CN204487583U - Software drives radial open-close type pneumatic gripping device - Google Patents
Software drives radial open-close type pneumatic gripping device Download PDFInfo
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- CN204487583U CN204487583U CN201520047079.3U CN201520047079U CN204487583U CN 204487583 U CN204487583 U CN 204487583U CN 201520047079 U CN201520047079 U CN 201520047079U CN 204487583 U CN204487583 U CN 204487583U
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Abstract
The utility model discloses a kind of software and drive radial open-close type pneumatic gripping device, comprise software driver element and N number of tentacle unit, N >=3, N number of tentacle unit is symmetrically distributed on software driver element; Because its driver element and tentacle unit are formed by high-air-tightness specific rubber, after being filled with compressed air, software drive unit drives tentacle unit opens or closes, tentacle unit soft flexible, the multiple geometric profile of energy laminating, reach the object of the submissive clamping of various shape object, and there is the features such as chucking power is adjustable, tentacle unit folding adjustable angle.The utility model can realize the submissive clamping adapting to geometry of objects easily.Owing to have employed software driver element and make use of compressed air expansion energy, be of value to environmental protection and energy-conservation.The utility model can be used for the fields such as food clamping and packaging, service type robot end clamper, the clamping of mix flow various shape part, has good popularizing value.
Description
Technical field
The utility model belongs to Pneumatic Transmission field, is specifically related to a kind of software and drives radial open-close type pneumatic gripping device.
Background technology
In automation clamping and conveyance operation, the clamper that air pressure drives is applied to article clamping and conveyance more and more, as opened or closed type gas pawl etc.But, current air pressure clamping device spininess to the article of particular types and specification, for object in irregular shape also unreliable clamp method efficiently.Such as, automatically transporting on the automatic flexible production line of attaching most importance to workpiece, realize different types of machines mixes line production, will make the mixed flow conveyance on same production line of the workpiece of all size and size, this is that existing clamping device and clamp method cannot realize.Owing to automatically clamping and transporting Task Dependent in flexible and efficient submissive clamping device, so the submissive clamping technique of Development of Novel is the problem needing research badly to adapt to contoured article and to improve holding capability, there is very important effect.
Existing much about the patent application of Pneumatic clamping apparatus at present, such as: US Patent No. 6685422B2, Chinese patent 201320578935.9 etc., the gas pawl kind that market is sold is also more, but their operation principle is all move based on rigidity cylinder piston to drive clamper end movement and clamping work pieces, substantially all have employed the basic structure of rigidity cylinder in conjunction with mechanical transmission mechanism.The shortcoming of this class formation is fairly obvious.On the one hand, device compliance is not good enough, and chucking power also not easily regulates, and the adaptability for cracky object is not good; On the other hand, clamper is not enough to the adaptability of gripping object shape, and clamper can not carry out Automatic adjusument according to gripping object shape.Along with the development of technology, need the submissive chucking device that flexibility is better, adaptability is stronger, the shortage of this equipment, greatly have impact on the demands such as the processing of advanced manufacturing industry mixed flow, article transmission and modern logistics.
In order to solve the problems referred to above that traditional, pneumatic instrument exists, the research that technical staff is correlated with, as Chinese patent application 201210562373.9 and 201310358580.7 etc.But these researchs still all do not solve the subject matter such as pneumatic actuator flexibility and clamper end flexibility well.Such as: in Chinese patent application 201210562373.9, propose a kind of end effector mechanism for seed ball automatic harvester, achieve by designing bowl-shape clamper the shape of part spherical fruit is adapted to, but it adopts cylinder piston axle to drive fork and slide block to do round rectilinear motion in horizontal concrete chute, does not significantly strengthen compliance; Its clamping ends adopts bowl structure bound rubber elastomeric material to fit fruit, but bowl-shape holder structure is fixed, and the elasticity of elastomeric material is very large by such environmental effects such as temperature humidity, affects the adaptability of gripping object.And Chinese patent application 201310358580.7 proposes the self adaptation Pneumatic flexible catching robot pawl based on metamorphic mechanisms, adopt air cylinder driven slider-crank mechanism and become born of the same parents' four-bar linkage.But it depends on the adaptation of object and becomes born of the same parents' construction machine kinematic pair, what each joint drive of paw adopted is that rigidity cylinder piston drives, still belong to the structure of rigidity cylinder in conjunction with mechanical transmission mechanism, pneumatic actuator flexibility and clamper end flexibility still have much room for improvement.
