CN114012773A - Elastic clamping mechanical gripper based on magnetic spring principle and clamping method thereof - Google Patents
Elastic clamping mechanical gripper based on magnetic spring principle and clamping method thereof Download PDFInfo
- Publication number
- CN114012773A CN114012773A CN202111480205.0A CN202111480205A CN114012773A CN 114012773 A CN114012773 A CN 114012773A CN 202111480205 A CN202111480205 A CN 202111480205A CN 114012773 A CN114012773 A CN 114012773A
- Authority
- CN
- China
- Prior art keywords
- magnetic spring
- shaped frame
- clamping
- self
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an elastic clamping mechanical gripper based on a magnetic spring principle and a clamping method thereof. The mechanical gripper comprises a clamping support and two self-adaptive clamping arms. The self-adaptive clamping arm comprises a front end clamping plate, a second connecting rod, an outer side magnetic spring joint, a rear end clamping plate, a driving rod, a first connecting rod and an inner side magnetic spring joint. The inner magnetic spring joint and the outer magnetic spring joint have the same structure and respectively comprise a first V-shaped frame, a second V-shaped frame and a magnet. The first V-shaped frame and the second V-shaped frame are respectively provided with two magnetic arms which are arranged in a V shape and fixed together. The middle parts of the first V-shaped frame and the second V-shaped frame are rotatably connected. The concave clamping part consists of a front end clamping plate and a rear end clamping plate; and the front end clamping plate and the rear end clamping plate can be used for self-adaptively adjusting the postures under the action of the two magnetic spring joints, so that the large clamping force is ensured, various irregular objects are reliably clamped, and the advantages of a rigid mechanical gripper and a flexible mechanical gripper are successfully combined.
Description
Technical Field
The invention belongs to the technical field of clamping mechanical grippers taking a magnetic spring as a core principle, and particularly relates to an elastic clamping mechanical gripper based on the magnetic spring principle.
Background
Mechanical grippers are applied in many fields of life, and at present, the mechanical grippers are roughly divided into two types: the rigid mechanical gripper is driven by a motor and consists of rigid components, can provide a large clamping force, can firmly grip an object and can move in all directions, but the use of the full rigid components leads the gripper to have a complex structure and is difficult to be used for gripping softer irregular objects; the other type of common mechanical gripper is a soft mechanical gripper composed of pneumatically driven soft elements, and the soft mechanical gripper is commonly used for gripping objects with complex surface conditions, irregular shapes and soft surfaces. The mechanical gripper has the advantages and disadvantages, the advantages of the two mechanical grippers are combined, the defect of the two mechanical grippers is overcome, the application scene of the mechanical gripper is wider, the requirement on a gripped object is lower while enough large gripping force is provided, and the adaptability is stronger.
Disclosure of Invention
The invention aims to provide an elastic clamping mechanical gripper based on a magnetic spring principle and a clamping method thereof.
The invention discloses an elastic clamping mechanical gripper based on a magnetic spring principle. The inner ends of the two adaptive clamping arms are mounted side by side on the clamping bracket, and the opposite sides form clamping portions. The two self-adaptive clamping arms are driven by two power elements respectively or driven by the same power element in a synchronous reverse direction. The self-adaptive clamping arm comprises a front end clamping plate, a second connecting rod, an outer side magnetic spring joint, a rear end clamping plate, a driving rod, a first connecting rod and an inner side magnetic spring joint.
The inner magnetic spring joint and the outer magnetic spring joint have the same structure and respectively comprise a first V-shaped frame, a second V-shaped frame and a permanent magnet. The first V-shaped frame and the second V-shaped frame are composed of two magnetic arms which are arranged in a V shape and fixed together. The middle parts of the first V-shaped frame and the second V-shaped frame are rotatably connected. The two magnetic arms on the first V-shaped frame and the second V-shaped frame are sequentially and alternately arranged along the circumferential direction. One or more permanent magnets are fixed in each magnetic arm; the magnetic poles of the opposite sides of any two adjacent magnetic arms are the same.
