CN212683990U - Bionic thousand-hand-flashing clamping jaw - Google Patents
Bionic thousand-hand-flashing clamping jaw Download PDFInfo
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- CN212683990U CN212683990U CN202021142426.8U CN202021142426U CN212683990U CN 212683990 U CN212683990 U CN 212683990U CN 202021142426 U CN202021142426 U CN 202021142426U CN 212683990 U CN212683990 U CN 212683990U
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- 239000011664 nicotinic acid Substances 0.000 title claims description 15
- 210000003205 muscle Anatomy 0.000 claims abstract description 6
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 27
- 239000000741 silica gel Substances 0.000 claims description 21
- 229910002027 silica gel Inorganic materials 0.000 claims description 21
- 238000007789 sealing Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 8
- 230000009471 action Effects 0.000 description 9
- 230000006378 damage Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 8
- 238000005452 bending Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 7
- 230000001788 irregular Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 210000003437 trachea Anatomy 0.000 description 5
- 239000011521 glass Substances 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910052573 porcelain Inorganic materials 0.000 description 2
- 241000242583 Scyphozoa Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of robot, specifically, relate to a bionical thousand hands clamping jaws of dodging. The utility model provides a bionical thousand hands clamping jaws of sudden strain of a muscle, includes mounting disc and at least two inflatable deformable software clamping jaws, the software clamping jaw is installed on the mounting disc to the direction slope that same direction or expand to the clamping jaw outside. The utility model discloses taken the slope of software clamping jaw to arrange and avoided pneumatic finger to take one's place before the clamping when direct impact to the work piece, taken flexible envelope formula to snatch the tactics of snatching the thing when making the software clamping jaw clamping, the software clamping jaw is to the impact force peak value of snatching the thing when reducing the clamping. The soft clamping jaw utilizes a blowing-sucking combined method, the surface of a workpiece is adsorbed by the sucking disc, the clamping contact area is increased, the air pressure required for clamping an object is reduced, the clamping stability is improved, and meanwhile, the impact force peak value and the peak pressure intensity of a pneumatic finger on the workpiece are further reduced. The purpose of stably, safely and efficiently clamping fragile parts is achieved.
Description
Technical Field
The utility model relates to the technical field of robot, specifically, relate to a bionical thousand hands clamping jaws of dodging.
Background
With the deep application of the robot technology in complex grabbing tasks in the fields of high-end manufacturing industry, modern agriculture, medical service industry and the like, the design of a robot grabbing device is more challenged by the high-difficulty task requirements of special-shaped structures, flexible grabbing, co-fusion interaction and the like. In modern industry, the sorting task of fragile and fragile parts such as glass products, porcelain and the like has the technical difficulties of irregular target objects, inconsistent geometric dimensions, random target postures, easiness in damage, smooth surfaces and the like. Similar grabbing tasks require that the clamping device has good flexibility and adaptability, can stably and reliably grab and cannot damage the target object. Therefore, it is necessary to research a clamping scheme for solving the problem of stably and reliably grabbing irregular objects such as glass products, porcelain and the like.
Although the traditional clamping devices such as the rigid electric/hydraulic clamping jaw and the negative pressure suction disc have higher action precision and clamping force, the conditions such as the structural shape of a target object, the placing and positioning precision and the like are strictly restricted in the grabbing process, and once grabbing deviation occurs, the target object and the clamping devices are rigidly collided to cause damage. Therefore, researchers at home and abroad turn the eyes to the soft robot clamping device, and the grabbing of the target object with the special-shaped structure is realized by utilizing the flexibility and good environmental interactivity of the device.
The application of a soft clamping jaw to clamp vulnerable articles is a mature solution in the current industry. Patent of invention of Litte et al, university of great chain of Siamese, with application number of 201910841727.5 in 2019: a bionic jellyfish soft body robot clamping device is provided, which is a high-elasticity silica gel clamp with better load capacity and is used in the fields of soft body clamps, robot hands and the like. However, for extremely fragile articles, such as ultrathin-wall glass products, finished cakes and the like, the situation that the clamping force of the soft clamping jaw is unstable or the target object is damaged due to the overlarge force of the soft clamping jaw can occur when the finger-like soft clamping jaw clamps the articles, so that a new requirement is provided, and how to better clamp the extremely fragile articles.