Summary of the invention
The purpose of this utility model is to provide a kind of software to drive radial open-close type pneumatic gripping device, because its software driver element and tentacle unit are formed by silicon rubber software, effectively to fit after silicon rubber software is filled with compressed air multiple geometric profile, realize holding finger to contact with object plane, abundant laminating body surface, reach the object of the submissive clamping of various shape object, and there is the features such as chucking power is adjustable, holding finger folding adjustable angle.
The technical solution realizing the utility model object is: a kind of software drives radial open-close type pneumatic gripping device, and comprise software driver element and N number of tentacle unit, N >=3, N number of tentacle unit is symmetrically distributed on software driver element; Software driver element comprises upper end cover, drives air bag, bottom end cover, upper sealing ring, lower seal, support bar, bottom end cover connector; Support bar is hollow rods, support bar and upper end cover and bottom end cover concentric, support bar one end is fixedly connected with upper end cover, the other end is fixedly connected with bottom end cover, upper end cover, bottom end cover and support bar are all positioned at and drive air bag, upper end cover top is provided with a circle groove, drives air bag one end to be arranged in the groove of upper end cover, is sealed by upper sealing ring; Be provided with a circle groove bottom bottom end cover, drive the air bag other end to be arranged in the groove of bottom end cover, sealed by lower seal; M bottom end cover connector is evenly distributed on bottom bottom end cover, M=N; Air bag is driven to be connected with the air valve of source of the gas and vacuum-pumping valve respectively by tracheae.
Tentacle unit comprises connecting rod, end air bag, inflated hose and leaf hinge, end air bag is fixed on connecting rod one end, the connecting rod other end is fixed on and drives on air bag, connecting rod is connected with bottom end cover connector by leaf hinge, inflated hose one end is connected with end air bag, the other end through support bar center, is connected with the air valve of source of the gas and vacuum-pumping valve respectively.
The cross-sectional area of above-mentioned upper end cover is not more than the cross-sectional area of bottom end cover.
High-air-tightness specific rubber selected by above-mentioned driving air bag.
The preferred acrylonitrile-butadiene rubber of above-mentioned high-air-tightness specific rubber, silicon rubber, polyurethane rubber.
High-air-tightness specific rubber selected by above-mentioned end air bag.
The preferred acrylonitrile-butadiene rubber of above-mentioned high-air-tightness specific rubber, silicon rubber, polyurethane rubber.
The utility model compared with prior art, its remarkable advantage: (1) the utility model adopts software driver element and tentacle unit, the submissive adaptation various shape object of energy, and body surface of fitting preferably, tentacle unit opening angle and clamping attitude can with the change of body form Automatic adjusument; (2) multiple tentacle unit is uniform along software driver element circumferencial direction, tentacle unit draw in time can effectively envelope and clamping different appearance and size article, the link design of support bar and tentacle unit provide clamp needed for necessity rigidity; (3) owing to have employed software driver element and tentacle unit, take full advantage of compressed air expansion energy, be of value to environmental protection and energy-conservation, be suitable for the fields such as food clamping and packaging, service type robot end clamper, the clamping of mix flow various shape part.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model.
Fig. 2 is embodiment 1 software driver element and tentacle cell schematics.
Fig. 3 is embodiment unaerated view.
Fig. 4 is embodiment inflated condition schematic diagram.
Fig. 5 is embodiment 2 software driver element schematic diagram.
Fig. 6 is embodiment 2 tentacle cell schematics.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Composition graphs 1, a kind of software drives radial open-close type pneumatic gripping device, comprise software driver element and N number of tentacle unit, N >=3, N number of tentacle unit is symmetrically distributed on software driver element, and software drive unit drives tentacle unit opens or closes, tentacle unit soft flexible, copy the function of the biological tentacles such as sea anemone, body surface of fitting preferably.