And a first V-shaped frame in the inner magnetic spring joint is rotationally connected with the clamping bracket and is driven by a power element to rotate. The inner end of the first connecting rod is fixed with a second V-shaped frame in the inner side magnetic spring joint. The outer end of the first connecting rod is rotatably connected with the central position of the outer magnetic spring joint. One end of the driving rod is rotatably connected with the first V-shaped frame of the inner side magnetic spring joint. The other end of the driving rod is rotatably connected with the first V-shaped frame of the outer magnetic spring joint. The first connecting rod, the driving rod, the inner magnetic spring joint and the first V-shaped frame of the outer magnetic spring joint form a four-bar mechanism. The inner end of the second connecting rod is connected with the second V-shaped frame of the outer magnetic spring joint. The inner side of the first connecting rod is fixed with a rear end clamping plate. The inner side of the second connecting rod is fixed with a front end clamping plate. The rear end clamping plate and the front end clamping plate form a clamping part of the self-adaptive clamping arm.
Preferably, the clamping parts which are oppositely arranged on the two self-adaptive clamping arms are both concave.
Preferably, the adaptive clamp arm further comprises a first telescopic locking member and a second telescopic locking member. The first telescopic locking element and the second telescopic locking element can both move telescopically and can be locked at different positions. One end of the first telescopic locking element is rotatably connected with the first V-shaped frame of the inner magnetic spring joint. The other end of the first telescopic locking element is rotatably connected with the first connecting rod. One end of the second telescopic locking element is rotatably connected with the second V-shaped frame on the outer magnetic spring joint. The other end of the second telescopic locking element is rotatably connected with the first connecting rod.
Preferably, the first telescopic locking element and the second telescopic locking element both adopt controllable self-locking gas springs.
Preferably, the two magnetic arms fixed together form an angle of 120 °.
Preferably, a bearing is arranged between the middle parts of the first V-shaped frame and the second V-shaped frame.
Preferably, the front end clamping plate and/or the rear end clamping plate are provided with pressure sensors or strain gauges.
The clamping method of the elastic clamping mechanical gripper based on the magnetic spring principle comprises the following steps:
the self-adaptive clamping arms moving to the two sides of the clamped object synchronously rotate reversely to be close to the clamped object; after the two self-adaptive clamping arms contact the clamped object, the two self-adaptive clamping arms continue to synchronously and reversely rotate; the first connecting rod and the second connecting rod overcome the magnetic force in the inner magnetic spring joint and the outer magnetic spring joint and rotate relatively, so that the front end clamping plate and the rear end clamping plate on the two self-adaptive clamping arms are both contacted with the clamped object; the clamped object is reliably clamped; and then, the first telescopic locking element and the second telescopic locking element are locked to finish the clamping action.
The invention has the following specific beneficial effects:
1. the concave clamping part consists of a front end clamping plate and a rear end clamping plate; and the front end clamping plate and the rear end clamping plate can be used for self-adaptively adjusting the postures under the action of the two magnetic spring joints, so that the large clamping force is ensured, various irregular objects are reliably clamped, and the advantages of a rigid mechanical gripper and a flexible mechanical gripper are successfully combined.
2. The invention utilizes the telescopic locking element to lock the shape of the self-adaptive clamping arm, changes the self-adaptive deformation of irregular objects into a rigid structure, and ensures that the objects are firmly and stably grabbed.
3. The gripping device has the advantages of compact structure, stable state and higher containment degree of the surface condition of a gripped object.
Drawings
Fig. 1 is a schematic view of the overall structure of the front surface of the present invention.
Fig. 2 is a schematic view of the overall structure of the reverse side of the present invention.
Fig. 3 is a schematic structural view of the magnetic spring gripper of the present invention.
Fig. 4 is a schematic structural view of the magnetic spring joint of the present invention.
