CN102689309A - Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton - Google Patents
Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton Download PDFInfo
- Publication number
- CN102689309A CN102689309A CN2012101698346A CN201210169834A CN102689309A CN 102689309 A CN102689309 A CN 102689309A CN 2012101698346 A CN2012101698346 A CN 2012101698346A CN 201210169834 A CN201210169834 A CN 201210169834A CN 102689309 A CN102689309 A CN 102689309A
- Authority
- CN
- China
- Prior art keywords
- plate spring
- finger
- fixed
- pull rope
- spring skeleton
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeletons. The gripper is provided with two fingers which take bent plate springs as skeletons and grip objects passively through elastic restoring forces of the bent plate spring skeletons; the two fingers are driven by a cylinder; the acting force of the cylinder is increased through a five-hinge skewed double-elbow reinforcement mechanism which is frequently used on an injection machine so as to drive drawing ropes of the fingers, overcome deformation resistance of the bent plate springs and open the passive gripper; and the opening degree of the gripper can be controlled by controlling the pressure of the cylinder. The gripper has the advantages of large driving force, wide applicable range, simple structure, less controlled objects, convenience in maintenance and low requirements on using environment, has the characteristics of flexibility in degree of freedom and resiliency in acting force, has good flexibility in adaptivity, can grip objects with varying shapes and sizes, and belongs to the technical field of application of robots and mechatronics.
Description
Technical field:
The present invention relates to that a kind of it is the finger of skeleton with the twisted plate spring that grasping device has been installed two by the passive grasping device of compliance air cylinder driven rope traction, twisted plate spring skeleton, the elastic-restoring force that leans on the twisted plate spring is grasping objects passively; Two fingers are tiltedly arranged the active force that hyperbolic elbow force-increasing mechanism amplifies cylinder by an air cylinder driven through five hinges, drive the pull rope on the every finger and act on the twisted plate spring, and passive grasping device is opened.This grasping device has good flexibility, can not have the object that feedback ground grasps shape, size variation, belongs to the applied technical field of robot, electromechanical integration.
Background technology:
Along with improving constantly of automaticity, the purposes of grasping device more and more widely, it is also increasingly high to grasp requirement.With regard to complex object: (a) yielding soft object (bread, flexible package article); (b) breakable brittle body (birds, beasts and eggs); (c) in irregular shape, object (gourd, fruit and vegetable) that the size difference is big; (d) object (bottle, bottle for cosmetics) of abnormity.Industry mechanical arm is clamp-type or parallel movable structure, can only grasp shape size consistent, can not damaged rigidity workpiece.Dynamo-electric apery manipulator; Need shape, the locational space of perception complex object; Need accurate controlled motion and grasp force, otherwise can damage these complex objects or can not effectively grasp, when grasping the special-shaped object of shape, size variation; The traditional rigid grasping device needs accurately control articulations digitorum manus displacement and grasping force, otherwise can cause damage to grasping object.Because of the restriction of cost and environment for use, accurately control grasping device and be difficult in industry extensive uses such as agricultural, light industry.Therefore complicacy is grasped object, have certain adaptive compliance grasping device and more and more paid close attention to.
Conventional rigid mechanism is made up of the rigid bar that kinematic pair connects, and moves, the mechanical device of power or energy transmission or conversion.Compliant mechanism (Compliant Mechanisms) also can transmission or converting motion, power or energy, but different with rigid mechanism, and compliant mechanism also obtains part motion at least not only by kinematic pair transmission campaign from the distortion of its compliant member.Two big superiority of compliant mechanism: reduce cost (reduce number of parts, reduce assembling, simplify and make, alleviate quality) with improve performance (improve precision, increase reliability, reduce wear, reduce maintenance).The course in 20 years has just just been covered in the system research of compliant mechanism, and a lot of theories and method be imperfection also, and its maximum challenge is the GEOMETRICALLY NONLINEAR that difficulty, especially the compliant member large deformation of analysis and design aspect causes.
