CN116372963A - Rigid-flexible coupling imitation trunk type gripper - Google Patents
Rigid-flexible coupling imitation trunk type gripper Download PDFInfo
- Publication number
- CN116372963A CN116372963A CN202310277835.0A CN202310277835A CN116372963A CN 116372963 A CN116372963 A CN 116372963A CN 202310277835 A CN202310277835 A CN 202310277835A CN 116372963 A CN116372963 A CN 116372963A
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- rigid
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- gripper
- rotating shaft
- baffle
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- 230000008878 coupling Effects 0.000 title claims abstract description 28
- 238000010168 coupling process Methods 0.000 title claims abstract description 28
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 137
- 210000000078 claw Anatomy 0.000 claims description 9
- 239000011664 nicotinic acid Substances 0.000 abstract description 10
- 239000012528 membrane Substances 0.000 description 13
- 238000010586 diagram Methods 0.000 description 5
- 239000000428 dust Substances 0.000 description 3
- 235000013606 potato chips Nutrition 0.000 description 3
- 241000255925 Diptera Species 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 235000013527 bean curd Nutrition 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of bionic grippers, and discloses a rigid-flexible coupling simulated trunk type gripper which is of a symmetrical structure and comprises a driving assembly, a rigid mechanism and a flexible mechanism, wherein the driving assembly is arranged on the rigid mechanism and is used for driving the rigid mechanism to rotate and limiting the rigid mechanism; the flexible mechanism is movably connected with the rigid mechanism and is used for being connected with a vacuum pump, and the flexible mechanism is folded in half and deformed when subjected to negative pressure; the working mode of the gripper is switched by the cooperation of the driving component and the vacuum pump. Different working modes are realized by the gripper through the selective driving of the rigid mechanism and the flexible mechanism, so that the problem that the range of the existing bionic gripper capable of gripping articles is smaller is solved.
Description
Technical Field
The invention belongs to the technical field of bionic grippers, and particularly relates to a rigid-flexible coupling simulated trunk type gripper.
Background
The existing rigid bionic gripper has more extensive application, and more excellent gripping force and bearing capacity, but is difficult to grip ultra-light and fragile objects such as powder, potato chips and the like, and the gripped objects are easy to damage. The existing soft bionic gripper has good compliance, but is difficult to grasp powder objects, and has poor controllability and small grasping force.
Because the rigid bionic gripper and the soft bionic gripper mutually compensate the defects of the other side, the rigid and soft coupling bionic gripper can generate when in use in order to combine the advantages of the rigid bionic gripper and the soft bionic gripper.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides a rigid-flexible coupling simulated trunk type gripper, which realizes different working modes by selectively driving a rigid mechanism and a flexible mechanism so as to solve the problem that the range of the existing simulated gripper for gripping articles is smaller.
In order to achieve the above object, according to one aspect of the present invention, there is provided a rigid-flexible coupling trunk-like gripper, the gripper having a symmetrical structure, and comprising a driving component, a rigid mechanism and a flexible mechanism, wherein the driving component is disposed on the rigid mechanism, and is used for driving the rigid mechanism to rotate, and simultaneously limiting the rigid mechanism; the flexible mechanism is movably connected with the rigid mechanism and is used for being connected with a vacuum pump, and the flexible mechanism is folded in half and deformed when subjected to negative pressure; the working mode of the gripper is switched by the cooperation of the driving component and the vacuum pump.
Further, the rigid mechanism can drive the flexible mechanism to move when actively moving; the flexible mechanism can drive the rigid mechanism to rotate when in active work.
Further, the driving assembly comprises two driving mechanisms, and the two driving mechanisms are symmetrically arranged; the driving mechanism comprises a double-output-shaft motor and two angle baffles, and the two angle baffles are respectively connected with two output shafts of the double-output-shaft motor, which are opposite to each other; the driving mechanism is connected with the rigid mechanism through the double-output-shaft motor.