Fig. 5 is an exploded view of the magnetic spring joint of the present invention.
FIG. 6 is a schematic view of the present invention for clamping a circular object.
FIG. 7 is a schematic view of the present invention clamping an oval object.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
example 1
As shown in fig. 1 and 2, the elastic clamping mechanical gripper based on the magnetic spring principle comprises a clamping bracket 3 and two adaptive clamping arms. The inner ends of the two self-adaptive clamping arms are symmetrically arranged at two ends of the clamping bracket 3, and the opposite sides form concave clamping parts.
The self-adaptive clamping arm comprises a magnetic spring gripper 1 and a driving motor 2. The driving motor 2 is fixed at the end part of the clamping bracket 3; the magnetic spring gripper 1 is directly driven to rotate so as to perform clamping and gripping work. The magnetic spring gripper 1 comprises a front end clamping plate 1-1, a second connecting rod 1-2, an outer magnetic spring joint 1-3, a second controllable self-locking gas spring 1-4, a first controllable self-locking gas spring 1-5, a rear end clamping plate 1-6, a driving rod 1-7, a first connecting rod 1-8 and an inner magnetic spring joint 1-9.
The inner magnetic spring joint 1-9 and the outer magnetic spring joint 1-3 are identical in structure and respectively comprise a first V-shaped frame 1-3-1, a second V-shaped frame 1-3-2, a permanent magnet 1-3-3 and a bearing 1-3-4. The first V-shaped frame 1-3-1 and the second V-shaped frame 1-3-2 both comprise two magnetic arms forming an included angle of 120 degrees. The middle parts of the first V-shaped frame 1-3-1 and the second V-shaped frame 1-3-2 are rotatably connected through a bearing 1-3-4. The two magnetic arms on the first V-shaped frame 1-3-1 and the second V-shaped frame 1-3-2 are sequentially and alternately arranged along the circumferential direction (namely the two magnetic arms on the same V-shaped frame are not adjacent). Permanent magnets 1-3-3 are embedded in the four magnetic arms; the permanent magnets 1-3-3 on the opposite sides of any two adjacent magnetic arms have the same magnetic poles, so that repulsive force along the circumferential direction is generated between any two adjacent magnetic arms. The repulsive force causes the first V-shaped frame 1-3-1 and the second V-shaped frame 1-3-2 to be staggered at an angle of 60 degrees in the initial state.
The magnetic spring joint is installed as shown in figure 5, when the magnetic spring joint is installed, a corresponding permanent magnet 1-3-3 is embedded into a first V-shaped frame side wall 1-3-2-1, and a second V-shaped frame side wall 1-3-2-2 is installed to obtain a complete second V-shaped frame 1-3-2; after embedding corresponding permanent magnets 1-3-3 in the first V-shaped frame side wall 1-3-1-1, coaxially connecting the bearing 1-3-4, the second V-shaped frame 1-3-2 and the first V-shaped frame side wall two 1-3-1-2, so that the first V-shaped frame 1-3-1 and the second V-shaped frame 1-3-2 are connected in a staggered manner on the same plane; and finally, butting and fixing the first V-shaped frame side wall I1-3-1-1 and the first V-shaped frame side wall II 1-3-1-2. The included angle of the center lines of the adjacent magnetic arms is 60 degrees, the magnetism of the adjacent magnetic arms is mutually repelled, and then when the two V-shaped frames rotate relatively, a nonlinear repulsion force opposite to the rotating direction is generated, and the repulsion force forms a trend of enabling the relative positions of the two V-shaped frames to recover, so that the effect of the magnetic spring is achieved.
