CN210476974U - Three-finger gripper of human-finger-simulated inflatable soft body - Google Patents
Three-finger gripper of human-finger-simulated inflatable soft body Download PDFInfo
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- CN210476974U CN210476974U CN201921615104.8U CN201921615104U CN210476974U CN 210476974 U CN210476974 U CN 210476974U CN 201921615104 U CN201921615104 U CN 201921615104U CN 210476974 U CN210476974 U CN 210476974U
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Abstract
The utility model belongs to the technical field of clamping equipment, in particular to a human finger-simulated inflatable soft three-finger clamp; comprises a controller, a fixed frame and a bionic finger; the controller is fixed at the top end of the fixing frame; the bionic finger is connected to the bottom end of the fixing frame and comprises a first joint, a second joint and a third joint, and the first joint, the second joint and the third joint are connected through torsion springs; when article need be snatched, the controller is through the hose to exerting pressure in the cavity for the piston rod stretches into in the cavity No. two from the cavity under the effect of pressure, bionical finger is in the open mode this moment, when the holder is located article top, the controller carries out the pressure release to the cavity No. one through the hose, then second joint and third joint take place the bending under the effect of torsional spring torsion, the piston rod can receive to retract again in the cavity after the extrusion, then bionical finger resumes the state of foldeing again this moment, the realization is to snatching of article.
Description
Technical Field
The utility model belongs to the technical field of the centre gripping equipment, specific three finger holders of imitative people's finger inflatable software that says so.
Background
In recent years, with the development of new materials and rapid prototyping technologies, the research trend of soft robots has been raised worldwide. The soft robot relates to the disciplines of bionics, robotics, soft material science, control and the like, and the inspiration thereof comes from the mollusk and the structure simulating the nature. Soft grippers, because they can adapt to the surface of objects of various shapes and perform safe, flexible target gripping and handling tasks, are one of the most popular current directions of research in soft robots. Although the conventional rigid gripper has the characteristics of high rigidity, high precision, high speed, good repeatability and the like, and is widely applied to the fields of industrial manufacturing, medical equipment and aerospace, when the shape of an operated object is different or is a fragile object, the rigid gripper is required to have high control precision, which greatly increases the gripper cost. The soft clamp holder is simple in shape and structure, can realize safe and soft article clamping by means of the characteristic that the material is soft and easy to deform, is high in energy density, strong in external impact resistance, strong in complex environment adaptability, flexible in design, easy to manufacture and low in cost, and can make up the defects of the traditional rigid clamp holder to a certain extent, and the advantages of the soft clamp holder are mainly embodied as follows: the clamp can adapt to the clamping of more objects with different sizes and shapes; the contact with the grasped object is safer; does not need precise control and is simpler. Despite the different advantages and applications of soft grippers, they are still at a distance from a wide range of practical applications, the important point being the poor load capacity of soft grippers and the poor stability of the gripped articles.
SUMMERY OF THE UTILITY MODEL
In order to make up for the deficiency of the prior art, solve the soft clamp holder and have certain distance from the large-scale practical application, wherein the important point is reflected in the poorer load capacity of the soft clamp holder and the poorer stability of the clamped object; the utility model provides a three-finger gripper with a human-finger-simulated inflatable soft body.
The utility model provides a technical scheme that its technical problem adopted is: the utility model relates to a human finger-simulated inflatable soft three-finger gripper, which comprises a controller, a fixed frame and a bionic finger; the controller is fixed at the top end of the fixing frame; the bionic finger is connected to the bottom end of the fixing frame and comprises a first joint, a second joint and a third joint, and the first joint, the second joint and the third joint are connected through torsion springs; a first cavity is formed in the first joint; a piston rod is arranged in the first cavity, and the first cavity is connected with the controller through a hose, so that the controller can ventilate the first cavity through the hose, and the piston rod is pushed out; a second cavity is formed in the second joint and communicated with the first cavity, so that the piston rod can extend into the second cavity in the pushing-out process, and the second joint is straightened; a third cavity is formed in the third joint and communicated with a second cavity, so that when the piston rod extends into the second cavity, gas in the second cavity can enter the third cavity, and the third joint is straightened; the clamping of the article is realized through the matching of the controller, the fixing frame and the bionic finger; when the clamp is positioned above an object, the controller decompresses the first cavity through the hose, the second joint and the third joint are bent under the action of torsional spring torsion force, the piston rod retracts into the first cavity again after being extruded, and the bionic finger restores the closed state again, the object can be grabbed.