Software driver element comprises upper end cover 1, drives air bag 2, bottom end cover 3, upper sealing ring 5, lower seal 7, support bar 6, bottom end cover connector 14; Support bar 6 is hollow rods, support bar 6 and upper end cover 1 and bottom end cover 3 concentric, support bar 6 one end is fixedly connected with upper end cover 1, the other end is fixedly connected with bottom end cover 3, upper end cover 1, bottom end cover 3 and support bar 6 are all positioned at and drive air bag 2, because the length of support bar 6 is constant, the axial length of software driver is remained unchanged.Upper end cover 1 top is provided with a circle groove, drives air bag 2 one end to be arranged in the groove of upper end cover 1, is sealed by upper sealing ring 5; Be provided with a circle groove bottom bottom end cover 3, drive air bag 2 other end to be arranged in the groove of bottom end cover 3, sealed by lower seal 7, form airtight software chamber, after being filled with compressed air, drive air bag 2 to be radially expanded; M bottom end cover connector 14 is evenly distributed on bottom bottom end cover 3, M=N; Air bag 2 is driven to be connected with the air valve of source of the gas and vacuum-pumping valve respectively by tracheae.
Tentacle unit comprises connecting rod 12, end air bag 13, inflated hose 20 and leaf hinge 21, end air bag 13 is fixed on connecting rod 12 one end, connecting rod 12 other end is fixed on and drives on air bag 2, connecting rod 12 is connected with bottom end cover connector 14 by leaf hinge 21, when making to drive air bag 2 to be radially expanded, drive the connecting rod 12 of N number of tentacle unit all around the axis of rotation of leaf hinge 21, a driving N tentacle unit closes up.Inflated hose 20 one end is connected with end air bag 13, and the other end through support bar 6 center, is connected with the air valve of source of the gas and vacuum-pumping valve respectively.
The cross-sectional area of upper end cover 1 is not more than the cross-sectional area of bottom end cover 3, has certain envelope size when tentacle unit is opened, and gripped object 27 can be contained in tentacle unit envelope size.
The material of above-mentioned driving air bag 2 is high-air-tightness specific rubber, and high-air-tightness specific rubber softness is flexible, has anti-adhesion performance, preferred acrylonitrile-butadiene rubber, silicon rubber, polyurethane rubber.
The material of above-mentioned end air bag 13 is high-air-tightness specific rubber, and high-air-tightness specific rubber softness is flexible, has anti-adhesion performance, preferred acrylonitrile-butadiene rubber, silicon rubber, polyurethane rubber.
Embodiment 1
Composition graphs 1-Fig. 4, in the present embodiment, software drives radial open-close type pneumatic gripping device to comprise 1 software driver element and 3 tentacle unit, and 3 tentacle unit are symmetrically distributed on software driver element, drives air bag 2 and end air bag 13 to make by silicon rubber.Software driver element and tentacle unit all adopt the first source of the gas 8 to inflate, the first vacuum source 25 is bled, and completes holding action process.
Support bar 6 and upper end cover 1 and bottom end cover 3 concentric, support bar 6 one end is threaded with upper end cover 1 and adds fluid sealant and carries out sealing and fix, and the other end is threaded with bottom end cover 3 and adds fluid sealant to carry out sealing fixing.Upper end cover 1 top is provided with a circle groove, air bag 2 one end is driven to be arranged in the groove of upper end cover 1, after the compacting of upper sealing ring 5, sealant pouring and sealing, namely fill in the contact surface and gap that drive air bag 2, sealing ring 5 and upper end cover 1 with glue, make to seal completely between above-mentioned three.A circle groove is provided with bottom bottom end cover 3, air bag 2 other end is driven to be arranged in the groove of bottom end cover 3, by sealant pouring and sealing after lower seal 7 compacting, namely fill in the contact surface and gap that drive air bag 2, lower seal 7 and bottom end cover 3 with glue, make to seal completely between above-mentioned three.3 bottom end cover connectors 14 are evenly distributed on bottom bottom end cover 3, and are bolted.Air bag 2 is driven to be connected with the first air valve 9 of the first source of the gas 8 and the first vacuum valve 10 of the first vacuum source 25 respectively by tracheae; Connecting rod 12 one end is fixed on by glue and drives on air bag 2, and its bond locations is a point, i.e. tie point 24.End air bag 13 is fixed on the other end of connecting rod 12, connecting rod 12 is connected with bottom end cover connector 14 by leaf hinge 21, when making to drive air bag 2 to be radially expanded, drive the connecting rod 12 of 3 tentacle unit all around the axis of rotation of leaf hinge 21, drive 3 tentacle unit to close up.Inflated hose 20 one end is stretched into end air bag 13 and sealed it, and the other end, through support bar 6 center, is connected with the second air valve 17 of the first source of the gas 8 and the second vacuum valve 18 of the first vacuum source 25 respectively.