Further, the angular baffle comprises a cylinder and a baffle, and the baffle is connected to one end of the cylinder; the two opposite ends of the cylinder are respectively provided with a rear shaft hole and a front shaft hole, and the front shaft hole and the baffle are positioned at the same end of the cylinder; the rear shaft hole is locked with the output shafts of the double-output-shaft motor, and the two output shafts of the double-output-shaft motor respectively drive the two angle baffles to rotate; the baffle is U type, and it includes left baffle and right baffle that are connected.
Further, the rigid mechanism comprises a top cover, four rotating shafts, two rigid grabbing clamps and two screws, and is connected to the driving assembly through the four rotating shafts; one ends of the two rigid grab clips are respectively connected with the four rotating shafts; the two rigid grab clips are connected to the flexible mechanism through the two screws.
Further, the top cover is provided with four bearing seats and pagoda joints, and the four rotating shafts are respectively sleeved in the bearing seats; the flexible mechanism is connected to the top cover, and the pagoda joint is communicated with the flexible mechanism.
Further, the rotating shaft comprises a rotating shaft front end and a rotating shaft tail end which are opposite to each other, the rotating shaft front end is provided with a rotating shaft key, and the rotating shaft key is arranged along the radial direction of the rotating shaft; the front end of the rotating shaft is movably connected with the front shaft hole, so that the rotating shaft is movably connected with the angle baffle; the rotating shaft key is positioned between the left baffle plate and the right baffle plate, and the rotating range of the rotating shaft is limited by the angle baffle plate.
Further, the rigid grabbing clamp is concave, and comprises two connecting rods arranged at intervals and claw parts connected to one end of each connecting rod, and the other end of each connecting rod is connected to the tail end of the rotating shaft.
Further, one end of the connecting rod is provided with an upper through hole, and the other end of the connecting rod is provided with a lower through hole; the connecting rod is locked with the tail end of the rotating shaft through the upper through hole, so that the connecting rod and the rotating shaft are fixedly connected; the rigid grabbing clamp is connected with the flexible mechanism through the lower through hole and the screw; the claw part is L-shaped, and a plurality of convex patterns are formed on the side surface of the claw part.
Further, the flexible mechanism is positioned between the two rigid grab clips and is a flexible foldable mechanism; one end of the flexible mechanism is connected to the top cover, and two sides of the other end of the flexible mechanism are respectively connected with the two rigid grabbing clamps.
In general, compared with the prior art, the rigid-flexible coupling simulated trunk type gripper provided by the invention has the following main beneficial effects:
1. four working modes of flexible main rigid fixation (flexible mechanism work, rigid mechanism fixing), flexible main rigid slave (flexible mechanism leading, rigid mechanism auxiliary work), rigid main flexible slave (rigid mechanism leading, flexible mechanism auxiliary work) and rigid flexible cooperation (flexible mechanism and rigid mechanism simultaneous driving or time sequence cooperation) can be realized through the angular baffle limiting mechanism, so that the purpose of expanding the range of types of gripable objects is achieved.
2. Different characteristics are shown under different working modes, the force application of the working mode led by the flexible mechanism is softer, the compliance is better, and the taking of fragile objects and ultra-light objects can be realized; the working mode of the rigid mechanism can generate larger grabbing force, and grabbing of the weight can be achieved.
3. The overall structure is relatively simple, the regulation and control of the working mode of the gripper can be realized through the double-output-shaft motor and the vacuum pump, the control is simple, and the installation integration level is high.