Preferably, a first hole is formed in the side wall, close to the article, of the first joint, and the first hole is communicated with the first cavity; a second hole is formed in the side wall, close to the article, of the second joint, and the second hole is communicated with the second cavity; through the matching of the first cavity, the second cavity, the first hole and the second hole, in the process of clamping an article, the side wall of the bionic finger can generate adsorption force on the article, so that the using effect of the clamp holder is enhanced; the during operation, after the bionical finger is in the open mode, the holder is located the article top, the controller carries out the pressure release through the hose to cavity No. one, then second joint and third joint take place the bending under the effect of torsional spring torsion, the piston rod can receive to retract again in the cavity after the extrusion, then the bionical finger resumes the state of foldeing again this moment, the realization is to snatching of article, in the pressure release in-process, cavity and No. two cavities produce the adsorption affinity through hole and No. two pore pair article lateral walls, thereby the load capacity of holder has been strengthened, the stability of holder at centre gripping article in-process is improved, thereby bring very big just easy for the staff.
Preferably, a sliding chute is arranged in the fixed frame, a sliding block is arranged in the sliding chute, and a gear is arranged at a position close to the sliding chute; the side wall of the sliding block close to the gear is provided with a rack, and the rack is meshed with the gear; the controller controls the rotation of the gear through the motor; the first joint is fixed on the sliding block; the clamping range of the clamp holder is adjusted through the matching of the controller, the gear, the rack and the sliding block; the during operation, when the article that needs the centre gripping is less or great, in order to improve the stability of centre gripping in-process, controller accessible motor control gear rotates to drive the slider and slide in the spout, controlled the distance between the bionical finger promptly, adjusted the centre gripping scope of holder, enlarged the application range of holder, make the holder can press from both sides and get the article of equidimension not, improved the result of use of holder greatly.
Preferably, the side wall of the sliding chute is provided with an opening, and a friction table is connected in the opening in a sliding manner through a spring; the end part of the sliding block close to the friction table is arc-shaped groove-shaped; make the slider at the slip in-process through the cooperation of slider and friction platform, can produce the extrusion to the friction platform, make the friction platform stretch out the opening, thereby produce the fixed action to article, in operation, slide the in-process in the spout when the slider, the slider tip can produce the extrusion to the friction platform along with the removal of slider, make the friction platform stretch out the opening under the effect of pressure, thereby with the surface contact of article, article are being by the stability of clamping process in fully improved, reduce rocking of article, thereby improve the result of use of holder, a large amount of manpower and materials have been saved.
Preferably, the third joint is provided with a rubber antenna on the side wall close to the article; a cylindrical groove is formed in the rubber antenna, and when the rubber antenna is extruded in the process of clamping an article, air in the cylindrical groove is extruded out, so that adsorption force is generated on the article; the during operation, when the holder is when centre gripping article, article can produce the extrusion to the rubber antenna on third joint surface, make the cylindrical recess in the rubber antenna receive the extrusion back, its inside gas is extruded away, thereby make the rubber antenna produce the adsorption affinity to the article lateral wall, further improve article stability by the clamping process, improve the equilibrium degree of article, prevent that article from being droing from the holder by the centre gripping removal in-process, cause the harm of article, reduce article the probability that drops by the clamping process, improve the result of use of holder.
Preferably, the contact part of the first joint and the second joint and the contact part of the second joint and the third joint are respectively provided with a buffer spring, when the controller deflates the first cavity through the hose, the bionic finger can restore to a clamping state under the action of torsional spring torsion, and at the moment, the buffer springs can generate a buffer effect, so that the damage of the bionic finger to an article is reduced; when the clamping device works, when the controller decompresses the first cavity through the hose, the second joint and the third joint are bent under the action of torsion of the torsion spring, the piston rod retracts into the first cavity again after being extruded, the bionic fingers recover the folding state at the moment, and the object is grabbed, and because the contact part of the first joint and the second joint and the contact part of the second joint and the third joint are both provided with the buffer springs, certain buffering can be generated through the buffer springs in the distortion process of the second joint and the third joint, the torsion of the torsion spring is prevented from being larger, so that the second joint and the third joint can generate larger pressure on the surface of the object at the moment of air leakage of the first cavity, the object can be greatly damaged, and therefore, the buffer springs can reduce the reaction force of the second joint and the third joint, and further improve the clamping effect of the clamping device, avoiding the damage of the clamper to the object.