The outer magnetic spring joints 1-3 and the inner magnetic spring joints 1-9 are used as rotating members of the magnetic spring gripper 1 and are used for controlling the rotating and clamping movement of the magnetic spring gripper 1. The first V-shaped frame 1-3-1 in the inner side magnetic spring joint 1-9 is rotatably connected with the clamping bracket 3. An output shaft of the driving motor 2 is fixed with the middle part of the first V-shaped frame 1-3-1, so that the first V-shaped frame 1-3-1 is directly driven by the driving motor 2. The inner end of the first connecting rod 1-8 is fixed with the second V-shaped frame 1-3-2 in the inner side magnetic spring joint 1-9, and the end part is rotatably connected with the central position of the inner side magnetic spring joint 1-9. The outer end of the first connecting rod 1-8 is rotatably connected with the central position of the outer magnetic spring joint 1-3. The first connecting rods 1-8 can limit the relative positions of the two magnetic spring joints and play a supporting role at the same time. One end of the driving rod 1-7 is rotatably connected with the end part of one magnetic arm of the first V-shaped frame 1-3-1 of the inner side magnetic spring joint 1-9. The other end of the driving rod 1-7 is rotatably connected with the end part of one magnetic arm of the first V-shaped frame 1-3-1 of the outer magnetic spring joint 1-3. The inner end of the second connecting rod 1-2 is fixed with one magnetic arm of the second V-shaped frame 1-3-2 of the outer magnetic spring joint 1-3. The first connecting rod 1-8 and the second connecting rod 1-2 form an obtuse angle in the initial state.
Two connecting holes are formed in the middle of the first connecting rod 1-8. The back end splints 1-6 are fixed at two connecting holes of the first connecting rods 1-8 at intervals. The front end splint 1-1 is fixed on the second connecting rod 1-2. The rear end splint 1-6 and the front end splint 1-1 are respectively positioned at the inner sides of the first connecting rod 1-8 and the second connecting rod 1-2 to form an inwards concave clamping part. The front end splint 1-1 and/or the rear end splint 1-6 are provided with pressure sensors or strain gauges.
One end of a first controllable self-locking gas spring 1-5 is rotatably connected with the end part of a magnetic arm which is connected with a driving rod 1-7 on an inner side magnetic spring joint 1-9. The other end of the first controllable self-locking gas spring 1-5 is rotatably connected with the middle part of the first connecting rod 1-8. One end of a second controllable self-locking gas spring 1-4 is rotatably connected with the end part of a magnetic arm connected with a second connecting rod 1-2 on the outer side magnetic spring joint 1-3. The other end of the second controllable self-locking gas spring 1-4 is rotatably connected with the middle part of the first connecting rod 1-8.
When the motor drives the first V-shaped frame 1-3-1 on the inner side magnetic spring joint 1-9 to rotate, the second V-shaped frame 1-3-2 on the inner side magnetic spring joint 1-9 rotates along with the magnetic force, and then the whole magnetic spring gripper 1 is driven to rotate to perform clamping action. The first controllable self-locking gas spring 1-5 and the second controllable self-locking gas spring 1-4 can stretch and deform in the clamping process, and the self-adaptive deformation of the magnetic spring gripper 1 is not influenced; when the magnetic spring gripper 1 completes self-adaptive deformation and reaches a reliable clamping state, the first controllable self-locking air springs 1-5 and the second controllable self-locking air springs 1-4 are locked, so that the magnetic spring gripper 1 forms a rigid structure.
Fig. 6 and 7 are schematic views of the regular object clamping and irregular object clamping of the present invention, respectively, as can be seen from the drawings, when the magnetic spring gripper 1 grips an irregular object, the convex part of the gripped object pushes the front end clamping plate 1-1 on the right side in the counterclockwise direction, the second V-shaped frame 1-3-2 on the outer magnetic spring joint 1-3 is driven by the second connecting rod 1-2 to rotate anticlockwise, at the moment, the relative distance between the second V-shaped frame 1-3-2 and the first V-shaped frame 1-3-1 is reduced, because the magnetic repulsive force generated between the first V-shaped frame and the second V-shaped frame is increased, a force in the clockwise direction to the second V-shaped frame 1-3-2 is generated, so that the front clamping plate 1-1 is tightly attached to the clamped object and simultaneously provides enough clamping force to grasp the clamped object.