Air bag 2 and end air bag 13 is driven to inflate by the first source of the gas 8, compressed air enters driving air bag 2 by the first source of the gas 8 through the first air valve 9, it is made to be radially expanded, because support bar 6 length is constant, drive the axial length L of air bag 2 constant, and tie point 24 increases to R2 with driving the distance of air bag 2 axis by R1, drive link 12 and end air bag 13 close up.Compressed air enters end air bag 13 by the first source of the gas 8 through the second air valve 17, end air bag 13 is out of shape, completes clipping operation.End air bag 13 is provided with the thin-film pressure sensor 28 of soft flexible, detects holding action and whether complete; If not yet complete holding action, drive air bag 2 and end air bag 13 to continue inflation, drive air bag 2 and end air bag 13 pressure increase, tentacle unit closes up further, and end air bag 13 is fitted gripped object further; If thin-film pressure sensor 28 detects effective clamping signal, then keep supply gas pressure this moment, keep driving the shape of air bag 2 and tentacle unit to close up attitude, keep angle of bend and the laminating attitude of end air bag 13, until holding action completes.After holding action completes, when needing to remove clamp position, drive air bag 2 and end air bag 13 all to adopt the first vacuum source 25 to bleed, open the second vacuum valve 18 and aspirate air in tentacle cell end air bag 13, end air bag 13 inner air pressure declines, and tentacle unit unclamps; Subsequently, open the first vacuum valve 10 and aspirate air in software driver drives air bag 2, drive air bag 2 inner air pressure to decline, make software driver radial contraction, drivening rod 12 and tentacle unit open, and removal gripped object, clipping operation terminates.
Course of action is described as follows:
(1) the unaerated stage
When preparing gripping objects, drive air bag 2 and end air bag 13 not to inflate, drive air bag 2 to be in the maximum collapse state of on-inflatable, connecting rod 12 opens always, and tie point 24 is R1 with the distance of driving air bag 2 axis.Held object 27 is placed in clamping device tentacle unit envelope scope.
(2) air bag 2 aeration phase is driven
First air valve 9 is connected, first vacuum valve 10 cuts out, drive air bag 2 air inlet, air bag 2 is driven to be radially expanded, tie point 24 is that R2, R2 are greater than R1 with the distance of driving air bag 2 axis, and drivening rod 12 is around the axis of rotation of leaf hinge 21,3 tentacle unit all close up, by object envelope in tentacle unit.In this course, by controlling the supply gas pressure and the gas supply flow that drive air bag 2, closing up angle and closing up speed of tentacle unit can be controlled.
(3) end air bag 13 aeration phase
Second air valve 17 is connected, and the second vacuum valve 18 cuts out, end air bag 13 air inlet, and via end air bag 13 inner flow passage, compressed air enters end air bag 13.End air bag 13 is made up of the silicon rubber that hardness is different, and outside silicon rubber is softer, and inner side silicon rubber is comparatively hard, and is processed with groove in the silicon rubber of outside; During inflation, air cavity volume in groove increases, end air bag 13 expands, but silicon rubber part is different with inner side silicon rubber demi-inflation amplitude outside end air bag 13, the softer silastic material expansion amplitude in outside is comparatively large, and the harder silastic material expansion amplitude in inner side is less, and tentacle unit is bent to the inside, laminating body surface, grip objects.By controlling the supply gas pressure of end air bag 13, the bending amplitude of tentacle unit and the angle of laminating object can be controlled, and the size of chucking power can be controlled.
(4) reception step
After grip objects, air bag 2 and end air bag 13 is driven to keep inflated condition.Now only need to consume a small amount of compressed air require to compensate issuable leakage.
(5) reception step is removed
After holding action completes, when needing to remove clamp position, the first vacuum source 25 is all adopted to bleed, suction tentacle cell end air bag 13 and air in driving air bag 2, second air valve 17 is closed, and the second vacuum valve 18 is connected, and the air in end air bag 13 is drawn out of, end air bag 13 inner air pressure declines, and tentacle unit unclamps; Subsequently, the first air valve 9 is closed, and the first vacuum valve 10 is connected, and drives the air in air bag 2 to be drawn out of, and drive air bag 2 inner air pressure to decline, make software driver radial contraction, drivening rod 12 and tentacle unit open, and removal gripped object, clipping operation terminates.