The utility model has the advantages as follows:
1. a three finger holders of software are aerifyd to imitative people indicate, the cooperation through controller, mount and bionical finger realizes the centre gripping to article to strengthen the bearing capacity of holder, improved the stability of holder at centre gripping article in-process.
2. A three finger holders of software are aerifyd to imitative people indicate, the centre gripping scope of holder is adjusted in the cooperation through controller, gear, rack and slider, has enlarged the application range of holder for the article of equidimension not can be got to the holder clamp, has improved the result of use of holder greatly.
Drawings
The present invention will be further explained with reference to the accompanying drawings.
Fig. 1 is a perspective view of the present invention;
FIG. 2 is a working state diagram of the present invention;
fig. 3 is a cross-sectional view of the present invention;
FIG. 4 is a partial enlarged view of FIG. 3 at A;
in the figure: the bionic finger comprises a controller 1, a fixed frame 2, a sliding groove 21, a sliding block 22, a rack 221, a gear 23, an opening 24, a friction table 241, a bionic finger 3, a first joint 31, a first cavity 311, a piston rod 312, a first hole 313, a second joint 32, a second cavity 321, a second hole 322, a third joint 33, a third cavity 331, a rubber antenna 332, a cylindrical groove 333 and a buffer spring 34.
Detailed Description
In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand and understand, the present invention is further described below with reference to the following embodiments.
As shown in fig. 1 to 4, the three-finger gripper of the present invention comprises a controller 1, a fixing frame 2 and a bionic finger 3; the controller 1 is fixed at the top end of the fixed frame 2; the bionic finger 3 is connected to the bottom end of the fixing frame 2, the bionic finger 3 comprises a first joint 31, a second joint 32 and a third joint 33, and the first joint 31, the second joint 32 and the third joint 33 are connected through torsion springs; a first cavity 311 is arranged in the first joint 31; a piston rod 312 is arranged in the first cavity 311, and the first cavity 311 is connected with the controller 1 through a hose, so that the controller 1 can ventilate the first cavity 311 through the hose, and the piston rod 312 is pushed out; a second cavity 321 is formed in the second joint 32, and the second cavity 321 is communicated with the first cavity 311, so that the piston rod 312 can extend into the second cavity 321 in the pushing-out process, and the second joint 32 is straightened; a third cavity 331 is formed in the third joint 33, and the third cavity 331 is communicated with the second cavity 321, so that when the piston rod 312 extends into the second cavity 321, gas in the second cavity 321 can enter the third cavity 331, and the third joint 33 is straightened; the clamping of the article is realized through the matching of the controller 1, the fixed frame 2 and the bionic finger 3; when the bionic finger grip works, when the controller 1 does not generate air pressure for the first cavity 311, the bionic finger 3 is in a closed state under the action of torsional spring torsion force, when an article needs to be grabbed, the controller 1 applies pressure to the first cavity 311 through the hose, so that the piston rod 312 extends into the second cavity 321 from the first cavity 311 under the action of the pressure, the pressure borne by the piston rod 312 is greater than the spring elasticity, the second joint 32 is straightened under the action of the piston rod 312, when the piston rod 312 extends into the second cavity 321, air in the second cavity 321 enters the third cavity 331, the third joint 33 is straightened under the action of the pressure, at the moment, the bionic finger 3 is in an open state, when the gripper is positioned above the article, the controller 1 releases the pressure to the first cavity 311 through the hose, the second joint 32 and the third joint 33 are bent under the action of the torsional spring torsion force, the piston rod 312 retracts into the first cavity 311 again after being extruded, then the bionic finger 3 restores the folding state again at the moment, and the object is grabbed.
As an embodiment of the present invention, the first joint 31 has a first hole 313 on a side wall close to the article, and the first hole 313 is communicated with the first cavity 311; a second hole 322 is formed in the side wall of the second joint 32 close to the article, and the second hole 322 is communicated with the second cavity 321; through the matching of the first cavity 311, the second cavity 321, the first hole 313 and the second hole 322, in the process of clamping an article, the side wall of the bionic finger 3 can generate adsorption force on the article, so that the use effect of the clamp holder is enhanced; during operation, after bionic finger 3 is in the open mode, when the holder is located the article top, controller 1 carries out the pressure release through the hose to cavity 311 No. one, then second joint 32 and third joint 33 take place the bending under the effect of torsional spring torsion, piston rod 312 can receive to retract in cavity 311 No. one again after the extrusion, then bionic finger 3 resumes the state of foldeing again this moment, the realization is snatched article, in the pressure release in-process, cavity 311 and cavity 321 produce the adsorption affinity to the article lateral wall through hole 313 and hole 322 No. two, thereby the load capacity of holder has been strengthened, the stability of holder at the centre gripping article in-process is improved, thereby bring very big just easy for the staff.