Therefore, when the elastic clamping mechanical gripper based on the magnetic spring principle clamps any irregular object, the elastic clamping mechanical gripper can be self-adaptive to four or more than four clamping points, and the four clamping points are respectively arranged at different positions around the object, so that the irregular object can be stably clamped.
The process of clamping the object comprises the following steps:
the method comprises the following steps: the center position of the mechanical gripper is approximately aligned with the center position of the clamped object, and the power supply is started to start the driving motor 2.
Step two: the driving motor 2 directly drives the first V-shaped frame 1-3-1 on the inner side magnetic spring joint 1-9 to rotate towards the direction of the clamped object, at the moment, because the magnetic arm of the first V-shaped frame 1-3-1 on the inner side magnetic spring joint 1-9 and the magnetic arm of the second V-shaped frame 1-3-2 on the inner side magnetic spring joint 1-9 are close to each other, the repulsive force is increased, the second V-shaped frame 1-3-2 on the inner side magnetic spring joint 1-9 is forced to rotate towards the same direction, and then the mounting rear end clamp plate 1-6 on the first connecting rod 1-8 directly connected with the second V-shaped frame 1-3-2 on the inner side magnetic spring joint 1-9 rotates towards the direction of the clamped object. Meanwhile, the rotating inner magnetic spring joint 1-9 indirectly drives the first V-shaped frame 1-3-1 on the outer magnetic spring joint 1-3 to approach to the direction of the clamped object through the driving rod 1-7; similarly, the first V-shaped frame 1-3-1 magnetic arm on the outer magnetic spring joint 1-3 and the second V-shaped frame 1-3-2 magnetic arm on the outer magnetic spring joint 1-3 are close to each other, so that the repulsive force is increased, the second V-shaped frame 1-3-2 on the outer magnetic spring joint 1-3 is forced to rotate in the same direction, and the front end clamping plate 1-1 arranged on the second connecting rod 1-2 directly connected with the second V-shaped frame 1-3-2 on the outer magnetic spring joint 1-3 is further enabled to be close to the clamped object.
Step three: after the front end clamping plate 1-1 or the rear end clamping plate 1-6 is contacted with an object to be clamped, the driving motor 2 continues to rotate in the original direction, the rotating speed is reduced, at the same time, the clamping plate is subjected to a force opposite to the rotating direction, so that the first V-shaped frame 1-3-1 and the second V-shaped frame 1-3-2 on the magnetic spring joint are close to each other, the repulsive force between the magnetic arms on the two V-shaped frames is increased, the repulsive force is transmitted to the object to be clamped through the connecting rod and the clamping plate, the clamping plate is enabled to be tightly attached to the object to be clamped, and meanwhile, enough clamping force is provided for grabbing the object to be clamped. In addition, in the process of rotating the first connecting rod and the second connecting rod, the front end clamping plate 1-1 and the rear end clamping plate 1-6 are both contacted with the clamped object, and the number of clamping points is increased.
Step four: when the magnetic spring gripper 1 grips a clamped object, the driving motor 2 stops rotating, the first controllable self-locking air springs 1-5 and the second controllable self-locking air springs 1-4 start self-locking, and then the first V-shaped frame 1-3-1 and the second V-shaped frame 1-3-2 on the two magnetic spring joints are locked at relative angles to form a rigid structure, so that the purpose of locking the whole magnetic spring gripper 1 is finally achieved, and the stability of the mechanical gripper in clamping the object is enhanced.
Example 2
An elastic clamping mechanical gripper based on the principle of a magnetic spring is different from the embodiment 1 in that: the controllable self-locking gas spring is replaced by other telescopic elements capable of being automatically locked, such as a central rod and a sleeve in sliding connection, and a locking structure for locking the central rod is arranged in the sleeve. The locking structure adopts an electric permanent magnet and a mechanical clamping jaw.