Drawings
FIG. 1 is a schematic diagram of a rigid-flexible coupling simulated trunk type gripper provided by the invention;
FIG. 2 is an exploded schematic view of the drive module of the rigid-flexible coupling simulated trunk type gripper of FIG. 1;
FIG. 3 is a schematic structural view of the rigid mechanism of the rigid-flexible coupling simulated trunk type gripper of FIG. 1;
FIG. 4 is a schematic view of the top cover of the rigid-flexible coupling simulated trunk type gripper of FIG. 1;
FIG. 5 is a schematic illustration of the axes of rotation of the rigid-flexible coupled simulated trunk grip of FIG. 1;
FIG. 6 is a schematic view of an angle baffle of the rigid-flexible coupling simulated trunk type gripper of FIG. 1;
FIG. 7 is a schematic view of the assembly of the shaft and the corner stops of the rigid-flexible coupling simulated trunk grip of FIG. 1;
FIG. 8 is a schematic view of a rigid grip of the rigid-flexible coupled simulated trunk grip of FIG. 1;
FIG. 9 is a schematic view of the flexible mechanism of the rigid-flexible coupling simulated trunk grip of FIG. 1;
FIG. 10 is a cross-sectional view of the flexible mechanism of the rigid-flexible coupling simulated trunk grip of FIG. 1;
FIG. 11 is a schematic diagram of the operation of the flexible master rigid (flexible mechanism working, rigid mechanism fixed) of the rigid-flexible coupled simulated trunk-type gripper of FIG. 1;
FIG. 12 is a schematic diagram of the operation of the soft master and slave (the flexible mechanism dominates, the rigid mechanism assists in operation) of the rigid-flexible coupled simulated trunk-type gripper of FIG. 1;
FIG. 13 is a schematic diagram of the operation of the rigid-flex coupled simulated trunk grip of FIG. 1 with the rigid-flex dominant (rigid mechanism dominant, flexible mechanism assisted in operation);
fig. 14 is a schematic diagram of the operation of the rigid-flexible coupling simulated trunk-type gripper of fig. 1 in a rigid-flexible cooperation (simultaneous actuation or timing cooperation of the flexible mechanism and the rigid mechanism).
The same reference numbers are used throughout the drawings to reference like elements or structures, wherein: 100-driving components, 110-angular baffles, 111-rear axle holes, 112-front axle holes, 113-left baffles, 114-right baffles, 120-double-output-axle motors, 200-rigid mechanisms, 210-bearing seats, 220-rotating axles, 221-rotating axle tail ends, 222-rotating axle keys, 223-rotating axle front ends, 230-top covers, 231-side blind holes, 232-inner blind holes, 233-pagoda joints, 240-rigid grabbing clamps, 241-upper through holes, 242-lower through holes, 243-ribs, 250-screws, 300-flexible mechanisms, 310-semipermeable membranes, 311-semipermeable membrane through holes, 312-semipermeable membrane small holes, 320-flexible mechanism side walls and 321-side wall top surfaces.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Referring to fig. 1, the present invention provides a rigid-flexible coupling simulated trunk type gripper, which includes a driving assembly 100, a rigid mechanism 200 and a flexible mechanism 300, wherein the driving assembly is disposed on the rigid mechanism 200 and is used for driving the rigid mechanism 200 to operate, and limiting the rigid mechanism 200. The flexible mechanism 300 is connected to the rigid mechanism 200, and is used for an external vacuum pump, and the vacuum pump provides negative pressure for the flexible mechanism 300 so that the flexible mechanism 300 is folded inwards to deform. The rigid mechanism 200 may drive the flexible mechanism 300 to move when actively working, and the flexible mechanism 300 may drive the rigid mechanism 200 to move when actively working.
The hand grip realizes the switching of four working modes through the driving assembly and the vacuum pump, so that the variety range of the hand grip capable of grabbing articles is enlarged, and the four working modes are respectively soft main rigid, and can absorb dust and mosquito ultra-light objects; soft main body can scoop up fragile objects such as bean curd and potato chips; the main body and the soft body can grasp heavier objects; and the rigid and flexible cooperation can grasp the mixed type of objects.
Referring to fig. 2 and 6, the driving assembly includes two driving mechanisms symmetrically disposed. The driving mechanism comprises a double-output-shaft motor 120 and two angle baffles 110, wherein the two angle baffles 110 are respectively connected with two output shafts of the double-output-shaft motor 120, which are opposite to each other. The drive mechanism is connected to the rigid mechanism 200 by the dual output motor 120.
The angle baffle 110 comprises a cylinder and a baffle attached to one end of the cylinder. The two opposite ends of the cylinder are respectively provided with a rear shaft hole 111 and a front shaft hole 112, and the front shaft hole 112 and the baffle are positioned at the same end of the cylinder. The rear shaft hole 111 is locked with the output shaft of the dual-output shaft motor 120, the two output shafts of the dual-output shaft motor 120 respectively drive the two angle baffles 110 to rotate, and the angle baffles 110 are driven by the dual-output shaft motor 120 to rotate so as to achieve different postures.