As an embodiment of the present invention, a sliding groove 21 is provided in the fixing frame 2, a sliding block 22 is provided in the sliding groove 21, and a gear 23 is provided near the sliding groove 21; the side wall of the slide block 22 close to the gear 23 is provided with a rack 221, and the rack 221 is meshed with the gear 23; the controller 1 controls the rotation of the gear 23 through a motor; the first joint 31 is fixed on the sliding block 22; the clamping range of the clamp is adjusted through the matching of the controller 1, the gear 23, the rack 221 and the slide block 22; during operation, when the article that needs the centre gripping is less or great, in order to improve the stability of centre gripping in-process, controller 1 accessible motor control gear 23 rotates to drive slider 22 and slide in spout 21, controlled the distance between the bionical finger 3 promptly, adjust the centre gripping scope of holder, enlarged the application range of holder, make the holder can press from both sides and get the article of equidimension not, improved the result of use of holder greatly.
As an embodiment of the present invention, an opening 24 is formed on a side wall of the chute 21, and a friction table 241 is slidably connected in the opening 24 through a spring; the end part of the slide block 22 close to the friction table 241 is in an arc groove shape; make slider 22 at the slip in-process through the cooperation of slider 22 and friction platform 241, can produce the extrusion to friction platform 241, make friction platform 241 stretch out opening 24, thereby produce the fixed action to article, in operation, slide the in-process in spout 21 when slider 22, slider 22 tip can produce the extrusion to friction platform 241 along with slider 22's removal, make friction platform 241 stretch out opening 24 under the effect of pressure, thereby with the surface contact of article, article stability by the clamping process has fully been improved, reduce rocking of article, thereby improve the result of use of holder, a large amount of manpower and materials have been saved.
As an embodiment of the present invention, the third joint 33 is provided with a rubber antenna 332 on the side wall near the article; a cylindrical groove 333 is formed in the rubber antenna 332, and when the rubber antenna 332 is extruded in the process of clamping an article, air in the cylindrical groove 333 is extruded out, so that the adsorption force is generated on the article; in operation, when the holder is in the centre gripping article, article can produce the extrusion to the rubber antenna 332 on third joint 33 surface for cylindrical recess 333 in the rubber antenna 332 receives the extrusion back, its inside gas is extruded, thereby make the rubber antenna 332 produce the adsorption affinity to the article lateral wall, further improve article stability by the clamping in-process, improve the equilibrium degree of article, prevent that article from being fallen from the holder by the centre gripping removal in-process, cause the harm of article, reduce article by the probability that the clamping in-process dropped, improve the result of use of holder.
As an embodiment of the present invention, the contact position of the first joint 31 and the second joint 32 and the contact position of the second joint 32 and the third joint 33 are both provided with a buffer spring 34, when the controller 1 loses air to the first cavity 311 through the hose, the bionic finger 3 can be restored to the clamping state under the action of torsion of the torsion spring, and at this time, the buffer spring 34 can generate a buffer action, so as to reduce the damage of the bionic finger 3 to the article; when the controller 1 decompresses the first cavity 311 through the hose, the second joint 32 and the third joint 33 bend under the torsion of the torsion spring, the piston rod 312 retracts into the first cavity 311 again after being squeezed, the bionic finger 3 returns to the folded state at this time, the object can be grabbed, and because the buffer springs 34 are arranged at the contact part of the first joint 31 and the second joint 32 and the contact part of the second joint 32 and the third joint 33, certain buffer can be generated through the buffer springs 34 in the distorting process of the second joint 32 and the third joint 33, the torsion of the torsion spring is prevented from being larger, so that the second joint 32 and the third joint 33 generate larger pressure on the surface of the object at the instant when the first cavity 311 is decompressed, the object can be damaged greatly, and the buffer springs 34 can reduce the reaction force of the second joint 32 and the third joint 33, thereby improving the clamping effect of the clamp holder and avoiding the damage of the clamp holder to the articles.