SUMMERY OF THE UTILITY MODEL
The bionic quick-change hand clamping jaw mainly solves the technical problem of overcoming the defects of the device, and provides the bionic quick-change hand clamping jaw for solving the problem of stably and reliably grabbing irregular fragile objects such as glass products.
In order to solve the above problem, the utility model adopts the following technical scheme: the utility model provides a bionical thousand hands clamping jaws of sudden strain of a muscle, includes mounting disc and at least two inflatable deformable software clamping jaws, the software clamping jaw is installed to the direction slope that same direction or expand to the clamping jaw outside on the mounting disc.
In this technical scheme, the slope of software clamping jaw is installed on the mounting disc, through the structure of arranging to the direction slope installation that same direction perhaps expandes to the clamping jaw outside, makes the software clamping jaw when snatching the object, and the open angle grow of software clamping jaw avoids the software clamping jaw under the uninflated state with snatch the thing contact and harm the risk of grabbing the thing, has guaranteed the stability when the software clamping jaw snatchs fragile and irregular object, has improved the adaptability and the accuracy of software clamping jaw.
Preferably, the software clamping jaw includes the silica gel main part, be provided with clamping jaw air flue and a plurality of cavity structures side by side in the silica gel main part, the clamping jaw air flue with the cavity structure is linked together. In this technical scheme, in a plurality of cavity structures of outside air supply accessible clamping jaw air flue in with gas delivery to the silica gel main part, through carrying out the pressure boost of aerifing to cavity structure, cavity structure volume increase makes silica gel main part free end produce inside side bending deformation and then makes the silica gel main part produce the clamping action. This design makes the software clamping jaw can carry out bending deformation by a relatively large margin, realizes snatching the envelope formula of snatching the thing, has improved the stability when the software clamping jaw snatchs the work piece.
Preferably, a plurality of groove structures are formed between the cavity structures arranged in parallel on the silica gel main body. In the technical scheme, when gas is injected into the cavity structure from the clamping jaw air passage, the soft clamping jaw is inflated and bent, and the accurate control of the clamping force of the soft clamping jaw can be realized by controlling the input air pressure, so that the air pressure required by deformation and bending of the soft clamping jaw is greatly reduced, the impact force peak value of the soft clamping jaw on a grabbed object during grabbing action is reduced, and the clamping precision of the soft clamping jaw in the grabbing process is improved.
Preferably, the silica gel main part with the one end that the mounting disc is connected be provided with the pneumatic finger mounting of mounting disc joint. In the technical scheme, the silica gel main body is matched and fixed with the pneumatic finger fixing piece, so that the stability of the soft clamping jaw arranged on the mounting disc and the overall structural strength of the soft clamping jaw during grabbing action are ensured.
Preferably, the pneumatic finger fixing piece is provided with a lug structure, the mounting disc is provided with a clamping groove structure, and the lug structure is connected with the clamping groove structure in a buckling mode. In this technical scheme, the buckle is connected the convenience that can improve software clamping jaw installation and dismantle, reduces the cost of manufacture of the thousand hands clamping jaws of sudden strain of a muscle simultaneously, lets the switching efficiency and the adaptation degree of clamping jaw improve greatly, improves the efficiency of the thousand hands clamping jaws of sudden strain of a muscle in industrial production.
Preferably, the pneumatic finger fixing piece is provided with an opening structure, and one end of the silica gel main body is fixedly installed in the opening structure. In this technical scheme, the structure and the cost of manufacture that use opening structure's fixed mode can simplify the software clamping jaw improve the convenience of the soft body clamping jaw installation maintenance of thousand hands of sudden strain of a muscle.
Preferably, the clamping jaw air passage is communicated with an external air pipe through an air pipe connector arranged on the pneumatic finger fixing piece. In this technical scheme, when gaseous from the clamping jaw air flue pours into cavity structures into, make the silica gel main part aerify crooked to the accessible is to the control of input atmospheric pressure, realizes the accurate control to software clamping jaw clamp force. The air pressure required by the deformation and bending of the soft clamping jaw is greatly reduced, so that the impact force peak value of the soft clamping jaw on the grabbed object during grabbing action is reduced, and the clamping precision of the soft clamping jaw in the grabbing process is improved.
Preferably, still be provided with the sucking disc device on the software clamping jaw, the sucking disc device is including locating a plurality of flexible sucking discs on the software clamping jaw medial surface and locating the sucking disc air flue in the software clamping jaw, the sucking disc air flue with flexible sucking disc is linked together. In the technical scheme, the contact surface between the soft clamping jaw and the grabbed object can be increased by the mode that the soft clamping jaw clamps the flexible sucker on the inner side to be in contact with the grabbed object, and the flexible structure of the sucker can further reduce the impact force peak value and the pressure intensity peak value of the pneumatic finger on the grabbed object during grabbing.
Preferably, the mounting plate is provided with a through hole, and the through hole is communicated with the sucker air passage through an air pipe connector. In this technical scheme, external trachea links to each other with one minute four trachea coupling, be connected with the sucking disc air flue through one minute four trachea coupling, the trachea is to the sucking disc air flue operation of breathing in when the clamping jaw air flue is intake crooked, make the sucking disc when contacting and snatching the object surface, breathe in through the sucking disc air flue makes the sucking disc produce suction to snatching the object contact surface and grasp the work piece promptly, the suction of sucking disc can reduce the software clamping jaw when improving clamping stability and to snatch the required clamp force of thing, the possibility of snatching the thing and damaging with the removal in-process has been reduced.
Preferably, a flange plate used for being connected with the mechanical arm is fixedly connected to the mounting plate. The mounting disc is provided with a connecting hole, and the connecting hole is fixedly connected with the lower sealing flange of the flange plate through a screw structure. In this technical scheme, can realize the effect of the whole clamping jaw device of fast switch-over in actual production through the fixed mode of mounting disc and flange cooperation, improve the switching efficiency of clamping jaw in the actual production application.
Preferably, the soft clamping jaw is of a silica gel structure. In this technical scheme, the software clamping jaw is the silica gel structure because the compliance of silica gel structure is better. In addition, the soft clamping jaw can also adopt other materials with softer performance.
Compared with the prior art, the beneficial effects are:
aiming at the situation that the traditional rigid clamping jaw is easy to collide and damage the grabbed objects due to the difference of the placing positions and the appearances of the irregular grabbed objects when the traditional rigid clamping jaw is positioned before clamping action, the soft clamping jaw adopts an inclined arrangement structure, so that the direct impact of a pneumatic finger on a workpiece when the pneumatic finger is in place before clamping can be avoided, and the peak value of the impact force of the clamping jaw on the grabbed objects during clamping is reduced by adopting a flexible enveloping type grabbing mode on the grabbed objects during clamping; in addition to the finger class software clamp when getting clamping jaw clamping-force unstable, perhaps the software clamping jaw dynamics is too big thus the condition of damage target object, the utility model discloses taken the strategy that blows-breathing in and combine, the clamping jaw air flue is the intake duct, makes the cavity structure inflation through blowing in the cavity structure of toward the software clamping jaw to make the clamping jaw produce the bending, promptly the work piece. The sucking disc air flue is the suction channel, and through flexible sucking disc absorption live the work piece surface, increased and got the area of contact, reduced the required atmospheric pressure of tight object of clamp, further reduced the impact force peak value and the peak pressure of pneumatic finger to the work piece when improving centre gripping stability.
Drawings
Fig. 1 is a schematic structural view of the bionic hand-gripping jaw for flashing thousand hands of the utility model;
FIG. 2 is a schematic view of the structure of the suction cup air passage of the soft clamping jaw of the present invention;
FIG. 3 is a schematic view of the air passage structure of the soft clamping jaw of the present invention;
FIG. 4 is a perspective view of the soft clamping jaw of the present invention;
fig. 5 is a schematic structural view of the pneumatic finger fixing member of the present invention;
fig. 6 is an overall schematic view of the mounting plate.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", "long", "short", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limiting the present patent, and those skilled in the art will understand the specific meaning of the terms according to their specific circumstances.
The technical solution of the present invention is further described in detail by the following specific embodiments in combination with the accompanying drawings:
example 1
As shown in fig. 1 to 6, at least two soft clamping jaws 1 are arranged on an installation disc 3 through a pneumatic finger fixing part 2 by adopting an inclined arrangement strategy, and an air pipe joint 4 in sealed connection with a cavity is correspondingly arranged on the installation disc 3 and the soft clamping jaws 1.
In the embodiment, the soft clamping jaw 1 is obliquely arranged on the mounting disc 3 through the pneumatic finger fixing piece 2, and the inclination arrangement strategy of the inclination towards the same direction or towards the outer side of the clamping jaw device enables the opening angle of the soft clamping jaw 1 to be increased when the soft clamping jaw 1 grabs an object, so that the risk that the soft clamping jaw 1 is contacted with the grabbed object to damage the grabbed object under the non-inflated state is avoided, the stability that the soft clamping jaw 1 is easy to grab fragile and irregular objects is ensured, and the adaptability and the accuracy of the soft clamping jaw 1 are improved.
In the embodiment, the trachea is linked together with air pipe connector 4, and outside air supply passes through air pipe connector 4 and carries gas from clamping jaw air flue 12 to a plurality of cavity structures 13 in the silica gel main part in, through implementing inflatable supercharging to cavity structures 13, cavity structures 13 volume increase makes silica gel main part 10 produce deformation and then makes the silica gel main part produce the clamping action. This design makes software clamping jaw 1 can carry out bending deformation by a relatively large margin, realizes snatching the envelope formula of snatching the thing, reduces software clamping jaw 1 simultaneously and snatchs the risk of thing contact and damage and snatching the thing under the non-inflation state, has improved the adaptability and the accuracy of software clamping jaw 1.
It should be noted that, the clamping outer side of the soft clamping jaw adopts a plurality of cavity structures 13 arranged in parallel, and the cavity structures 13 are designed by groove structures 15, so that when gas is injected into the cavity structures 13 from the clamping jaw air passage 12, the silica gel main body 10 is inflated and bent, and the accurate control of the clamping force of the soft clamping jaw 1 can be realized by controlling the input air pressure. Because the air pressure required by the deformation and bending of the soft clamping jaw 1 is greatly reduced, the peak value of the impact force of the soft clamping jaw 1 on the grabbed object during the grabbing action is reduced, and the clamping precision of the soft clamping jaw 1 in the grabbing process is improved.
The air pipe is connected with the one-to-four air pipe connector 5 and is connected with the sucker air passage 11 through the one-to-four air pipe connector 5, air suction operation is performed on the sucker air passage 11 through the air pipe when the clamping jaw air passage 12 is bent in air suction, when the sucker 14 is in contact with the surface of a grabbed object, the sucker 14 generates suction force on the contact surface of the grabbed object through the suction of the sucker air passage 11, the workpiece is grabbed tightly, the suction force of the sucker 14 can improve clamping stability and simultaneously reduce clamping force required by the soft clamping jaw 1 on the grabbed object, and the possibility that the grabbed object is damaged in the grabbing and moving processes.
The contact surface between the soft clamping jaw 1 and the grabbed object can be increased by the mode that the soft clamping jaw 1 clamps the suction cup 14 on the inner side to be contacted with the grabbed object, and the impact force peak value and the pressure intensity peak value of the pneumatic finger on the grabbed object during grabbing action can be further reduced by the flexible structure of the suction cup 14.
Wherein, the lug structure 21 on the pneumatic finger fixing piece 2 is fixedly connected with the slot structure 31 on the mounting disc 3 in a snap-fit connection manner. In this technical scheme, the opening 22 of software clamping jaw 1 and pneumatic finger mounting 2 agrees with fixedly, and pneumatic finger mounting 2 is connected with 3 buckles of mounting disc, has guaranteed the stability of software clamping jaw 1 installation on mounting disc 3, makes software clamping jaw 1 dismantle through buckle structure conveniently simultaneously, has improved the convenience of software clamping jaw 1 installation and switching under the prerequisite that satisfies the clamping jaw and snatch structural strength, has reduced the cost of manufacture of the thousand hands clamping jaws of dodging.
The one-to-four air pipe joint 5 is arranged in the center of the mounting plate 3 and is respectively connected with the sucking disc air passages 11 of the four soft clamping jaws 1. In specific implementation, the sucker air passage 11 is arranged on the clamping inner side of the soft clamping jaw 1, so that the reasonable layout of the sucker air passage 11 and the clamping jaw air passage 12 is facilitated; the air pipe joint 4 is arranged on the clamping outer side of the soft clamping jaw 1 and is communicated with the clamping jaw air passage 12.
Wherein, the mounting disc 3 is connected fixedly through the lower sealing flange of screw structure and ring flange 6, and the last sealing flange of ring flange 6 is connected with the ring flange on the robot arm, can realize the effect of the whole clamping jaw device of relatively fast switching through the fixed mode of mounting disc 3 and 6 cooperation of ring flange in actual production, improves the switching efficiency of clamping jaw in the actual production application.
In addition, the soft clamping jaw 1 is of a silica gel structure. The soft clamping jaw 1 is of a silica gel structure because the softness of the silica gel structure is better; in addition, the soft clamping jaw 1 can also be made of other materials with relatively soft performance.
The utility model discloses taken 1 slope of software clamping jaw to arrange and avoided pneumatic finger to take one's place the time direct impact to the work piece before the clamping, taken flexible envelope formula to snatching the tactics of snatching when making 1 clamping of software clamping jaw, software clamping jaw 1 is to the impact force peak value of snatching the thing when reducing the clamping. The soft clamping jaw 1 utilizes a blowing-suction combined method, the surface of a workpiece is adsorbed by a sucker, the clamping contact area is increased, the air pressure required for clamping an object is reduced, the clamping stability is improved, meanwhile, the impact force peak value and the peak pressure of a pneumatic finger on the workpiece are further reduced, and the purpose of stably, safely and efficiently clamping fragile parts is achieved.
In the detailed description of the embodiments, various technical features may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a bionical thousand hands clamping jaws of sudden strain of a muscle which characterized in that: including mounting disc (3) and at least two inflatable deformable software clamping jaws (1), software clamping jaw (1) is installed to the same direction or to the direction slope that the clamping jaw outside was expanded on mounting disc (3).
2. The bionic glittering thousand-hand clamping jaw as claimed in claim 1, wherein: software clamping jaw (1) includes silica gel main part (10), be provided with clamping jaw air flue (12) and a plurality of cavity structures (13) that parallel in silica gel main part (10), clamping jaw air flue (12) with cavity structures (13) are linked together.
3. The bionic glittering hand gripping jaw of claim 2, wherein: a plurality of groove structures (15) are formed among a plurality of cavity structures (13) which are arranged in parallel on the silica gel main body (10).
4. The bionic glittering hand gripping jaw of claim 2, wherein: silica gel main part (10) with the one end that mounting disc (3) are connected be provided with pneumatic finger mounting (2) of mounting disc (3) joint.
5. The bionic glittering thousand-hand clamping jaw as claimed in claim 4, wherein: the pneumatic finger fixing piece (2) is provided with a convex block structure (21), the mounting disc (3) is provided with a clamping groove structure (31), and the convex block structure (21) is connected with the clamping groove structure (31) in a buckling mode.
6. The bionic glittering thousand-hand clamping jaw as claimed in claim 5, wherein: be provided with open structure (22) on pneumatic finger mounting (2), the one end fixed mounting of silica gel main part (10) is in open structure (22).
7. The bionic glittering hand gripping jaw of claim 2, wherein: the clamping jaw air flue (12) is connected with an external air pipe through an air pipe connector (4) arranged on the silica gel main body (10).
8. The bionic glittering thousand-hand clamping jaw as claimed in claim 1, wherein: still be provided with the sucking disc device on software clamping jaw (1), the sucking disc device is including locating a plurality of sucking discs (14) on software clamping jaw (1) medial surface and locating sucking disc air flue (11) in software clamping jaw (1), sucking disc air flue (11) with sucking disc (14) are linked together.
9. The bionic glittering thousand-hand clamping jaw of claim 8, which is characterized in that: the mounting disc (3) is provided with a through hole, and the through hole is communicated with the sucker air passage (11) through an air pipe connector (5).
10. The bionic glittering thousand-hand clamping jaw as claimed in claim 1, wherein: a flange plate (6) used for being connected with the mechanical arm is fixedly connected to the mounting plate (3); the mounting disc (3) is provided with a connecting hole, and the connecting hole is fixedly connected with the lower sealing flange of the flange plate (6) through a screw structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021142426.8U CN212683990U (en) | 2020-06-18 | 2020-06-18 | Bionic thousand-hand-flashing clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021142426.8U CN212683990U (en) | 2020-06-18 | 2020-06-18 | Bionic thousand-hand-flashing clamping jaw |
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| CN212683990U true CN212683990U (en) | 2021-03-12 |
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| CN202021142426.8U Expired - Fee Related CN212683990U (en) | 2020-06-18 | 2020-06-18 | Bionic thousand-hand-flashing clamping jaw |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113199470A (en) * | 2021-03-30 | 2021-08-03 | 南方科技大学 | Gripping device and control method of soft mechanical arm |
| CN113830553A (en) * | 2021-11-25 | 2021-12-24 | 季华科技有限公司 | Expansion and contraction sucking disc |
| CN114193487A (en) * | 2021-11-25 | 2022-03-18 | 浙江大学 | Flexible manipulator for detecting in-situ quality of fruits and detection method |
| CN114522925A (en) * | 2022-01-27 | 2022-05-24 | 南京鼓楼医院 | Cross reciprocating bionic dry-state adhesion type thoracoscope lens cleaning device |
| CN117103313A (en) * | 2023-10-23 | 2023-11-24 | 瑞金市明崴电子科技有限公司 | Pneumatic flexible finger with stable grabbing performance and soft manipulator |
-
2020
- 2020-06-18 CN CN202021142426.8U patent/CN212683990U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113199470A (en) * | 2021-03-30 | 2021-08-03 | 南方科技大学 | Gripping device and control method of soft mechanical arm |
| CN113199470B (en) * | 2021-03-30 | 2022-08-30 | 深圳市韧识科技有限公司 | Gripping device and control method of soft mechanical arm |
| CN113830553A (en) * | 2021-11-25 | 2021-12-24 | 季华科技有限公司 | Expansion and contraction sucking disc |
| CN114193487A (en) * | 2021-11-25 | 2022-03-18 | 浙江大学 | Flexible manipulator for detecting in-situ quality of fruits and detection method |
| CN114193487B (en) * | 2021-11-25 | 2023-02-14 | 浙江大学 | Flexible manipulator for detecting in-situ quality of fruits and detection method |
| CN114522925A (en) * | 2022-01-27 | 2022-05-24 | 南京鼓楼医院 | Cross reciprocating bionic dry-state adhesion type thoracoscope lens cleaning device |
| CN117103313A (en) * | 2023-10-23 | 2023-11-24 | 瑞金市明崴电子科技有限公司 | Pneumatic flexible finger with stable grabbing performance and soft manipulator |
| CN117103313B (en) * | 2023-10-23 | 2024-01-02 | 瑞金市明崴电子科技有限公司 | Pneumatic flexible finger with stable grabbing performance and soft manipulator |
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