In this embodiment, the baffle is U-shaped, and includes a left baffle 113 and a right baffle 114 that are connected, where the left baffle 113 and the right baffle 114 are symmetrically disposed.
Referring to fig. 3, 4, 5, 7 and 8, the rigid mechanism 200 includes four bearing blocks 210, four rotating shafts 220, a top cover 230, two rigid clips 240 and two screws 250, wherein the four bearing blocks 210 are disposed on the top cover 230, and the rigid mechanism 200 is connected to the driving assembly through the four bearing blocks 210 and the four rotating shafts 220. One ends of the two rigid capture clips 240 are respectively connected to the four rotating shafts 220. The two rigid capture clips 240 are connected to the flexible mechanism 300 by two screws 250.
The top cover 230 is rectangular, two opposite ends of the top cover 230 are respectively provided with four side blind holes 231, eight side blind holes 231 are used for fixing four bearing seats 210, and each bearing seat 210 is fixed on the top cover 230 through two side blind holes 231. Four of the bearing seats 210 are located at four vertices of the same rectangle, respectively. Four inner blind holes 232 are further formed in the middle of the top cover 230, and each driving mechanism is fixed to the top cover 230 through two inner blind holes 232. The top cover 230 is provided with a pagoda joint 233, and the flexible mechanism 300 is connected to a vacuum pump through the pagoda joint 233.
The rotating shaft 220 comprises a rotating shaft front end 223 and a rotating shaft tail end 221 which are opposite, the rotating shaft front end 223 is provided with a rotating shaft key 222, and the rotating shaft key 222 is arranged along the radial direction of the rotating shaft. The front end 223 of the rotating shaft is movably connected to the front shaft hole 112, so that the rotating shaft is movably connected to the angle baffle 110. The shaft end 221 is connected to the rigid capture clip 240. The rotation shaft key 222 is located between the left baffle 113 and the right baffle 114, the rotation range of the rotation shaft is limited by the angle baffle 110, and the rotation range of the rotation shaft is limited between the left baffle 113 and the right baffle 114.
The rigid clip 240 is substantially concave and includes two spaced links and a claw portion connected to one end of the link, and the other end of the link is connected to the end 221 of the rotating shaft. An upper through hole 241 is formed at one end of the link, and a lower through hole 242 is formed at the other end of the link. The connecting rod is locked with the rotating shaft tail end 221 through the upper through hole 241, so that the connecting rod and the rotating shaft tail end 221 are fixedly connected. The rigid capture clip 240 is connected to the flexible mechanism 300 via the lower through hole 242 and the screw 250. The two opposite ends of the claw part are respectively connected with one ends of the two connecting rods. In this embodiment, the claw portion is substantially L-shaped, and has a plurality of ribs 243 formed on a side surface thereof for increasing friction between the rigid clip 240 and the target object; the rigid grabbing clips 240 are symmetrical, and two rigid grabbing clips 240 are symmetrically arranged.
Referring to fig. 9 and 10, the flexible mechanism 300 is a flexible and foldable mechanism that mimics the characteristics of a trunk and can be folded inwards and deformed when subjected to negative pressure. The flexible mechanism 300 is a rectangular groove structure, and comprises a semipermeable membrane 310 and a flexible mechanism side wall 320, wherein the flexible mechanism side wall 320 is cylindrical, one end of the flexible mechanism side wall 320 is connected to the semipermeable membrane 310, the other end is connected to the top cover 230, and the pagoda joint 233 is communicated with the flexible structure. The two opposite ends of the semipermeable membrane 310 are respectively provided with a semipermeable membrane through hole 311, and screws 250 are arranged in the corresponding two lower through holes 242 and the semipermeable membrane through holes 311, so that the flexible mechanism is connected to the rigid grabbing clamp 240.