Embodiment 2
Composition graphs 1, Fig. 3-Fig. 6, in the present embodiment, software drives radial open-close type pneumatic gripping device to comprise 1 software driver element and 6 tentacle unit, 6 tentacle unit are symmetrically distributed on software driver element, software driver element and tentacle unit adopt the first source of the gas 8, second source of the gas 16 to inflate respectively, first vacuum source 25, second vacuum source 26 is bled, and completes holding action process.
Support bar 6 and upper end cover 1 and bottom end cover 3 concentric, support bar 6 one end is threaded with upper end cover 1 and adds fluid sealant and carries out sealing and fix, and the other end is threaded with bottom end cover 3 and adds fluid sealant to carry out sealing fixing.Upper end cover 1 top is provided with a circle groove, and drive air bag 2 one end to be arranged in the groove of upper end cover 1, sealed by upper sealing ring 5, be bolted compressing member 29 at upper sealing ring 5 top, it is tightr that upper compressing member 29 makes sealing ring 5 seal.A circle groove is provided with bottom bottom end cover 3, air bag 2 other end is driven to be arranged in the groove of bottom end cover 3, sealed by lower seal 7, be bolted lower compressing member 30 at lower seal 7 top, it is tightr that lower compressing member 30 makes lower seal 7 seal.6 bottom end cover connectors 14 are evenly fixed on bottom bottom end cover 3 by bolt, drive air bag 2 to be connected with the first air valve 9 of the first source of the gas 8 and the first vacuum valve 10 of the first vacuum source 25 respectively by tracheae; Connecting rod 12 one end is fixed on by glue and drives on air bag 2, and its bond locations is a point, i.e. tie point 24.End air bag 13 is fixed on connecting rod 12 other end; One end that connecting rod 12 is provided with end air bag 13 is connected with bottom end cover connector 14 by leaf hinge 21, when making to drive air bag 2 to be radially expanded, drives the connecting rod 12 of 6 tentacle unit all around the axis of rotation of leaf hinge 21, thus drives 6 tentacle unit to close up.Be provided with passage 19 bottom connecting rod 12 to communicate with end air bag 13, inflated hose 20 one end is connected to bottom connecting rod 12, and do air-tightness process, inflated hose 20 other end, through support bar 6 center, is connected with the second air valve 17 of the second source of the gas 16 and the second vacuum valve 18 of the second vacuum source 26 respectively.
Drive air bag 2 and end air bag 13 to be inflated by the first source of the gas 8 and the second source of the gas 16 respectively, compressed air enters driving air bag 2 by the first source of the gas 8 through the first air valve 9, and make it be radially expanded, drive link 12 and end air bag 13 close up; Compressed air enters end air bag 13 by the second source of the gas 16 through the second air valve 17, end air bag 13 is out of shape, completes clipping operation.End air bag 13 is provided with the thin-film pressure sensor 28 of soft flexible, detects holding action and whether complete; If not yet complete holding action, drive air bag 2 and end air bag 13 to continue inflation, tentacle unit closes up further, and end air bag 13 is fitted gripped object further; If thin-film pressure sensor 28 detects effective clamping signal, then keep supply gas pressure this moment, keep driving the shape of air bag 2 and tentacle unit to close up attitude, keep angle of bend and the laminating attitude of end air bag 13, until holding action completes.After holding action completes, when needing to remove clamp position, drive air bag 2 and end air bag 13 to adopt the first vacuum source 25 and the second vacuum source 26 to bleed respectively, open the second vacuum valve 18 and aspirate air in tentacle cell end air bag 13, tentacle unit unclamps; Subsequently, open the first vacuum valve 10 and aspirate air in software driver drives air bag 2, software driver radial contraction, drivening rod 12 and tentacle unit open, and removal gripped object, clipping operation terminates.
Drive air bag 2 to adopt acrylonitrile-butadiene rubber, end air bag 13 adopts polyurethane rubber.
Course of action is described as follows:
(1) the unaerated stage
When preparing gripping objects, drive air bag 2 and end air bag 13 not to inflate, drive air bag 2 to be in the maximum collapse state of on-inflatable, connecting rod 12 opens always, and tie point 24 is R1 with the distance of driving air bag 2 axis.Held object 27 is placed in clamping device tentacle unit envelope scope.
