drives the transmission gear 10 to move to perform rotary motion to drive the line end fixing rings 8 to rotate, at the moment, the upper end and the lower end of each elastic wire harness 15 are driven by the two line end fixing rings 8 to rotate oppositely, each elastic wire harness 15 is lengthened and moves towards the center of a circle, the elastic wire harnesses 15 generate an enveloping effect to form a space conical curved surface, each cross section of the space curved surface is a circle formed by winding a plurality of wires, when the space conical curved surface is in contact with an object, the space conical curved surface can be self-adaptive to the surface of the object, each elastic wire harness 15 can be deformed by the concave-convex appearance of the object to adapt to the shape of the object, each wire has the tendency of recovering elastic deformation while adapting to the shape of the object, acting force can be generated with the object in the radial direction, the plurality of wire harnesses uniformly distributed on the circumference simultaneously apply clamping force to the object, the clamping forces are mutually balanced, and therefore, the function of applying pressure and grabbing the object is stably achieved under the condition of theoretically eliminating concentrated stress.
The clamping mechanism has the advantages of being simple in design, low in cost, easy to operate and use, good in flexible clamping effect, large in surface coverage of articles, capable of enveloping articles, high in space symmetry from the center to the clamping at two ends, capable of being suitable for flexible grabbing of various different articles, capable of filling the blank that the flexible clamping mechanism is not suitable for flexible clamping of flexible articles in the middle and large-scale fields, capable of remarkably improving the requirement of the flexible clamping mechanism on the fragile degree of the fragile articles capable of being clamped, capable of improving the average degree of force application of the flexible clamping mechanism to the clamped articles, and capable of reducing the existence of concentrated stress to the maximum extent.
The flexible manipulator provided by the invention is described below, and the flexible manipulator described below and the gripping mechanism described above can be referred to each other.
The flexible manipulator comprises the clamping mechanism, and the beneficial effects of the flexible manipulator are consistent with those of the clamping mechanism, so that the description is omitted.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A clamping mechanism, comprising:
the clamping device comprises a frame, a clamping mechanism and a clamping mechanism, wherein the frame is used for being connected with a mechanical arm and is internally provided with a clamping space;
the wire harness assembly is arranged outside the clamping space and comprises a plurality of elastic wire harnesses distributed in the circumferential direction of the clamping space in a surrounding manner and two wire end fixing pieces arranged on the rack, the two wire end fixing pieces are respectively positioned at two ends of the clamping space, two ends of the elastic wire harnesses are respectively connected to the two wire end fixing pieces, and one of the two wire end fixing pieces is provided with an inlet for articles to enter the clamping space;
the driving assembly can drive the two wire end fixing pieces to rotate relatively;
the wire end fixing piece is provided with a plurality of holes for embedding the end parts of the elastic wire harnesses;
the wire end fixing part comprises a wire end fixing ring and a wire end fixing cover which is in butt joint with the wire end fixing ring, a plurality of first grooves are formed in the wire end fixing ring, a plurality of second grooves which correspond to the first grooves in a one-to-one mode are formed in the wire end fixing cover, and the first grooves and the second grooves are in butt joint to form the holes;
the elastic wire harness is a closed coil, a plurality of connecting teeth are arranged at the edge of the wire end fixing ring, the connecting teeth are distributed in the circumferential direction of the wire end fixing ring in a surrounding mode and are of an integrated structure with the wire end fixing ring, the first groove is formed in the connecting teeth, and the elastic wire harness is sleeved on the connecting teeth and clamped in the first groove; the outer diameter of a circle formed by the connecting teeth is the same as that of the wire end fixing cover;
the butt joint surfaces of the line end fixing cover and the line end fixing ring are inclined planes, and the inclined plane of the line end fixing cover is matched and attached with the inclined plane of the line end fixing ring.
2. The grasping mechanism according to claim 1, wherein a wire end spacer is provided between the wire end securing member and the end of the frame, the wire end spacer being rotatably connected to the frame.
3. The grasping mechanism according to claim 2, wherein the thread end spacer is fixedly connected to the thread end fixing ring, the thread end fixing cover is located between the thread end spacer and the thread end fixing ring, and an outer diameter of the thread end spacer is larger than an inner diameter of the thread end fixing cover.
4. The grasping mechanism according to claim 1, wherein both of the wire end fixing members are rotatably connected to the frame by a bearing.
5. The gripper mechanism of claim 4 wherein the frame comprises two sets of external fasteners for fastening two of the bearings, the two sets of external fasteners being connected by a support plate.
6. The grasping mechanism according to claim 5, wherein the outer retainer includes a first retainer and a second retainer that engage an outer wall of the bearing, the first retainer and the second retainer being fixedly coupled.
7. The grasping mechanism according to claim 1, wherein the drive assembly includes a transmission assembly connected to the wire end retainer and a power source for driving the transmission assembly in rotation.
8. A flexible manipulator comprising a gripping mechanism, wherein the gripping mechanism is as claimed in any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110919706.8A CN113635331B (en) | 2021-08-11 | 2021-08-11 | Clamping mechanism and flexible manipulator |
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| CN202110919706.8A CN113635331B (en) | 2021-08-11 | 2021-08-11 | Clamping mechanism and flexible manipulator |
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| CN113635331A CN113635331A (en) | 2021-11-12 |
| CN113635331B true CN113635331B (en) | 2023-01-20 |
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| CN116021552A (en) * | 2022-08-17 | 2023-04-28 | 深圳市大族机器人有限公司 | Hollow shaft assembly, joint module and robot |
| CN116038748B (en) * | 2023-01-13 | 2023-06-30 | 北京软体机器人科技股份有限公司 | Rotary motion outer clamp type clamp |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20140159399A1 (en) * | 2012-12-07 | 2014-06-12 | Charles A. Peralo | Multiple use retrieving and inserting devices |
| JP7141070B2 (en) * | 2018-06-06 | 2022-09-22 | 国立大学法人東京工業大学 | gripping device |
| CN108890685B (en) * | 2018-09-30 | 2024-02-20 | 苏州软体机器人科技有限公司 | Flexible clamp |
| CN110405797B (en) * | 2019-06-24 | 2020-10-16 | 深圳航天龙海特智能装备有限公司 | Flexible gripping device |
| CN110682315B (en) * | 2019-09-10 | 2020-12-22 | 安徽工程大学 | Manipulator with two-stage compliant power transmission and grabbing method thereof |
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