CN206764818U - Soft grasping device with function of weighing - Google Patents
Soft grasping device with function of weighing Download PDFInfo
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- CN206764818U CN206764818U CN201720654209.9U CN201720654209U CN206764818U CN 206764818 U CN206764818 U CN 206764818U CN 201720654209 U CN201720654209 U CN 201720654209U CN 206764818 U CN206764818 U CN 206764818U
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- finger
- flexible high
- weighing
- high imitative
- grasping device
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Abstract
It the utility model is related to a kind of soft grasping device with function of weighing.Its purpose is to provide it is a kind of it is simple in construction, weigh automatically, manipulate simplicity soft grasping device.The utility model includes mechanical arm, force snesor, polylith position adjustments plate and multiple flexible high imitative fingers, mechanical arm tail end and is connected with connection component, and weight sensing is connected between connection component and mechanical arm.The horizontally disposed position adjustments plate for having polylith strip in connection component bottom, one end of each position adjustable plate is connected with the marginal position of connection component bottom, the other end of each position adjustable plate extends to the side away from connection component, and the angle angle between every two blocks of adjacent position adjustments plates is identical.Long stripes through hole is offered on every block of position adjustments plate, finger connecting seat is embedded with each through hole, flexible high imitative finger is set below finger connecting seat, flexible high imitative finger tips are set on finger connecting seat.
Description
Technical field
Mechanical clamp field is the utility model is related to, more particularly to a kind of soft grasping device with function of weighing.
Background technology
Current existing fixture substantially designs for a certain specific product, that is, shows the working environment of the fixture
It is single, the clamping of one or several kinds of similar products is only limited to, the scope of application is narrow.And the diversity of product requires to press from both sides at present
Tool can clamp to various sizes of object, especially mechanical field.In addition, existing fixture is fragile to surface or soft
Object damage is easily produced in clamping process, especially to small volume, the object of various shapes, be difficult during gripping
Ensure the success rate and stability of gripping, very big difficulty is brought to gripping work.Many products are being carried out with what clamping was dispatched from the factory
During, it is also necessary to weighing operation again is carried out to product, and by manually carrying out weight record, is wasted time and energy, Er Qiezeng
Add production cost, it is manually recorded to be also easy to situations such as record loss and human error occur, unnecessary loss is brought to enterprise
Utility model content
The technical problems to be solved in the utility model be to provide it is a kind of it is simple in construction, weigh automatically, manipulate simplicity have
The soft grasping device of function of weighing.
The utility model has the soft grasping device of function of weighing, wherein, including mechanical arm, connection component, power sensing
Device and software clamping jaw, mechanical arm tail end are connected by force snesor with connection component top, the signal output part of force snesor with
The signal receiving end connection of computer, connection component bottom is provided with software clamping jaw.
The utility model has the soft grasping device of function of weighing, is adjusted wherein the software clamping jaw includes polylith position again
Plate and multiple flexible high imitative fingers are saved, each position adjustable plate all has string configuration, each position regulation to be horizontally disposed
One end of plate is connected with the marginal position of connection component bottom, and the other end of each position adjustable plate is to the side away from connection component
Extension, every block of position adjustments plate are slidably connected with corresponding flexible high imitative finger respectively.
The utility model has the soft grasping device of function of weighing, wherein per adjacent two in each position adjustable plate
Angle angle between block position adjustments plate is identical.
The utility model has the soft grasping device of function of weighing, wherein offering strip on the position adjustments plate
Through hole, finger connecting seat is embedded with through hole, and flexible high imitative finger tips are set on finger connecting seat.
The utility model has the soft grasping device of function of weighing, wherein the flexible high imitative finger tips are arranged with circle
Lip ring, seal and flexible high imitate are tightly connected between finger and finger connecting seat.
The utility model has the soft grasping device of function of weighing, wherein the flexible high imitative finger interior open up it is free
Chamber, the terminal position of flexible high imitative finger are provided with gas-tpe fitting, one end of gas-tpe fitting and the appendix of external pneumatic device
Connection, the other end of gas-tpe fitting connect with the cavity of flexible high imitative finger interior, and the inner side of flexible high imitative finger is according to the mankind
The joint position of finger is provided with multiple air bags of convex first, and multiple convex have been arranged side by side on the outside of flexible high imitative finger
Second air bag, the cavity of flexible high imitative finger interior connect with each first air bag and the second air bag.
The utility model has the soft grasping device of function of weighing, wherein the material of the flexible high imitative finger is silicon
Glue.