(2) air bag 2 aeration phase is driven
First source of the gas 8 air feed, first air valve 9 is connected, first vacuum valve 10 cuts out, drive air bag 2 air inlet, drive air bag 2 to be radially expanded, tie point 24 is R2 with the distance of driving air bag 2 axis, R2 is greater than R1, drivening rod 12 is around the axis of rotation of leaf hinge 21, and 6 tentacle unit all close up, by object envelope in tentacle unit.In this course, by controlling the supply gas pressure and the gas supply flow that drive air bag 2, closing up angle and closing up speed of tentacle unit can be controlled.
(3) end air bag 13 aeration phase
Second source of the gas 16 air feed, the second air valve 17 is connected, and the second vacuum valve 18 cuts out, end air bag 13 air inlet, and via end air bag 13 inner flow passage, compressed air enters end air bag 13.End air bag 13 is made up of the polyurethane rubber that hardness is different, and outside polyurethane rubber is softer, and inner side polyurethane rubber is comparatively hard, and is processed with groove in the polyurethane rubber of outside; During inflation, air cavity volume in groove increases, end air bag 13 expands, but polyurethane rubber part is different with inner side polyurethane rubber demi-inflation amplitude outside end air bag 13, the softer urethane rubber materials expansion amplitude in outside is comparatively large, and the harder urethane rubber materials expansion amplitude in inner side is less, and tentacle unit is bent to the inside, laminating body surface, grip objects.By controlling the supply gas pressure of end air bag 13, the bending amplitude of tentacle unit and the angle of laminating object can be controlled, and the size of chucking power can be controlled.
(4) reception step
After grip objects, air bag 2 and end air bag 13 is driven to keep inflated condition.Now only need to consume a small amount of compressed air require to compensate issuable leakage.
(5) reception step is removed
After holding action completes, when needing to remove clamp position, adopt the first vacuum source 25 and the second vacuum source 26 respectively, suction tentacle cell end air bag 13 and air in driving air bag 2.Second vacuum source 26 works, and the second air valve 17 is closed, and the second vacuum valve 18 is connected, and the air in end air bag 13 is drawn out of, and end air bag 13 inner air pressure declines, and tentacle unit unclamps; Subsequently, the first vacuum source 25 works, and the first air valve 9 is closed, and the first vacuum valve 10 is connected, drive the air in air bag 2 to be drawn out of, drive air bag 2 inner air pressure to decline, make software driver radial contraction, drivening rod and tentacle unit open, and removal gripped object, clipping operation terminates.
Claims (6)
1. software drives a radial open-close type pneumatic gripping device, it is characterized in that: comprise software driver element and N number of tentacle unit, N >=3, N number of tentacle unit is symmetrically distributed on software driver element; Software driver element comprises upper end cover (1), drives air bag (2), bottom end cover (3), upper sealing ring (5), lower seal (7), support bar (6), bottom end cover connector (14); Support bar (6) is hollow rods, support bar (6) and upper end cover (1) and bottom end cover (3) concentric, support bar (6) one end is fixedly connected with upper end cover (1), the other end is fixedly connected with bottom end cover (3), upper end cover (1), bottom end cover (3) and support bar (6) are all positioned at and drive air bag (2), upper end cover (1) top is provided with a circle groove, drives air bag (2) one end to be arranged in the groove of upper end cover (1), is sealed by upper sealing ring (5); Bottom end cover (3) bottom is provided with a circle groove, drives air bag (2) other end to be arranged in the groove of bottom end cover (3), is sealed by lower seal (7); M bottom end cover connector (14) is evenly distributed on bottom end cover (3) bottom, M=N; Air bag (2) is driven to be connected with the air valve of source of the gas and vacuum-pumping valve respectively by tracheae;
Tentacle unit comprises connecting rod (12), end air bag (13), inflated hose (20) and leaf hinge (21), end air bag (13) is fixed on connecting rod (12) one end, connecting rod (12) other end is fixed on and drives on air bag (2), connecting rod (12) is connected with bottom end cover connector (14) by leaf hinge (21), inflated hose (20) one end is connected with end air bag (13), the other end through support bar (6) center, is connected with the air valve of source of the gas and vacuum-pumping valve respectively.