The semipermeable membrane is also provided with a plurality of semipermeable membrane apertures 312. Wherein, the top side 321 of the side 320 of the flexible mechanism can form a sealing connection with the top cover 230 by means of gluing, which is convenient for forming a sealing body. Is connected to a vacuum pump through the pagoda connection 233 to provide negative pressure. The choice of material for the semipermeable membrane determines the size of the semipermeable membrane aperture 312.
The grippers can replace the semipermeable membrane material according to the size, weight and other properties of the grabbing objects, so that the range of grabbing object types is enlarged; the grippers show different characteristics in different working modes; the force application is softer in the working mode of the flexible mechanism, and the flexible mechanism has better compliance; a large gripping force can be generated in the operating mode prevailing in the rigid mechanism 200. Meanwhile, the grippers are bilaterally symmetrical, the structure is relatively simple, the control is relatively simple, and the installation integration level is high.
Four modes of operation of the grip are described in detail below.
Working modality 1
To complete the flexible primary rigid (flexible mechanism working, rigid mechanism 200 is fixed), as shown in fig. 11, the dual-output motor 120 is locked after rotating a certain angle, so that the angle baffle 110 is fixed after rotating to a proper position near the inner side, the fixed angle baffle 110 limits the movement of the rigid grabbing clamp 240, and the external vacuum pump provides negative pressure for the inside of the flexible mechanism through the pagoda joint 233. The flexible mechanism after being subjected to negative pressure can generate slight deformation, and can absorb dust and mosquito ultra-light objects.
Working modality 2
To complete the soft-master rigid (flexible mechanism working, rigid mechanism 200 is fixed) working mode, as shown in fig. 11, the double-output shaft motor 120 is locked after rotating for a certain angle, so that the angular baffle 110 leaves a certain margin for the rigid grab 240 to move. At this time, an external vacuum pump provides negative pressure to the inside of the flexible mechanism through the pagoda joint 233. The flexible mechanism subjected to negative pressure can generate larger deformation and inwards fold in half, and the fold in half deformation of the flexible mechanism can drive the rigid grabbing clamp 240 to move inwards. In this mode of operation, the grip can scoop up relatively light fragile or brittle objects such as potato chips, tofu, and the like.
Mode of operation 3
To complete the operation mode of the rigid-main-flexible-secondary (the rigid mechanism 200 is dominant, the flexible mechanism is assisted to work), as shown in fig. 13, the external vacuum pump stops working, and the double-output-shaft motor 120 rotates by a larger angle, so that the angle baffle 110 approaches to the outer baffle to abut against the rigid grabbing clamp 240 and drive the rigid grabbing clamp to fold inwards to deform. In this mode of operation, the gripper may grasp a heavier package.
Working modality 4
To accomplish the rigid-flex (simultaneous driving or timing of the flexible and rigid mechanisms 200) mode of operation, the dual-output motor 120 drives the angle baffle 110 in rotation, as shown in fig. 14, such that the angle baffle 110 approaches the outboard baffle and abuts the rigid capture clip 240 and moves it inwardly. At this time, the external vacuum pump provides negative pressure for the inside of the flexible mechanism through the pagoda joint 233, so that the flexible mechanism is folded inwards to deform, and in this working mode, the grip can grip heavier objects and can adsorb ultra-light dust objects.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The utility model provides a imitative trunk formula tongs of rigid-flexible coupling which characterized in that:
the gripper is of a symmetrical structure and comprises a driving assembly, a rigid mechanism and a flexible mechanism, wherein the driving assembly is arranged on the rigid mechanism and used for driving the rigid mechanism to rotate and limiting the rigid mechanism; the flexible mechanism is movably connected with the rigid mechanism and is used for being connected with a vacuum pump, and the flexible mechanism is folded in half and deformed when subjected to negative pressure; the working mode of the gripper is switched by the cooperation of the driving component and the vacuum pump.
2. The rigid-flexible coupling trunk-like gripper of claim 1, wherein: the rigid mechanism can drive the flexible mechanism to move when actively moving; the flexible mechanism can drive the rigid mechanism to rotate when in active work.