Claims (8)
1. An elastic clamping mechanical gripper based on a magnetic spring principle comprises a clamping bracket (3) and two self-adaptive clamping arms; the method is characterized in that: the inner ends of the two self-adaptive clamping arms are arranged on the clamping bracket (3) side by side, and the opposite sides form clamping parts; the two self-adaptive clamping arms are driven by two power elements respectively or driven by the same power element in a synchronous and reverse way; the self-adaptive clamping arm comprises a front end clamping plate (1-1), a second connecting rod (1-2), an outer magnetic spring joint (1-3), a rear end clamping plate (1-6), a driving rod (1-7), a first connecting rod (1-8) and an inner magnetic spring joint (1-9);
the inner magnetic spring joint (1-9) and the outer magnetic spring joint (1-3) have the same structure and respectively comprise a first V-shaped frame (1-3-1), a second V-shaped frame (1-3-2) and a permanent magnet (1-3-3); the first V-shaped frame (1-3-1) and the second V-shaped frame (1-3-2) are both composed of two magnetic arms arranged in a V shape; the middle parts of the first V-shaped frame (1-3-1) and the second V-shaped frame (1-3-2) are rotatably connected; the two magnetic arms on the first V-shaped frame (1-3-1) and the second V-shaped frame (1-3-2) are sequentially and alternately arranged along the circumferential direction; one or more permanent magnets (1-3-3) are fixed in each magnetic arm; the magnetic poles of the opposite side surfaces of any two adjacent magnetic arms are the same;
a first V-shaped frame (1-3-1) in the inner side magnetic spring joint (1-9) is rotatably connected with the clamping bracket (3) and is driven by a power element to rotate; the inner end of the first connecting rod (1-8) is fixed with a second V-shaped frame (1-3-2) in the inner side magnetic spring joint (1-9); the outer end of the first connecting rod (1-8) is rotatably connected with the central position of the outer magnetic spring joint (1-3); one end of the driving rod (1-7) is rotatably connected with the first V-shaped frame (1-3-1) of the inner side magnetic spring joint (1-9); the other end of the driving rod (1-7) is rotatably connected with a first V-shaped frame (1-3-1) of the outer magnetic spring joint (1-3); the first connecting rods (1-8), the driving rods (1-7) and the first V-shaped frames (1-3-1) of the inner magnetic spring joints (1-9) and the outer magnetic spring joints (1-3) form a four-bar mechanism; the inner end of the second connecting rod (1-2) and a second V-shaped frame (1-3-2) of the outer magnetic spring joint (1-3); the inner side of the first connecting rod (1-8) is fixed with a rear end splint (1-6); a front end splint (1-1) is fixed on the inner side of the second connecting rod (1-2); the back end splint (1-6) and the front end splint (1-1) form a clamping part of the self-adaptive clamping arm.
2. The magnetic spring principle-based elastic clamping mechanical gripper as claimed in claim 1, wherein: the clamping parts which are oppositely arranged on the two self-adaptive clamping arms are both concave.
3. The magnetic spring principle-based elastic clamping mechanical gripper as claimed in claim 1, wherein: the self-adaptive clamping arm further comprises a first telescopic locking element and a second telescopic locking element; the first telescopic locking element and the second telescopic locking element can move telescopically and can be locked at different positions; one end of the first telescopic locking element is rotationally connected with a first V-shaped frame (1-3-1) of the inner side magnetic spring joint (1-9); the other end of the first telescopic locking element (1-5) is rotationally connected with a first connecting rod (1-8); one end of a second telescopic locking element (1-4) is rotatably connected with a second V-shaped frame (1-3-2) on the outer magnetic spring joint (1-3); the other end of the second telescopic locking element (1-4) is rotatably connected with the first connecting rod (1-8).