The compliance of grasping device depends primarily on driver part and joint skeleton, and flat spring is well positioned to meet the requirement of compliance grasping device as a kind of part that has power resiliency and free degree flexibility simultaneously.Patent CN200410065130.X and patent CN200420025274.8 have proposed with the flat spring skeleton flexible joint of a kind of axial expansion artificial-muscle as driver; This joint overcomes the flat spring resistance through the expansion muscle elongation and realizes crooked; Can be used as the initiatively finger parts of grasping device, also have certain flexible adaptivity.It is limited that but bellows is withstand voltage, and driving force is less, makes flat spring rigidity big inadequately, and the weight of object of passive extracting is limited.
Summary of the invention:
The present invention is directed to above-mentioned deficiency, propose the passive grasping device of the pneumatic rope traction twisted plate spring skeleton of a kind of compliance.The flat spring skeleton has good flexibility and good adaptivity, can be used to grasp shape, object that size variation is bigger, and grasping device is less demanding to control accuracy; After air cylinder driven was tiltedly arranged the amplification of hyperbolic elbow force-increasing mechanism through five hinges commonly used on the injector, the tensile force of pull rope increased greatly, compares the driving force that can provide bigger with the bellows artificial-muscle, has improved the extracting active force, and the scope of application is more extensive; Simultaneously, two pull ropes of two fingers have not only been practiced thrift cost, have also been reduced the control object by an air cylinder driven, have simplified control loop.
Main solution of the present invention is achieved in that
Like accompanying drawing 1,2,3,4, shown in 5; Grasping device of the present invention tiltedly arranges hyperbolic elbow force-increasing mechanism parts by air cylinder driven five hinges and two twisted plate spring skeleton finger parts are formed; Twisted plate spring skeleton finger parts are fixed on air cylinder driven five hinges through finger periproct 15 and tiltedly arrange on the upper plate 2 of hyperbolic elbow force-increasing mechanism parts, and an end of the pull rope 20 of twisted plate spring skeleton finger parts is fixed on air cylinder driven five hinges and tiltedly arranges on the pull rope holder 6 of hyperbolic elbow force-increasing mechanism parts.
Air cylinder driven five hinges are tiltedly arranged hyperbolic elbow force-increasing mechanism parts: the ring flange of double-acting cylinder 1 is through being bolted on the upper plate 2; Upper plate 2 is connected through guide pillar 3 with lower plate 7; Sliding panel 5 between upper plate 2 and the lower plate 7 moves up and down under the guiding of guide pillar 3 through guide pin bushing 4; Guide pin bushing 4 is fixed on the sliding clamp 5 by interference fit, respectively adorns a pull rope holder 6 about on the sliding panel 5; Perforate on the lower plate 7 is used for mechanical arm is located and be fixed on to this grasping device; Five hinges are tiltedly arranged in the hyperbolic elbow force-increasing mechanism; Two preceding bearings 8 are separately fixed on the sliding panel 5; Preceding bearing 8 is connected through straight pin 9 with the lower end of front link 10, and the upper end of front link 10 is connected through straight pin 9 with the left lower end (shown in accompanying drawing 4) of back toggle link 11, and the upper end of back toggle link 11 is connected through straight pin 9 with connecting rod 13; The bottom righthand side of back toggle link 11 is connected through straight pin 9 with rear support 14, about each rear support 14 be fixed on the upper plate 2; The right ends of crosshead 12 is connected through straight pin 9 with two connecting rods 13 respectively, and the threaded portion of the piston rod of double-acting cylinder 1 is spun in the screwed hole at crosshead 12 symmetry middle parts.
Twisted plate spring skeleton finger parts: twisted plate spring skeleton finger parts are fixed on the upper plate 2 through finger periproct 15, and finger periproct 15, twisted plate spring skeleton 19, finger cephalomere 21 link together through bolt; Wheel stand 16, wheel bracket 18 are installed on the finger periproct 15, and another wheel bracket 18, guide groove seat 24 are installed on the finger cephalomere 21; The targeting part of the small hinge bearing 23 of small hinge 22 is directed in the T of guide groove seat 24 shape guide groove, and small hinge bearing 23 positions are adjusted the back and are fixed on the guide groove seat 24 with soket head cap screw; One end of pull rope 20 is fixed on the small hinge 22; Lead with three guide wheels 17 of installing on the wheel stand 16 through being installed on two wheel brackets 18; The other end of pull rope 20 is fixed on the pull rope holder 6, and pull rope holder 6 is installed on the sliding panel 5.