When the bionic finger grip works, when the controller 1 does not generate air pressure for the first cavity 311, the bionic finger 3 is in a closed state under the action of torsional spring torsion force, when an article needs to be grabbed, the controller 1 applies pressure to the first cavity 311 through the hose, so that the piston rod 312 extends into the second cavity 321 from the first cavity 311 under the action of the pressure, the pressure borne by the piston rod 312 is greater than the spring elasticity, the second joint 32 is straightened under the action of the piston rod 312, when the piston rod 312 extends into the second cavity 321, air in the second cavity 321 enters the third cavity 331, the third joint 33 is straightened under the action of the pressure, at the moment, the bionic finger 3 is in an open state, when the gripper is positioned above the article, the controller 1 releases the pressure to the first cavity 311 through the hose, the second joint 32 and the third joint 33 are bent under the action of the torsional spring torsion force, the piston rod 312 retracts into the first cavity 311 again after being extruded, then the bionic fingers 3 restore to the folding state again to realize the grabbing of the object; when the bionic finger 3 is in an open state and the clamp holder is positioned above an article, the controller 1 decompresses the first cavity 311 through the hose, the second joint 32 and the third joint 33 are bent under the action of torsional spring torsion, the piston rod 312 is extruded and then retracts into the first cavity 311 again, the bionic finger 3 is restored to a closed state at the moment, the article is grabbed, and in the decompression process, the first cavity 311 and the second cavity 321 generate adsorption force on the side wall of the article through the first hole 313 and the second hole 322, so that the load capacity of the clamp holder is enhanced, the stability of the clamp holder in the process of clamping the article is improved, and great convenience is brought to working personnel; when the articles to be clamped are small or large, in order to improve the stability in the clamping process, the controller 1 can control the gear 23 to rotate through the motor, so that the sliding block 22 is driven to slide in the sliding groove 21, namely, the distance between the bionic fingers 3 is controlled, the clamping range of the clamp holder is adjusted, the use range of the clamp holder is expanded, the clamp holder can clamp the articles with different sizes, and the use effect of the clamp holder is greatly improved; when the sliding block 22 slides in the sliding groove 21, the end part of the sliding block 22 can extrude the friction table 241 along with the movement of the sliding block 22, so that the friction table 241 extends out of the opening 24 under the action of pressure to be in contact with the surface of an article, the stability of the article in the clamping process is fully improved, the shaking of the article is reduced, the use effect of the clamp is improved, and a large amount of manpower and material resources are saved; when the gripper is used for gripping an article, the article can extrude the rubber antenna 332 on the surface of the third joint 33, so that after the cylindrical groove 333 in the rubber antenna 332 is extruded, the gas in the rubber antenna 332 is extruded out, and the rubber antenna 332 generates adsorption force on the side wall of the article, thereby further improving the stability of the article in the gripping process, improving the balance degree of the article, preventing the article from falling off from the gripper in the gripping and moving process, causing damage to the article, reducing the falling probability of the article in the gripping process, and improving the use effect of the gripper; when the controller 1 decompresses the first cavity 311 through the hose, the second joint 32 and the third joint 33 bend under the torsion of the torsion spring, the piston rod 312 retracts into the first cavity 311 again after being squeezed, and the bionic finger 3 restores to a folded state at this time, so as to realize the grabbing of the object, and because the buffer springs 34 are arranged at the contact part of the first joint 31 and the second joint 32 and the contact part of the second joint 32 and the third joint 33, a certain buffer can be generated by the buffer springs 34 in the distorting process of the second joint 32 and the third joint 33, so that the torsion of the torsion spring is prevented from being larger, and the second joint 32 and the third joint 33 generate larger pressure on the surface of the object at the moment that the first cavity 311 is decompressed, so as to cause larger damage to the object, and therefore the buffer springs 34 can reduce the reaction force of the second joint 32 and the third joint 33, thereby improving the clamping effect of the clamp holder and avoiding the damage of the clamp holder to the articles.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides an imitative people indicate three finger holders of inflatable software which characterized in that: comprises a controller (1), a fixed frame (2) and a bionic finger (3); the controller (1) is fixed at the top end of the fixing frame (2); the bionic finger (3) is connected to the bottom end of the fixing frame (2), the bionic finger (3) comprises a first joint (31), a second joint (32) and a third joint (33), and the first joint (31), the second joint (32) and the third joint (33) are connected through torsion springs; a first cavity (311) is arranged in the first joint (31); a piston rod (312) is arranged in the first cavity (311), and the first cavity (311) is connected with the controller (1) through a hose, so that the controller (1) can ventilate the first cavity (311) through the hose, and the piston rod (312) is pushed out; a second cavity (321) is formed in the second joint (32), and the second cavity (321) is communicated with the first cavity (311), so that the piston rod (312) can extend into the second cavity (321) in the pushing-out process, and the second joint (32) is straightened; a third cavity (331) is formed in the third joint (33), and the third cavity (331) is communicated with the second cavity (321), so that when the piston rod (312) extends into the second cavity (321), gas in the second cavity (321) can enter the third cavity (331), and the third joint (33) is straightened; the clamping of the article is realized through the matching of the controller (1), the fixing frame (2) and the bionic finger (3).