4. The magnetic spring principle-based elastic clamping mechanical gripper as claimed in claim 1, wherein: the first telescopic locking element and the second telescopic locking element are both controllable self-locking gas springs (1-4).
5. The magnetic spring principle-based elastic clamping mechanical gripper as claimed in claim 1, wherein: the two magnetic arms fixed together form an included angle of 120 degrees.
6. The magnetic spring principle-based elastic clamping mechanical gripper as claimed in claim 1, wherein: and a bearing (1-3-4) is arranged between the middle parts of the first V-shaped frame (1-3-1) and the second V-shaped frame (1-3-2).
7. The magnetic spring principle-based elastic clamping mechanical gripper as claimed in claim 1, wherein: pressure sensors or strain gauges are arranged on the front end clamping plate (1-1) and/or the rear end clamping plate (1-6).
8. The clamping method of the elastic clamping mechanical hand grip based on the magnetic spring principle as claimed in claim 1, wherein: the self-adaptive clamping arms moving to the two sides of the clamped object synchronously rotate reversely to be close to the clamped object; after the two self-adaptive clamping arms contact the clamped object, the two self-adaptive clamping arms continue to synchronously and reversely rotate; the first connecting rod (1-8) and the second connecting rod (1-2) overcome the magnetic force in the inner magnetic spring joint (1-9) and the outer magnetic spring joint (1-3) and rotate relatively, so that the front end splint (1-1) and the rear end splint on the two self-adaptive clamping arms are both contacted with the clamped object; the clamped object is reliably clamped; and then, the first telescopic locking element and the second telescopic locking element are locked to finish the clamping action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111480205.0A CN114012773B (en) | 2021-12-06 | 2021-12-06 | Elastic clamping mechanical gripper based on magnetic spring principle and clamping method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111480205.0A CN114012773B (en) | 2021-12-06 | 2021-12-06 | Elastic clamping mechanical gripper based on magnetic spring principle and clamping method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114012773A true CN114012773A (en) | 2022-02-08 |
| CN114012773B CN114012773B (en) | 2023-02-24 |
Family
ID=80067826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111480205.0A Active CN114012773B (en) | 2021-12-06 | 2021-12-06 | Elastic clamping mechanical gripper based on magnetic spring principle and clamping method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114012773B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114932578A (en) * | 2022-05-12 | 2022-08-23 | 江铃汽车股份有限公司 | Flexible mechanical gripper support positioning tool |
| CN115122388A (en) * | 2022-06-27 | 2022-09-30 | 天津大学 | Mechanically adjustable cantilever |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06143179A (en) * | 1992-10-28 | 1994-05-24 | Mitsubishi Electric Corp | Robot hand |
| CN203752160U (en) * | 2014-03-25 | 2014-08-06 | 甘肃农业大学 | Quick under-actuated absorbing picking manipulator |
| CN105313121A (en) * | 2014-07-28 | 2016-02-10 | 天津明贤科技有限公司 | Self-adaptive clamping manipulator for disc parts |
| CN106182064A (en) * | 2015-05-04 | 2016-12-07 | 河北农业大学 | It is a kind of that have can the hard and soft series-parallel connection berry picking mechanical arm in locking joint |
| US20180079090A1 (en) * | 2016-09-16 | 2018-03-22 | Verb Surgical Inc. | Robotic arms |
| CN110842956A (en) * | 2019-11-07 | 2020-02-28 | 江苏科技大学 | Electromagnetic clutch type folding controllable multi-knuckle mechanical paw and working method |
| CN111515983A (en) * | 2020-03-25 | 2020-08-11 | 江阴兴澄特种钢铁有限公司 | Grabbing manipulator |