2. software according to claim 1 drives radial open-close type pneumatic gripping device, it is characterized in that: the cross-sectional area of above-mentioned upper end cover (1) is not more than the cross-sectional area of bottom end cover (3).
3. software according to claim 1 drives radial open-close type pneumatic gripping device, it is characterized in that: above-mentioned driving air bag (2) selects high-air-tightness specific rubber.
4. software according to claim 3 drives radial open-close type pneumatic gripping device, it is characterized in that: the preferred acrylonitrile-butadiene rubber of above-mentioned high-air-tightness specific rubber, silicon rubber, polyurethane rubber.
5. software according to claim 1 drives radial open-close type pneumatic gripping device, it is characterized in that: high-air-tightness specific rubber selected by above-mentioned end air bag (13).
6. software according to claim 5 drives radial open-close type pneumatic gripping device, it is characterized in that: the preferred acrylonitrile-butadiene rubber of above-mentioned high-air-tightness specific rubber, silicon rubber, polyurethane rubber.
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| CN201520047079.3U CN204487583U (en) | 2015-01-22 | 2015-01-22 | Software drives radial open-close type pneumatic gripping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105479480A (en) * | 2016-02-26 | 2016-04-13 | 昆山—邦泰汽车零部件制造有限公司 | Manipulator |
| CN105598988A (en) * | 2016-02-26 | 2016-05-25 | 昆山—邦泰汽车零部件制造有限公司 | Manipulator avoiding device damage |
| CN105856264A (en) * | 2015-01-22 | 2016-08-17 | 南京理工大学 | Software-driven radial opening and closing type pneumatic clamping device |
| CN106315588A (en) * | 2016-08-31 | 2017-01-11 | 亚洲硅业（青海）有限公司 | Rod taking device for polycrystalline silicon reduction furnace |
| CN107084185A (en) * | 2017-05-26 | 2017-08-22 | 苏州驱指自动化科技有限公司 | Catching plate |
| CN108908379A (en) * | 2018-06-27 | 2018-11-30 | 天津大学 | A kind of pneumatic software finger with haptic force and shape perceptional function |
| CN109048984A (en) * | 2018-10-25 | 2018-12-21 | 赵洪清 | A kind of software self-locking manipulator |
| KR20200009443A (en) * | 2018-07-19 | 2020-01-30 | 한양대학교 산학협력단 | Soft gripper |
| CN113511509A (en) * | 2021-08-13 | 2021-10-19 | 上海萌砖节能材料科技有限公司 | Front-end feeding manipulator for porous brick assembly and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856264A (en) * | 2015-01-22 | 2016-08-17 | 南京理工大学 | Software-driven radial opening and closing type pneumatic clamping device |
| CN105479480A (en) * | 2016-02-26 | 2016-04-13 | 昆山—邦泰汽车零部件制造有限公司 | Manipulator |
| CN105598988A (en) * | 2016-02-26 | 2016-05-25 | 昆山—邦泰汽车零部件制造有限公司 | Manipulator avoiding device damage |
| CN106315588A (en) * | 2016-08-31 | 2017-01-11 | 亚洲硅业（青海）有限公司 | Rod taking device for polycrystalline silicon reduction furnace |
| CN107084185A (en) * | 2017-05-26 | 2017-08-22 | 苏州驱指自动化科技有限公司 | Catching plate |
| CN108908379A (en) * | 2018-06-27 | 2018-11-30 | 天津大学 | A kind of pneumatic software finger with haptic force and shape perceptional function |
| KR20200009443A (en) * | 2018-07-19 | 2020-01-30 | 한양대학교 산학협력단 | Soft gripper |
| KR102143691B1 (en) * | 2018-07-19 | 2020-08-11 | 한양대학교 산학협력단 | Soft gripper |
| CN109048984A (en) * | 2018-10-25 | 2018-12-21 | 赵洪清 | A kind of software self-locking manipulator |
| CN109048984B (en) * | 2018-10-25 | 2021-07-06 | 江苏凯能机械设备有限公司 | Soft self-locking mechanical arm |
| CN113511509A (en) * | 2021-08-13 | 2021-10-19 | 上海萌砖节能材料科技有限公司 | Front-end feeding manipulator for porous brick assembly and working method thereof |
| CN113511509B (en) * | 2021-08-13 | 2022-07-12 | 上海萌砖节能材料科技有限公司 | Front-end feeding manipulator for porous brick assembly and working method thereof |
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