Compared with present technology the present invention has the following advantages:
(1) air cylinder driven power is amplified through force-increasing mechanism; Drive grasping device through pull rope then; Compare the driving force that can provide bigger with existing bellows artificial-muscle, therefore can increase flat spring thickness and increase its rigidity, be used for grasping than heavy load; Efficiently solve the too little contradiction that big grasp force, rigidity large deformation difficulty can not be provided and be difficult to drive of flat spring rigidity, the scope of application is more extensive;
(2) twisted plate spring skeleton has good flexibility, can be used to grasp shape, object that size variation is bigger, control accuracy is required low, has good flexible self adaptation;
Two pull ropes of (3) two fingers are by an air cylinder driven, and system pressure directly drives, and do not have feedback, no pressurizer; Robot manipulator structure and control system thereof are simple and reliable, easy to maintenance, with low cost;
(4) the initial opening size of adjusting cylinder pressure, control grasping device has reduced the extracting working time.
Description of drawings:
Structure chart when Fig. 1 is the passive grasping device minimum of the pneumatic rope traction of compliance twisted plate spring skeleton aperture
The A place partial enlarged drawing of the structure chart when Fig. 2 is the passive grasping device minimum of the pneumatic rope traction of compliance twisted plate spring skeleton aperture
The B place partial enlarged drawing of the structure chart when Fig. 3 is the passive grasping device minimum of the pneumatic rope traction of compliance twisted plate spring skeleton aperture
Force-increasing mechanism part assembling drawing when Fig. 4 is the passive grasping device minimum of the pneumatic rope traction of compliance twisted plate spring skeleton aperture
Twisted plate spring skeleton finger part assembling drawing when Fig. 5 is the passive grasping device minimum of the pneumatic rope traction of compliance twisted plate spring skeleton aperture
Fig. 6 is the twisted plate spring part figure of the passive grasping device of the pneumatic rope traction twisted plate spring skeleton of compliance
Structure chart when Fig. 7 is the passive grasping device maximum opening of the pneumatic rope of compliance traction twisted plate spring skeleton
The specific embodiment:
The passive grasping device of the pneumatic rope traction twisted plate spring skeleton of compliance of the present invention is made up of double-acting cylinder 1, upper plate 2, guide pillar 3, guide pin bushing 4, sliding panel 5, pull rope holder 6, lower plate 7, preceding bearing 8, straight pin 9, front link 10, back toggle link 11, crosshead 12, connecting rod 13, rear support 14, finger periproct 15, wheel stand 16, guide wheel 17, wheel bracket 18, twisted plate spring skeleton 19, pull rope 20, finger cephalomere 21, small hinge 22, small hinge bearing 23, guide groove seat 24.Wherein part 1-14 air cylinder driven five hinges that constituted grasping device are tiltedly arranged hyperbolic elbow force-increasing mechanism parts, and part 15-24 has constituted the twisted plate spring skeleton finger parts of grasping device, and the hole on the lower plate 7 is used for this grasping device location and is fixed on the mechanical arm.
Be the course of work of the present invention below:
Grasping device of the present invention adopts passive Grasp Modes.When (1) not working, as shown in Figure 1, cylinder piston rod is in retracted mode fully, and twisted plate spring (shown in the accompanying drawing 6) is the natural torsion shape, and the angle of bend of grasping device finger is maximum, and the aperture of grasping device is minimum; (2) grasp the preceding original state that is, grasping device need open, inflation in double-acting cylinder 1 cavity; Piston rod is released, promoted sliding panel 5 to lower slider, drive pull rope 20 tensionings through the reinforcement enlarger; Overcome the resistance of deformation of twisted plate spring skeleton 19; The curvature of twisted plate spring skeleton 19 is reduced, and finger opens, and accompanying drawing 7 is depicted as the aperture maximum position that cylinder piston rod stretches out the longest position, grasping device; Regulate double-acting cylinder 1 pressure, scalable grasping device aperture; When (3) grasping device clamped, double-acting cylinder 1 was oppositely ventilated, and made the piston rod retraction, and sliding panel 5 moves up, and pull rope 20 is lax, under the elastic-restoring force effect of twisted plate spring skeleton 19, points passive grip objects; (4) through control cylinder pressure change finger bend angle and grasp force, when grasping device meets the requirements to the grasp force that grasps object, keep cylinder pressure constant, grasping device remains on the state of grasping.