| CN211440027U (en) * | 2019-12-11 | 2020-09-08 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Perception triggering zero-delay transmission parallel-clamping self-adaptive robot finger device |
-
2021
- 2021-12-06 CN CN202111480205.0A patent/CN114012773B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06143179A (en) * | 1992-10-28 | 1994-05-24 | Mitsubishi Electric Corp | Robot hand |
| CN203752160U (en) * | 2014-03-25 | 2014-08-06 | 甘肃农业大学 | Quick under-actuated absorbing picking manipulator |
| CN105313121A (en) * | 2014-07-28 | 2016-02-10 | 天津明贤科技有限公司 | Self-adaptive clamping manipulator for disc parts |
| CN106182064A (en) * | 2015-05-04 | 2016-12-07 | 河北农业大学 | It is a kind of that have can the hard and soft series-parallel connection berry picking mechanical arm in locking joint |
| US20180079090A1 (en) * | 2016-09-16 | 2018-03-22 | Verb Surgical Inc. | Robotic arms |
| CN110842956A (en) * | 2019-11-07 | 2020-02-28 | 江苏科技大学 | Electromagnetic clutch type folding controllable multi-knuckle mechanical paw and working method |
| CN211440027U (en) * | 2019-12-11 | 2020-09-08 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Perception triggering zero-delay transmission parallel-clamping self-adaptive robot finger device |
| CN111515983A (en) * | 2020-03-25 | 2020-08-11 | 江阴兴澄特种钢铁有限公司 | Grabbing manipulator |
Non-Patent Citations (1)
| Title |
|---|
| 刘今越等: "手指关节可独立控制的欠驱动灵巧手", 《机械工程学报》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114932578A (en) * | 2022-05-12 | 2022-08-23 | 江铃汽车股份有限公司 | Flexible mechanical gripper support positioning tool |
| CN114932578B (en) * | 2022-05-12 | 2023-07-21 | 江铃汽车股份有限公司 | Flexible mechanical gripper bracket positioning tool |
| CN115122388A (en) * | 2022-06-27 | 2022-09-30 | 天津大学 | Mechanically adjustable cantilever |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114012773B (en) | 2023-02-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114012773B (en) | Elastic clamping mechanical gripper based on magnetic spring principle and clamping method thereof | |
| CN102097352B (en) | Disk fixing device | |
| CN109807917B (en) | Coupling manipulator capable of grabbing objects in self-adaptive mode | |
| CN107891434A (en) | Based on the underactuated manipulator for becoming born of the same parents' principle | |
| WO2010048765A1 (en) | Magnetic attracting manipulator for gripping bottle | |
| CN107471236B (en) | Driving device of robot paw | |
| CN110238869B (en) | Flexible magnetic net type mechanical grabbing device | |
| CN209050445U (en) | It is a kind of for clamping the clamper of cylindrical workpiece | |
| CN105583850A (en) | Self-adaptive robot hand device with elastic deflection rod clusters wound by flexible pieces | |
| CN105382848A (en) | gripping device | |
| CN105666508A (en) | Rod-wheel combined type coupling self-adapting under-actuated robot finger device | |
| CN112299010A (en) | Magnetic grabbing device that robot can just gentle switch | |
| CN114800474A (en) | Industrial production transportation intelligent robot grabbing device | |
| JP2008510993A5 (en) | ||
| CN110328683A (en) | A kind of clamp device of intellect service robot | |
| CN216543361U (en) | Magnetic grabbing device that robot can just gentle switch | |
| CN113635331A (en) | Clamping mechanism and flexible manipulator | |
| CN111590613B (en) | Magnetorheological fluid soft clamp | |
| CN110002223B (en) | Clamp holder with surface adhesion capability | |
| CN218182973U (en) | Clamping mechanism of electric power fitting stockbridge damper | |
| CN109129533B (en) | Adaptive electrostatic adsorption type end effector for on-orbit capture | |
| CN106364582B (en) | A kind of climbing robot clamping device | |
| CN112720287B (en) | Rotatable two-degree-of-freedom electromagnetic drive passive flexible micro clamp | |
| CN210365880U (en) | Holder with surface adhesion capability | |
| CN218837520U (en) | Steerable clamper based on magnetostriction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |