CN208663840U - A kind of grabbing device - Google Patents
A kind of grabbing device Download PDFInfo
- Publication number
- CN208663840U CN208663840U CN201821435092.6U CN201821435092U CN208663840U CN 208663840 U CN208663840 U CN 208663840U CN 201821435092 U CN201821435092 U CN 201821435092U CN 208663840 U CN208663840 U CN 208663840U
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- China
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- grabbing device
- high fluidity
- grasping end
- filter layer
- hollow cavity
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Abstract
The utility model discloses a kind of grabbing devices, for grabbing object, including attachment base, the gas piping in attachment base, the grasping end with hollow cavity being connected on attachment base, the filter layer between hollow cavity and gas piping, the high fluidity particle being filled in hollow cavity, gas piping is connected to by filter layer with hollow cavity, and filter layer is for stopping high fluidity particle to enter in gas piping；Grasping end is made of flexible material, for heaving in inflation, is also used to the shaped depressions after contradicting object according to body surface；High fluidity particle is also used to be extruded into rigid state when being evacuated after grabbing concave end for keeping flexible state when grasping end is inflated.A kind of grabbing device of the utility model, the chucking power provided by the shape constraining of crawl end surfaces and the high fluidity particle in rigid state can keep preferable clamping effect to various irregular objects.
Description
Technical field
The utility model relates to a kind of grabbing devices.
Background technique
The existing grasping end for being used to grab article with mechanical arm cooperation, generally comprises rigid finger and flexible finger,
Rigid finger has biggish grasp force, but is easy to cause to damage to body surface；And flexible finger then avoids well
This problem, but its grasp force is smaller.Both grasping ends apply in general to the object of crawl regular shape, not for shape
The object of rule, crawl difficulty are larger.
Summary of the invention
The purpose of the utility model is to provide a kind of grabbing devices, can not only grab the object of regular shape, additionally it is possible to
The irregular object of various shape is grabbed, crawl effect is preferable.
In order to achieve the above objectives, the technical solution adopted in the utility model is:
A kind of grabbing device, for grabbing object, the grabbing device includes attachment base, the gas in the attachment base
Body pipeline, is set to the hollow cavity and the flue at the grasping end with hollow cavity being connected on the attachment base
Filter layer between road, the high fluidity particle being filled in the hollow cavity, the gas piping pass through the filter layer
It is connected to the hollow cavity, the filter layer, for stopping the high fluidity particle to enter in the gas piping；
The grasping end, is made of flexible material, for heaving in inflation, is also used to after contradicting object according to object
The shaped depressions on surface；
The high fluidity particle has flexible state and rigid state, for keeping institute in grasping end inflation
Flexible state is stated, is also used to be extruded into the rigid state when being evacuated after the crawl concave end.
Preferably, the grasping end is spherical shape.
Preferably, the grasping end is made of silica gel material.
Preferably, the high fluidity particle is the micron particles of low-density.
Preferably, the high fluidity particle is the micron particles of low friction.
Preferably, the surface of the grasping end is equipped with the lines for increasing crawl frictional force.
Preferably, the filter layer is filtering diaphragm.
Preferably, the attachment base includes sequentially connected connecting flange, connection lid, connection cover, the grasping end
Part is located in the connection cover and the connection lid, and the filter layer is located in the connection lid.
It is highly preferred that the attachment base further includes in the connection lid for fixing the pressure of the filter layer
Ring.
Due to the application of the above technical scheme, the utility model has the advantage that this is practical new compared with prior art
A kind of grabbing device of type can correspond to the grasping end of Dish deformation by being arranged according to object surface shape, and in grasping end
High fluidity particle after being extruded compression with rigid state is set in cavity body, by the shape constraining for grabbing end surfaces
And the chucking power that the high fluidity particle in rigid state provides, preferable folder can be kept to various irregular objects
Holding effect fruit.
Detailed description of the invention
Attached drawing 1 is the structural schematic diagram of utility model device；
Attached drawing 2 is the cross-sectional view of utility model device.
Wherein: 1, gas piping；2, grasping end；3, hollow cavity；4, filter layer；5, connecting flange；6, lid is connected；7,
Connect cover；8, pressure ring.
Specific embodiment
The technical solution of the utility model is further elaborated with reference to the accompanying drawing.
Referring to shown in Fig. 1-2, a kind of above-mentioned grabbing device, for grabbing object, including attachment base, attachment base is for connecting
Mechanical arm realizes the control actions such as up and down, advance, retrogressing, rotation to attachment base by mechanical arm.
A kind of above-mentioned grabbing device further includes gas piping 1 in the attachment base, is connected in having on attachment base
The grasping end 2 of cavity body 3, between hollow cavity 3 and gas piping 1 filter layer 4, the height that is filled in hollow cavity 3
Flowable particulates.Gas piping 1 is connected to by filter layer 4 with hollow cavity 3, and filter layer 4 is for stopping high fluidity particle quilt
It sucks in gas piping 1.It is inflated by gas piping 1 into hollow cavity 3 or hollow cavity 3 is evacuated.
Grasping end 2 is made of flexible material, and in the present embodiment, grasping end 2 is made of silica gel material, and grasping end 2 reveals
The part-spherical of attachment base out.High fluidity particle is the micron particles with low-density and low friction characteristic, in this reality
It applies in example, high fluidity particle has flexible state and rigid state.
Grasping end 2 is used to heave in inflation, and high fluidity particle is covered with entire hollow cavity 3 at this time, in flexible shape
State；Grasping end 2 is also used to be recessed after contradicting object according to the shape of body surface, and high fluidity particle is due to it at this time
High fluidity is filled at 2 depression in the surface of grasping end, is made to be grabbed around object full of this high fluidity particle, is worked as centering
When cavity body 3 vacuumizes, the deformation that high fluidity particle is crawled end 2 is compressed to rigid state, makes grasping end 2 to article
Flexible contradict become rigidity and contradict and rigid crawl, the dynamics that grasping end 2 grabs object greatly improved, can be to various shapes
The irregular object of shape keeps preferable clamping and crawl effect.Since grasping end 2 is flexible conflict to object in inflation, because
This can contradict the deformation that the object of various irregular abnormity is more bonded, and can be embedded in irregularly shaped object surface
In spill or gap, so when this occurs, grasping end 2 becomes rigid conflict to object, it will be able to firmly grab object.
The surface of grasping end 2 is equipped with the lines for increasing crawl frictional force, is arranged by this, improves grasping end 2
Frictional force between object improves clamping and crawl effect.
In the present embodiment, attachment base includes sequentially connected connecting flange 5, connection lid 6, connection cover 7, grasping end
2 parts are located in connection cover 7 and connection lid 6.Filter layer 4 is filtering diaphragm, which is then located at connection lid 6
In, attachment base further includes in connection lid 6 for fixing the pressure ring 8 of filter layer 4, which is applied not only to fix
Diaphragm is filtered, is also used to open filtering diaphragm.
The course of work of lower the present embodiment is illustrated in detail below:
Firstly, inflating by gas piping 1 to hollow cavity 3, keep spherical after inflating grasping end 2, at this point, high flowing
Property particle flow be full of entire hollow cavity 3；
Then, grasping end 2 is made to contradict object, since grasping end 2 is made of flexible material, according to object after contact body surface
The shape deformation in body surface face is recessed, at this point, high fluidity particle is filled into 2 depression in the surface of grasping end due to its high fluidity
Place makes to be grabbed around object full of this high fluidity particle；
Finally, being evacuated by gas piping 1 to hollow cavity 3, grasping end 2 is made to continue deformation, high fluidity particle is grabbed
Take end 2 deformation be compressed to rigid state, can be relatively firm catch object.
The above embodiments are only for explaining the technical ideas and features of the present invention, and its object is to allow be familiar with technique
Personage can understand the content of the utility model and implement accordingly, do not limit the protection scope of the present invention.
All equivalent change or modifications according to made by the spirit of the present invention essence, should all cover the protection scope of the utility model it
It is interior.
Claims (9)
1. a kind of grabbing device, for grabbing object, it is characterised in that: the grabbing device includes attachment base, is set to the company
Gas piping in joint chair, the grasping end with hollow cavity being connected on the attachment base, be set to the hollow cavity and
Filter layer between the gas piping, the high fluidity particle being filled in the hollow cavity, the gas piping pass through
The filter layer is connected to the hollow cavity, the filter layer, for stopping the high fluidity particle to enter the gas
In pipeline；
The grasping end, is made of flexible material, for heaving in inflation, is also used to after contradicting object according to body surface
Shaped depressions；
The high fluidity particle has flexible state and rigid state, for keeping described soft in grasping end inflation
Character state is also used to be extruded into the rigid state when being evacuated after the crawl concave end.
2. a kind of grabbing device according to claim 1, it is characterised in that: the grasping end is spherical shape.
3. a kind of grabbing device according to claim 1, it is characterised in that: the grasping end is made of silica gel material.
4. a kind of grabbing device according to claim 1, it is characterised in that: the high fluidity particle is the micro- of low-density
Scale particles.
5. a kind of grabbing device according to claim 1, it is characterised in that: the high fluidity particle is the micro- of low friction
Scale particles.
6. a kind of grabbing device according to claim 1, it is characterised in that: the surface of the grasping end is equipped with for increasing
Grab the lines of frictional force.
7. a kind of grabbing device according to claim 1, it is characterised in that: the filter layer is filtering diaphragm.
8. a kind of grabbing device according to claim 1, it is characterised in that: the attachment base includes sequentially connected connection
Flange, connection lid, connection cover, the crawl end part are located in the connection cover and the connection lid, the mistake
Filtering layer is located in the connection lid.
9. a kind of grabbing device according to claim 8, it is characterised in that: the attachment base further includes being set to the connection
The pressure ring for being used to fix the filter layer in lid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821435092.6U CN208663840U (en) | 2018-09-03 | 2018-09-03 | A kind of grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821435092.6U CN208663840U (en) | 2018-09-03 | 2018-09-03 | A kind of grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208663840U true CN208663840U (en) | 2019-03-29 |
Family
ID=65841542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821435092.6U Active CN208663840U (en) | 2018-09-03 | 2018-09-03 | A kind of grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208663840U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994865A (en) * | 2018-09-03 | 2018-12-14 | 苏州迪天机器人自动化有限公司 | A kind of grabbing device |
-
2018
- 2018-09-03 CN CN201821435092.6U patent/CN208663840U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994865A (en) * | 2018-09-03 | 2018-12-14 | 苏州迪天机器人自动化有限公司 | A kind of grabbing device |
| WO2020048136A1 (en) * | 2018-09-03 | 2020-03-12 | 苏州迪天机器人自动化有限公司 | Grabbing device |
| US11654579B2 (en) | 2018-09-03 | 2023-05-23 | Suzhou Diu-an Robot & Automation Co., Ltd. | Grabbing device |
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