The soft grasping device difference from prior art that the utility model has function of weighing is：The utility model
Mechanical arm end is provided with software clamping jaw, and software clamping jaw is made using flexible material, by can pneumatically simulate human hands
Grasping movement, same software clamping jaw can capture the object of different sizes, shape and weight, can adaptively envelope target
Object, it is applied widely without being pre-adjusted according to the accurate size of object, shape.According to the stability of crawl article
It is required that can be adjusted to the quantity of flexible high imitative finger on software clamping jaw, meet the requirement of stable crawl.In software clamping jaw
Force sensor is set between mechanical arm, while flexible crawl, the article captured can be weighed, is saved big
The manpower and materials of amount, reduce production cost.The data collected upload to computer, carry out unified storage and management, avoid providing
The loss of material and the artificial mistake for weighing appearance, automaticity greatly improve.
The soft grasping device to the utility model below in conjunction with the accompanying drawings with function of weighing is described further.
Brief description of the drawings
Fig. 1 is the structural representation for the soft grasping device that the utility model has function of weighing；
Fig. 2 is the structural representation that the utility model has flexible high imitative finger in the soft grasping device of function of weighing.
Embodiment
As shown in figure 1, there is the structural representation of the soft grasping device of function of weighing for the utility model, including machinery
The flexible high imitative finger 8 of arm 1,3, three blocks of position adjustments plates 5 of force snesor and three, the end of mechanical arm 1 are provided with connection component 4,
Weight sensing 3 is connected between connection component 4 and mechanical arm 1, the signal output part of force snesor 3 and the signal of computer receive
End connection.The horizontally disposed position adjustments plate 5 for having three block length bar shapeds in the bottom of connection component 4, the one of each position adjustable plate 5
End is connected with the marginal position of the bottom of connection component 4, and the other end of each position adjustable plate 5 prolongs to the side away from connection component 4
Stretch, the angle angle between every two blocks of adjacent position adjustments plates 5 is identical.Along the position adjustments on every block of position adjustments plate 5
The bearing of trend of itself of plate 5 offers long stripes through hole 6, is embedded with finger connecting seat 7 in each through hole 6, under finger connecting seat 7
Side sets flexible high imitative finger 8, and the flexible high imitative front end of finger 8 is down-set, and the flexible high imitative end of finger 8 is set in finger company
On joint chair 7.
As shown in Fig. 2 during there is the soft grasping device of function of weighing for the utility model flexible high imitative finger structure
Schematic diagram, flexible high imitate offer cavity inside finger 8, and annulus is provided between finger connecting seat 7 and flexible high imitative finger 8
Shape seal 10, seal 10 are set in the flexible high imitative end of finger 8, and seal 10 is connected with flexible high imitative finger 8 and finger
It is tightly connected between seat 7.The terminal position of flexible high imitative finger 8 is provided with gas-tpe fitting 9, one end of gas-tpe fitting 9 with it is outer
The appendix connection of portion's pneumatic means, the other end of gas-tpe fitting 9 connect with the cavity inside flexible high imitative finger 8.It is flexible high
Imitative finger 8 is made of silica gel, and the inner side of flexible high imitative finger 8 is provided with multiple convex according to the joint position of human finger
First air bag 11, the setting of each the first air bag of convex 11 can increase frictional force when flexible high imitative finger 8 captures article, flexible
Multiple the second air bags of convex 12 have been arranged side by side in the outside of the imitative finger 8 of height, and the setting of each the second air bag of convex 12 can increase
The degree of crook of flexible high imitative finger 8, high imitative crawl scope of the finger 8 to article of increase flexibility, flexible height are imitated inside finger 8
Cavity connects with each air bag 12 of first air bag 11 and second.The inner side of each flexible high imitative finger 8 is oppositely arranged.
The utility model in the course of the work, by manipulating position of each finger connecting seat 7 on correspondence position adjustable plate 5
Put, so that each flexible high imitative finger 8 completes the crawl to article.Pass through force snesor during being captured to article
The power of 3 pairs of crawl articles detect, and the force signal of detection are converted to the quality signal of article, most the quality of article at last
Signal is transferred to computer and stored.
The utility model has the soft grasping device of function of weighing, and the end of mechanical arm 1 is provided with software clamping jaw, software folder
Pawl is made using flexible material, and by can pneumatically simulate the grasping movement of human hands, same software clamping jaw can capture not
The object of same size, shape and weight, target object can be adaptively enveloped, without according to the accurate size of object, shape
Shape is pre-adjusted, applied widely.Can be to flexible high imitative hand on software clamping jaw according to the stability requirement of crawl article
The quantity of finger 8 is adjusted, and meets the requirement of stable crawl.Force sensor 3 is set between software clamping jaw and mechanical arm 1,
While flexible crawl, the article captured can be weighed, save substantial amounts of manpower and materials, reduce production cost.
The data collected upload to computer, carry out unified storage and management, avoid the loss of data and artificially weigh the difference occurred
Mistake, automaticity greatly improve.The utility model can realize crawl while weigh automatically, manipulate simplicity, with prior art phase
Than with clear advantage.
Embodiment described above is only that preferred embodiment of the present utility model is described, not to this practicality
New scope is defined, and on the premise of the utility model design spirit is not departed from, those of ordinary skill in the art are to this
The various modifications and improvement that the technical scheme of utility model is made, the protection of the utility model claims book determination all should be fallen into
In the range of.
Claims (7)
- A kind of 1. soft grasping device with function of weighing, it is characterised in that：Including mechanical arm (1), force snesor (3), connect Connected components (4) and software clamping jaw, mechanical arm (1) end are connected by force snesor (3) with connection component (4) top, power sensing The signal output part of device (3) and the signal receiving end of computer connect, and connection component (4) bottom is provided with software clamping jaw.
- 2. the soft grasping device according to claim 1 with function of weighing, it is characterised in that：The software clamping jaw is again Including polylith position adjustments plate (5) and multiple flexible high imitative fingers (8), each position adjustable plate (5) is all to be horizontally disposed There is string configuration, one end of each position adjustable plate (5) is connected with the marginal position of connection component (4) bottom, each position regulation The other end of plate (5) extends to the side away from connection component (4), and every piece of position adjustments plate (5) is high with corresponding flexibility respectively Imitative finger (8) is slidably connected.
- 3. the soft grasping device according to claim 2 with function of weighing, it is characterised in that：The each position regulation Angle angle in plate (5) between every two pieces of adjacent position adjustments plates (5) is identical.
- 4. the soft grasping device according to claim 2 with function of weighing, it is characterised in that：The position adjustments plate (5) long stripes through hole (6) is offered on, finger connecting seat (7) is embedded with through hole (6), flexible high imitative finger (8) end is arranged On finger connecting seat (7).
- 5. the soft grasping device according to claim 4 with function of weighing, it is characterised in that：The flexible high imitative hand Refer to (8) end and be arranged with annular seal part (10), seal (10) and flexible high imitative finger (8) and finger connecting seat (7) it Between be tightly connected.
- 6. the soft grasping device according to claim 2 with function of weighing, it is characterised in that：The flexible high imitative hand Refer to and cavity is offered inside (8), the terminal position of flexible high imitative finger (8) is provided with gas-tpe fitting (9), gas-tpe fitting (9) One end connects with the appendix of external pneumatic device, the other end of gas-tpe fitting (9) cavity internal with flexible high imitative finger (8) Connection, the inner side of flexible high imitative finger (8) are provided with multiple air bags of convex first (11) according to the joint position of human finger, Multiple air bags of convex second (12), the internal sky of flexible high imitative finger (8) have been arranged side by side on the outside of flexible high imitative finger (8) Chamber connects with each first air bag (11) and the second air bag (12).
- 7. the soft grasping device according to claim 2 with function of weighing, it is characterised in that：The flexible high imitative hand The material for referring to (8) is silica gel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720654209.9U CN206764818U (en) | 2017-06-06 | 2017-06-06 | Soft grasping device with function of weighing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720654209.9U CN206764818U (en) | 2017-06-06 | 2017-06-06 | Soft grasping device with function of weighing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206764818U true CN206764818U (en) | 2017-12-19 |
Family
ID=60636672
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720654209.9U Active CN206764818U (en) | 2017-06-06 | 2017-06-06 | Soft grasping device with function of weighing |
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| CN (1) | CN206764818U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108275464A (en) * | 2018-03-16 | 2018-07-13 | 重庆大学 | Pneumatic software manipulator |
| CN108466281A (en) * | 2018-06-19 | 2018-08-31 | 苏州大学 | Detachable Pneumatic flexible list refers to |
| CN108555958A (en) * | 2018-06-19 | 2018-09-21 | 苏州大学 | Self-adapting type software handgrip |
| CN108673493A (en) * | 2018-04-02 | 2018-10-19 | 佛山伊贝尔科技有限公司 | A kind of cloth gripping device and soft robot |
| CN108748250A (en) * | 2018-06-19 | 2018-11-06 | 河海大学常州校区 | A kind of software manipulator of embedded rubber hose |
| CN109436787A (en) * | 2018-12-21 | 2019-03-08 | 广东赛德英斯智能装备有限公司 | A kind of weight self-adapting type article grasping means and the device for realizing this method |
| CN109533458A (en) * | 2018-12-21 | 2019-03-29 | 广东赛德英斯智能装备有限公司 | A kind of soft device for touching grasping means and realizing this method of type self-adapting type article |
| CN109605419A (en) * | 2018-12-11 | 2019-04-12 | 上海宇航系统工程研究所 | A kind of multiple dimensioned software grabbing device of multiple degrees of freedom |
| CN110142798A (en) * | 2019-05-29 | 2019-08-20 | 大连理工大学 | A kind of similar round staged software gripper |
| CN110340922A (en) * | 2019-09-09 | 2019-10-18 | 征图新视(江苏)科技股份有限公司 | A kind of flexible manipulator point is mechanism |
| CN110385268A (en) * | 2018-04-18 | 2019-10-29 | 菜鸟智能物流控股有限公司 | Weighing system and weighing method |
| CN112356066A (en) * | 2020-11-10 | 2021-02-12 | 哈尔滨工业大学 | Intelligent material combination driving method for flexible capture mechanism |
| CN112976029A (en) * | 2021-03-11 | 2021-06-18 | 南京农业大学 | Soft electrostatic adhesion coating type bionic octopus manipulator |
-
2017
- 2017-06-06 CN CN201720654209.9U patent/CN206764818U/en active Active
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108275464A (en) * | 2018-03-16 | 2018-07-13 | 重庆大学 | Pneumatic software manipulator |
| CN108673493B (en) * | 2018-04-02 | 2023-08-04 | 广东智能体科技有限公司 | Cloth grabbing device and software robot |
| CN108673493A (en) * | 2018-04-02 | 2018-10-19 | 佛山伊贝尔科技有限公司 | A kind of cloth gripping device and soft robot |
| CN110385268A (en) * | 2018-04-18 | 2019-10-29 | 菜鸟智能物流控股有限公司 | Weighing system and weighing method |
| CN108466281B (en) * | 2018-06-19 | 2024-01-05 | 苏州大学 | Detachable pneumatic flexible single finger |
| CN108748250A (en) * | 2018-06-19 | 2018-11-06 | 河海大学常州校区 | A kind of software manipulator of embedded rubber hose |
| CN108748250B (en) * | 2018-06-19 | 2021-11-16 | 河海大学常州校区 | Soft mechanical arm embedded into rubber hose |
| CN108555958A (en) * | 2018-06-19 | 2018-09-21 | 苏州大学 | Self-adapting type software handgrip |
| CN108466281A (en) * | 2018-06-19 | 2018-08-31 | 苏州大学 | Detachable Pneumatic flexible list refers to |
| CN108555958B (en) * | 2018-06-19 | 2023-07-18 | 苏州大学 | Self-adaptive soft gripper |
| CN109605419A (en) * | 2018-12-11 | 2019-04-12 | 上海宇航系统工程研究所 | A kind of multiple dimensioned software grabbing device of multiple degrees of freedom |
| CN109436787A (en) * | 2018-12-21 | 2019-03-08 | 广东赛德英斯智能装备有限公司 | A kind of weight self-adapting type article grasping means and the device for realizing this method |
| CN109533458A (en) * | 2018-12-21 | 2019-03-29 | 广东赛德英斯智能装备有限公司 | A kind of soft device for touching grasping means and realizing this method of type self-adapting type article |
| CN110142798A (en) * | 2019-05-29 | 2019-08-20 | 大连理工大学 | A kind of similar round staged software gripper |
| CN110340922A (en) * | 2019-09-09 | 2019-10-18 | 征图新视(江苏)科技股份有限公司 | A kind of flexible manipulator point is mechanism |
| CN112356066A (en) * | 2020-11-10 | 2021-02-12 | 哈尔滨工业大学 | Intelligent material combination driving method for flexible capture mechanism |
| CN112976029B (en) * | 2021-03-11 | 2021-11-16 | 南京农业大学 | Soft electrostatic adhesion coating type bionic octopus manipulator |
| CN112976029A (en) * | 2021-03-11 | 2021-06-18 | 南京农业大学 | Soft electrostatic adhesion coating type bionic octopus manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180726 Address after: 518109 Guangdong province Shenzhen Longhua District Longhua Street Sanlian community Jinhua hair Industrial Park 3 Silicon Valley courtyard T1 building C307 Patentee after: Shenzhen software robot technology Co.,Ltd. Address before: 100080 A006-1, two floor, block B, block 3, Haidian street, Haidian District, Beijing. Patentee before: BEIJING SOFT ROBOT TECH Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220428 Address after: 100176 building 12, yard 109, jinghaisan Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing (Yizhuang group, high end industrial area, Beijing Pilot Free Trade Zone) Patentee after: BEIJING SOFT ROBOT TECH Co.,Ltd. Address before: 518109 Guangdong province Shenzhen Longhua District Longhua Street Sanlian community Jinhua hair Industrial Park 3 Silicon Valley courtyard T1 building C307 Patentee before: Shenzhen software robot technology Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 100176 building 12, yard 109, jinghaisan Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing (Yizhuang group, high end industrial area, Beijing Pilot Free Trade Zone) Patentee after: Beijing Software Robot Technology Co.,Ltd. Address before: 100176 building 12, yard 109, jinghaisan Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing (Yizhuang group, high end industrial area, Beijing Pilot Free Trade Zone) Patentee before: BEIJING SOFT ROBOT TECH Co.,Ltd. |