From last finding, grasping device of the present invention be a kind of by the pull rope active drive unclamp, the restoring force effect of twisted plate spring and the passive manipulator that grasps, it is relevant with crawled object that compliance shows as the elastic deformation of twisted plate spring.
Claims (1)
1. the present invention relates to the passive grasping device of the pneumatic rope traction twisted plate spring skeleton of a kind of compliance; It is characterized in that: this grasping device tiltedly arranges hyperbolic elbow force-increasing mechanism parts by air cylinder driven five hinges and two twisted plate spring skeleton finger parts are formed; Twisted plate spring skeleton finger parts are fixed on air cylinder driven five hinges through finger periproct (15) and tiltedly arrange on the upper plate (2) of hyperbolic elbow force-increasing mechanism parts, and an end of the pull rope (20) of twisted plate spring skeleton finger parts is fixed on air cylinder driven five hinges and tiltedly arranges on the pull rope holder (6) of hyperbolic elbow force-increasing mechanism parts;
Wherein, air cylinder driven five hinges are tiltedly arranged the composition of hyperbolic elbow force-increasing mechanism parts and are:
The ring flange of double-acting cylinder 1 is through being bolted on the upper plate (2); Upper plate (2) is connected through guide pillar (3) with lower plate (7); Sliding panel (5) between upper plate (2) and the lower plate (7) moves up and down under the guiding of guide pillar (3) through guide pin bushing (4); Guide pin bushing (4) is fixed on the sliding clamp (5) by interference fit, and sliding panel (5) is respectively adorned a pull rope holder (6) about going up; Lower plate (7) goes up perforate, is used for mechanical arm is located and be fixed on to this grasping device; Five hinges are tiltedly arranged in the hyperbolic elbow force-increasing mechanism; Two preceding bearings (8) are separately fixed on the sliding panel (5); Preceding bearing (8) is connected through straight pin (9) with the lower end of front link (10), and the upper end of front link (10) is connected through straight pin (9) with the left lower end of back toggle link (11), and the upper end of back toggle link (11) is connected through straight pin (9) with connecting rod (13); The bottom righthand side of back toggle link (11) is connected through straight pin (9) with rear support (14), about each rear support (14) be fixed on the upper plate (2); The right ends of crosshead (12) is connected through straight pin (9) with two connecting rods (13) respectively, and the threaded portion of the piston rod of double-acting cylinder (1) is spun in the screwed hole at crosshead (12) symmetry middle part;
Wherein, the composition of twisted plate spring skeleton finger parts is:
Finger periproct (15), twisted plate spring skeleton (19), finger cephalomere (21) link together through bolt; Wheel stand (16), wheel bracket (18) are installed on the finger periproct (15), and another wheel bracket (18), guide groove seat (24) are installed on the finger cephalomere (21); The targeting part of the small hinge bearing (23) of small hinge (22) is directed in the T shape guide groove of guide groove seat (24), and small hinge bearing (23) position is adjusted the back and is fixed on the guide groove seat (24) with soket head cap screw; One end of pull rope (20) is fixed on the small hinge (22); Go up and install three guide wheels (17) guiding on the wheel stand (16) through being installed in two wheel brackets (18); The other end of pull rope (20) is fixed on the pull rope holder (6), and pull rope holder (6) is installed on the sliding panel (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210169834.6A CN102689309B (en) | 2012-05-29 | 2012-05-29 | Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210169834.6A CN102689309B (en) | 2012-05-29 | 2012-05-29 | Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102689309A true CN102689309A (en) | 2012-09-26 |
| CN102689309B CN102689309B (en) | 2014-11-05 |
Family
ID=46855128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210169834.6A Active CN102689309B (en) | 2012-05-29 | 2012-05-29 | Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102689309B (en) |
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213138A (en) * | 2013-04-09 | 2013-07-24 | 江南大学 | Pneumatic serial-connection flexible hinge multi-finger paw of compliant mechanism |
| CN103317520A (en) * | 2013-07-22 | 2013-09-25 | 江南大学 | Electric push rod drive controlled gripper with tandem flexible hinge frameworks |
| CN103317521A (en) * | 2013-07-22 | 2013-09-25 | 江南大学 | Electric push rod drive controlled flexible gripper with plate spring frameworks |
| CN103317522A (en) * | 2013-07-22 | 2013-09-25 | 江南大学 | Linear motor drive controlled gripper with tandem flexible hinge frameworks |
| CN103386691A (en) * | 2013-07-22 | 2013-11-13 | 江南大学 | Linear motor driven and controlled plate-spring-skeleton flexible paw |
| CN104175324A (en) * | 2013-05-23 | 2014-12-03 | 江南大学 | Self-locking boosting type flexible and smooth tail end gripper for serial connection flexible hinge |
| CN104175326A (en) * | 2013-05-23 | 2014-12-03 | 江南大学 | Self-locking boosting type flexible and smooth tail end gripper for plate springs |
| CN104175325A (en) * | 2013-05-23 | 2014-12-03 | 江南大学 | Self-locking boosting type flexible and smooth tail end gripper for serial connection loose hinge |
| CN105800306A (en) * | 2016-05-24 | 2016-07-27 | 陈薇 | Automatic equipment operating on water conservancy engineering construction site |
| CN105858193A (en) * | 2016-05-24 | 2016-08-17 | 陈薇 | Crawler type intelligent transferring equipment for water conservancy and hydropower pipelines |
| CN105856251A (en) * | 2016-05-24 | 2016-08-17 | 陈薇 | Clamping manipulator of industrial robot for stacking water conservancy engineering pipelines |
| CN105887777A (en) * | 2016-05-24 | 2016-08-24 | 陈薇 | Full-automatic hydraulic and hydroelectric engineering drain pipe clamping integrated machine |
| CN105881490A (en) * | 2016-05-24 | 2016-08-24 | 陈薇 | Omni-directional water conservancy steel pipe mounting robot |
| CN105905593A (en) * | 2016-05-24 | 2016-08-31 | 陈薇 | Actuator for omnidirectional water steel pipe installation robot |
| CN105904432A (en) * | 2016-05-24 | 2016-08-31 | 陈薇 | Hydraulic engineering pipe fitting stacking industrial robot |
| CN105905594A (en) * | 2016-05-24 | 2016-08-31 | 陈薇 | Clamping head for full-automatic hydroelectric engineering drain pipe |
| CN105945913A (en) * | 2016-05-24 | 2016-09-21 | 陈薇 | Grabber for hydraulic engineering construction field operation automatic equipment |
| CN106006005A (en) * | 2016-05-24 | 2016-10-12 | 陈薇 | Automatic six-freedom-degree water conservancy and hydropower pipeline transfer robot |
| CN107161600A (en) * | 2017-05-09 | 2017-09-15 | 浙江国银装备科技有限公司 | Spring conveying device |
| CN107187884A (en) * | 2017-06-15 | 2017-09-22 | 天津丹阳车圈有限公司 | A kind of rim manipulator |
| CN107471244A (en) * | 2017-09-30 | 2017-12-15 | 武汉库柏特科技有限公司 | A kind of logistics captures the method for material with flexible multi-finger manipulator and with it |
| CN107932529A (en) * | 2017-10-12 | 2018-04-20 | 刘璐 | A kind of multifunction manipulator |
| CN108145687A (en) * | 2017-12-29 | 2018-06-12 | 安徽行者智能科技股份有限公司 | A kind of fully-automatic plate installation manipulator device |
| CN108858271A (en) * | 2018-09-07 | 2018-11-23 | 江南大学 | The manipulator of the super flexible skeleton of double drive abnormity |
| CN109436777A (en) * | 2018-10-29 | 2019-03-08 | 浙江厚达智能科技股份有限公司 | Optical fiber transfer device |
| CN109549769A (en) * | 2018-12-21 | 2019-04-02 | 山东省科学院自动化研究所 | A kind of modular wearable limbs are connected and fixed interface arrangement |
| CN110228014A (en) * | 2019-06-27 | 2019-09-13 | 广西科技大学 | A kind of mobile robot removing operation for underground supporting |
| CN111002330A (en) * | 2019-12-17 | 2020-04-14 | 沈阳建筑大学 | Flexible grabbing device |
| CN111015646A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven under-actuated self-adaptive flexible manipulator |
| CN111618866A (en) * | 2020-04-22 | 2020-09-04 | 北京航空航天大学 | Flexible grasping tool, flexible grasping assembly and deep-sea operation robot |
| CN112809727A (en) * | 2021-01-26 | 2021-05-18 | 佛山科学技术学院 | Rope traction rigid-flexible coupling variable-rigidity clamp holder |
| CN113524250A (en) * | 2021-08-21 | 2021-10-22 | 安徽省路港工程有限责任公司 | Cable detection robot for cable-stayed bridge |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6215487U (en) * | 1985-07-12 | 1987-01-29 | ||
| DE4400495C2 (en) * | 1994-01-11 | 1996-09-05 | Behn & Bates Maschf Gmbh | Device for gripping, transporting and palletizing objects |
| CN101554730A (en) * | 2008-04-11 | 2009-10-14 | 江南大学 | Articulated flexible manipulator |
| CN102092046A (en) * | 2010-12-09 | 2011-06-15 | 江南大学 | Pneumatic single tow rope multi-joint flexible manipulator with damping |
-
2012
- 2012-05-29 CN CN201210169834.6A patent/CN102689309B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6215487U (en) * | 1985-07-12 | 1987-01-29 | ||
| DE4400495C2 (en) * | 1994-01-11 | 1996-09-05 | Behn & Bates Maschf Gmbh | Device for gripping, transporting and palletizing objects |
| CN101554730A (en) * | 2008-04-11 | 2009-10-14 | 江南大学 | Articulated flexible manipulator |
| CN102092046A (en) * | 2010-12-09 | 2011-06-15 | 江南大学 | Pneumatic single tow rope multi-joint flexible manipulator with damping |
Cited By (47)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213138B (en) * | 2013-04-09 | 2016-08-03 | 江南大学 | The pneumatic series connection flexible hinge multifinger hand pawl of compliant mechanism |
| CN103213138A (en) * | 2013-04-09 | 2013-07-24 | 江南大学 | Pneumatic serial-connection flexible hinge multi-finger paw of compliant mechanism |
| CN104175324B (en) * | 2013-05-23 | 2016-08-10 | 江南大学 | The self-locking force booster type submissive end grasping device of series connection flexible hinge |
| CN104175325B (en) * | 2013-05-23 | 2016-08-10 | 江南大学 | The self-locking force booster type submissive end grasping device of series connection leaf hinge |
| CN104175326B (en) * | 2013-05-23 | 2016-08-10 | 江南大学 | The self-locking force booster type submissive end grasping device of flat spring |
| CN104175324A (en) * | 2013-05-23 | 2014-12-03 | 江南大学 | Self-locking boosting type flexible and smooth tail end gripper for serial connection flexible hinge |
| CN104175326A (en) * | 2013-05-23 | 2014-12-03 | 江南大学 | Self-locking boosting type flexible and smooth tail end gripper for plate springs |
| CN104175325A (en) * | 2013-05-23 | 2014-12-03 | 江南大学 | Self-locking boosting type flexible and smooth tail end gripper for serial connection loose hinge |
| CN103317522A (en) * | 2013-07-22 | 2013-09-25 | 江南大学 | Linear motor drive controlled gripper with tandem flexible hinge frameworks |
| CN103386691B (en) * | 2013-07-22 | 2016-12-28 | 江南大学 | Linear electric motors drive the flat spring skeleton flexibility paw controlled |
| CN103317522B (en) * | 2013-07-22 | 2015-08-05 | 江南大学 | The series connection flexible hinge framework paw of linear electric motors drived control |
| CN103317521B (en) * | 2013-07-22 | 2016-08-10 | 江南大学 | Electric pushrod drives the flat spring skeleton flexibility paw controlled |
| CN103386691A (en) * | 2013-07-22 | 2013-11-13 | 江南大学 | Linear motor driven and controlled plate-spring-skeleton flexible paw |
| CN103317521A (en) * | 2013-07-22 | 2013-09-25 | 江南大学 | Electric push rod drive controlled flexible gripper with plate spring frameworks |
| CN103317520A (en) * | 2013-07-22 | 2013-09-25 | 江南大学 | Electric push rod drive controlled gripper with tandem flexible hinge frameworks |
| CN105945913A (en) * | 2016-05-24 | 2016-09-21 | 陈薇 | Grabber for hydraulic engineering construction field operation automatic equipment |
| CN105858193A (en) * | 2016-05-24 | 2016-08-17 | 陈薇 | Crawler type intelligent transferring equipment for water conservancy and hydropower pipelines |
| CN105887777A (en) * | 2016-05-24 | 2016-08-24 | 陈薇 | Full-automatic hydraulic and hydroelectric engineering drain pipe clamping integrated machine |
| CN105881490A (en) * | 2016-05-24 | 2016-08-24 | 陈薇 | Omni-directional water conservancy steel pipe mounting robot |
| CN105905593A (en) * | 2016-05-24 | 2016-08-31 | 陈薇 | Actuator for omnidirectional water steel pipe installation robot |
| CN105904432A (en) * | 2016-05-24 | 2016-08-31 | 陈薇 | Hydraulic engineering pipe fitting stacking industrial robot |
| CN105905594A (en) * | 2016-05-24 | 2016-08-31 | 陈薇 | Clamping head for full-automatic hydroelectric engineering drain pipe |
| CN105856251A (en) * | 2016-05-24 | 2016-08-17 | 陈薇 | Clamping manipulator of industrial robot for stacking water conservancy engineering pipelines |
| CN106006005A (en) * | 2016-05-24 | 2016-10-12 | 陈薇 | Automatic six-freedom-degree water conservancy and hydropower pipeline transfer robot |
| CN105800306A (en) * | 2016-05-24 | 2016-07-27 | 陈薇 | Automatic equipment operating on water conservancy engineering construction site |
| CN107161600A (en) * | 2017-05-09 | 2017-09-15 | 浙江国银装备科技有限公司 | Spring conveying device |
| CN107187884A (en) * | 2017-06-15 | 2017-09-22 | 天津丹阳车圈有限公司 | A kind of rim manipulator |
| CN107471244A (en) * | 2017-09-30 | 2017-12-15 | 武汉库柏特科技有限公司 | A kind of logistics captures the method for material with flexible multi-finger manipulator and with it |
| CN107932529A (en) * | 2017-10-12 | 2018-04-20 | 刘璐 | A kind of multifunction manipulator |
| CN107932529B (en) * | 2017-10-12 | 2020-06-02 | 义乌市云飞拉链有限公司 | Multifunctional manipulator |
| CN108145687A (en) * | 2017-12-29 | 2018-06-12 | 安徽行者智能科技股份有限公司 | A kind of fully-automatic plate installation manipulator device |
| CN108858271A (en) * | 2018-09-07 | 2018-11-23 | 江南大学 | The manipulator of the super flexible skeleton of double drive abnormity |
| CN108858271B (en) * | 2018-09-07 | 2020-10-30 | 江南大学 | Manipulator of dual-drive special-shaped super-soft elastic framework |
| CN109436777A (en) * | 2018-10-29 | 2019-03-08 | 浙江厚达智能科技股份有限公司 | Optical fiber transfer device |
| CN109436777B (en) * | 2018-10-29 | 2020-07-03 | 浙江厚达智能科技股份有限公司 | Optical fiber transfer device |
| CN109549769A (en) * | 2018-12-21 | 2019-04-02 | 山东省科学院自动化研究所 | A kind of modular wearable limbs are connected and fixed interface arrangement |
| CN109549769B (en) * | 2018-12-21 | 2023-11-28 | 山东省科学院自动化研究所 | Modularized wearable limb connection and fixation interface device |
| CN110228014A (en) * | 2019-06-27 | 2019-09-13 | 广西科技大学 | A kind of mobile robot removing operation for underground supporting |
| CN110228014B (en) * | 2019-06-27 | 2020-12-22 | 广西科技大学 | Mobile robot for underground support dismantling operation |
| CN111002330B (en) * | 2019-12-17 | 2022-12-13 | 沈阳建筑大学 | Flexible gripping device |
| CN111002330A (en) * | 2019-12-17 | 2020-04-14 | 沈阳建筑大学 | Flexible grabbing device |
| CN111015646A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven under-actuated self-adaptive flexible manipulator |
| CN111618866A (en) * | 2020-04-22 | 2020-09-04 | 北京航空航天大学 | Flexible grasping tool, flexible grasping assembly and deep-sea operation robot |
| CN112809727B (en) * | 2021-01-26 | 2022-07-29 | 佛山科学技术学院 | Rope traction rigid-flexible coupling variable-rigidity clamp holder |
| CN112809727A (en) * | 2021-01-26 | 2021-05-18 | 佛山科学技术学院 | Rope traction rigid-flexible coupling variable-rigidity clamp holder |
| CN113524250A (en) * | 2021-08-21 | 2021-10-22 | 安徽省路港工程有限责任公司 | Cable detection robot for cable-stayed bridge |
| CN113524250B (en) * | 2021-08-21 | 2022-12-13 | 安徽省路港工程有限责任公司 | Cable detection robot for cable-stayed bridge |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102689309B (en) | 2014-11-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102689309B (en) | Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton | |
| CN102699925A (en) | Flexible passive catcher with serial bent flexible hinge framework tracked by pneumatic rope | |
| CN102092046B (en) | Pneumatic single tow rope multi-joint flexible manipulator with damping | |
| WO2016180337A1 (en) | Grapple device having serial hinged structure and driven by single-acting cylinders with elastic bellows | |
| CN104889998B (en) | Under-actuated robot finger device with enveloping and clamping functions | |
| WO2016180338A1 (en) | Grapple device having serial flexible hinge structure and driven by single-acting cylinders with elastic bellows | |
| CN104908056A (en) | Three-finger mechanical gripper with variable structure | |
| WO2016179793A1 (en) | Grapple device having serial leaf-spring structure and driven by single-acting cylinders with elastic bellows | |
| CN104175325A (en) | Self-locking boosting type flexible and smooth tail end gripper for serial connection loose hinge | |
| CN100581756C (en) | Double bevel wheel under-driven robot finger | |
| CN110834219A (en) | Telescopic mechanical gripper | |
| CN101214659A (en) | Tendon rope gear under-driven robot finger device | |
| CN103213138A (en) | Pneumatic serial-connection flexible hinge multi-finger paw of compliant mechanism | |
| CN107717978A (en) | A kind of industrial robot | |
| CN102179817A (en) | Double-flexibility piece composite under-actuated double-joint finger device for robot | |
| CN203125515U (en) | Soft-cable manipulator | |
| CN103213140A (en) | Pneumatic dual-flexible multi-finger claw with adjustable rigidity | |
| CN101214661A (en) | Chiasma tendon rope under-driven robot finger device | |
| CN103481278A (en) | Three-translational spatial parallel robot mechanism | |
| CN217669439U (en) | Flexible fixture for manipulator | |
| CN107953353B (en) | Finger multi-joint any-angle instant synchronous locking device of under-actuated robot | |
| CN203380900U (en) | Self-locking reinforcement supple end gripper with blade springs | |
| CN103213139B (en) | The flexible many finger paws of Pneumatic reinforcement type series connection leaf hinge | |
| CN102490178A (en) | Spatial three-rotation one-translation parallel manipulator | |
| CN103358315B (en) | Connecting-rod-type underactuated robot finger mechanism with all-rotational joints |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200828 Address after: 225700 Dai Nan science and Technology Park, Xinghua, Taizhou, Jiangsu Patentee after: Xinghua Juxin Stainless Steel Co.,Ltd. Address before: 1800 No. 214122 Jiangsu city of Wuxi Province Li Lake Avenue Patentee before: Jiangnan University |