3. The rigid-flexible coupling trunk-like gripper of claim 1, wherein: the driving assembly comprises two driving mechanisms, and the two driving mechanisms are symmetrically arranged; the driving mechanism comprises a double-output-shaft motor and two angle baffles, and the two angle baffles are respectively connected with two output shafts of the double-output-shaft motor, which are opposite to each other; the driving mechanism is connected with the rigid mechanism through the double-output-shaft motor.
4. A rigid-flexible coupling trunk-like gripper according to claim 3, wherein: the angular baffle comprises a cylinder and a baffle, and the baffle is connected to one end of the cylinder; the two opposite ends of the cylinder are respectively provided with a rear shaft hole and a front shaft hole, and the front shaft hole and the baffle are positioned at the same end of the cylinder; the rear shaft hole is locked with the output shafts of the double-output-shaft motor, and the two output shafts of the double-output-shaft motor respectively drive the two angle baffles to rotate; the baffle is U type, and it includes left baffle and right baffle that are connected.
5. The rigid-flexible coupling trunk-like gripper of claim 4, wherein: the rigid mechanism comprises a top cover, four rotating shafts, two rigid grabbing clamps and two screws, and is connected to the driving assembly through the four rotating shafts; one ends of the two rigid grab clips are respectively connected with the four rotating shafts; the two rigid grab clips are connected to the flexible mechanism through the two screws.
6. The rigid-flexible coupling trunk-like gripper of claim 5, wherein: the top cover is provided with four bearing seats and a pagoda joint, and the four rotating shafts are respectively sleeved in the bearing seats; the flexible mechanism is connected to the top cover, and the pagoda joint is communicated with the flexible mechanism.
7. The rigid-flexible coupling trunk-like gripper of claim 6, wherein: the rotating shaft comprises a rotating shaft front end and a rotating shaft tail end which are opposite to each other, the rotating shaft front end is provided with a rotating shaft key, and the rotating shaft key is arranged along the radial direction of the rotating shaft; the front end of the rotating shaft is movably connected with the front shaft hole, so that the rotating shaft is movably connected with the angle baffle; the rotating shaft key is positioned between the left baffle plate and the right baffle plate, and the rotating range of the rotating shaft is limited by the angle baffle plate.
8. The rigid-flexible coupling trunk-like gripper of claim 7, wherein: the rigid grabbing clamp is concave, and comprises two connecting rods arranged at intervals and claw parts connected to one end of each connecting rod, and the other end of each connecting rod is connected to the tail end of the rotating shaft.
9. The rigid-flexible coupling trunk-like gripper of claim 8, wherein: one end of the connecting rod is provided with an upper through hole, and the other end of the connecting rod is provided with a lower through hole; the connecting rod is locked with the tail end of the rotating shaft through the upper through hole, so that the connecting rod and the rotating shaft are fixedly connected; the rigid grabbing clamp is connected with the flexible mechanism through the lower through hole and the screw; the claw part is L-shaped, and a plurality of convex patterns are formed on the side surface of the claw part.
10. The rigid-flexible coupling simulated trunk type gripper of any of claims 8-9, wherein: the flexible mechanism is positioned between the two rigid grabbing clamps and is a flexible foldable mechanism; one end of the flexible mechanism is connected to the top cover, and two sides of the other end of the flexible mechanism are respectively connected with the two rigid grabbing clamps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310277835.0A CN116372963A (en) | 2023-03-21 | 2023-03-21 | Rigid-flexible coupling imitation trunk type gripper |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310277835.0A CN116372963A (en) | 2023-03-21 | 2023-03-21 | Rigid-flexible coupling imitation trunk type gripper |
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| CN116372963A true CN116372963A (en) | 2023-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310277835.0A Pending CN116372963A (en) | 2023-03-21 | 2023-03-21 | Rigid-flexible coupling imitation trunk type gripper |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117901162A (en) * | 2024-03-19 | 2024-04-19 | 清华大学深圳国际研究生院 | Rigid-flexible coupling handle |
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2023
- 2023-03-21 CN CN202310277835.0A patent/CN116372963A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117901162A (en) * | 2024-03-19 | 2024-04-19 | 清华大学深圳国际研究生院 | Rigid-flexible coupling handle |
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