2. The human finger-simulated inflatable soft three-finger clamp of claim 1, wherein: the first joint (31) is provided with a first hole (313) on the side wall close to the article, and the first hole (313) is communicated with the first cavity (311); a second hole (322) is formed in the side wall, close to the article, of the second joint (32), and the second hole (322) is communicated with the second cavity (321); through the cooperation of a first cavity (311), a second cavity (321), a first hole (313) and a second hole (322), in the process of clamping an article, the side wall of the bionic finger (3) can generate adsorption force on the article, so that the using effect of the clamp holder is enhanced.
3. The human finger-simulated inflatable soft three-finger clamp of claim 1, wherein: a sliding chute (21) is arranged in the fixed frame (2), a sliding block (22) is arranged in the sliding chute (21), and a gear (23) is arranged at a position close to the sliding chute (21); a rack (221) is arranged on the side wall of the sliding block (22) close to the gear (23), and the rack (221) is meshed with the gear (23); the controller (1) controls the rotation of the gear (23) through a motor; the first joint (31) is fixed on the sliding block (22); the clamping range of the clamp is adjusted through the matching of the controller (1), the gear (23), the rack (221) and the slide block (22).
4. The human finger-simulated inflatable soft three-finger clamp as claimed in claim 3, wherein: an opening (24) is formed in the side wall of the sliding groove (21), and a friction table (241) is connected in the opening (24) in a sliding mode through a spring; the end part of the sliding block (22) close to the friction table (241) is arc-shaped groove-shaped; the sliding block (22) can extrude the friction table (241) in the sliding process through the matching of the sliding block (22) and the friction table (241), so that the friction table (241) extends out of the opening (24), and the object is fixed.
5. The human finger-simulated inflatable soft three-finger clamp of claim 1, wherein: the third joint (33) is provided with a rubber antenna (332) on the side wall close to the article; a cylindrical groove (333) is formed in the rubber antenna (332), and when the rubber antenna (332) is extruded in the process of clamping an article, air in the cylindrical groove (333) is extruded out, so that adsorption force is generated on the article.
6. The human finger-simulated inflatable soft three-finger clamp of claim 1, wherein: first joint (31) and the contact department of second joint (32) and third joint (33) all are equipped with buffer spring (34), leak the back through the hose to cavity (311) when controller (1), bionical finger (3) can resume into clamping state under the effect of torsional spring torsion, and buffer spring (34) can produce cushioning effect this moment, reduce the injury that bionical finger (3) caused article.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921615104.8U CN210476974U (en) | 2019-09-26 | 2019-09-26 | Three-finger gripper of human-finger-simulated inflatable soft body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921615104.8U CN210476974U (en) | 2019-09-26 | 2019-09-26 | Three-finger gripper of human-finger-simulated inflatable soft body |
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| Publication Number | Publication Date |
|---|---|
| CN210476974U true CN210476974U (en) | 2020-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921615104.8U Active CN210476974U (en) | 2019-09-26 | 2019-09-26 | Three-finger gripper of human-finger-simulated inflatable soft body |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434882A (en) * | 2019-09-26 | 2019-11-12 | 滁州职业技术学院 | A kind of apery refers to that inflation soft body three refers to clamper |
| CN112757326A (en) * | 2021-04-07 | 2021-05-07 | 北京软体机器人科技有限公司 | Software actuator |
-
2019
- 2019-09-26 CN CN201921615104.8U patent/CN210476974U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434882A (en) * | 2019-09-26 | 2019-11-12 | 滁州职业技术学院 | A kind of apery refers to that inflation soft body three refers to clamper |
| CN110434882B (en) * | 2019-09-26 | 2024-05-24 | 滁州职业技术学院 | Three finger holders of imitative people finger inflatable software |
| CN112757326A (en) * | 2021-04-07 | 2021-05-07 | 北京软体机器人科技有限公司 | Software actuator |
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