CN208196837U - A kind of material object grabbing device and soft robot - Google Patents
A kind of material object grabbing device and soft robot Download PDFInfo
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- CN208196837U CN208196837U CN201820456531.5U CN201820456531U CN208196837U CN 208196837 U CN208196837 U CN 208196837U CN 201820456531 U CN201820456531 U CN 201820456531U CN 208196837 U CN208196837 U CN 208196837U
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- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims 1
- 239000003292 glue Substances 0.000 claims 1
- 229910052710 silicon Inorganic materials 0.000 claims 1
- 239000010703 silicon Substances 0.000 claims 1
- 239000007787 solid Substances 0.000 abstract description 8
- 230000009977 dual effect Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000005452 bending Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- 239000000741 silica gel Substances 0.000 description 3
- 229910002027 silica gel Inorganic materials 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 208000002925 dental caries Diseases 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 230000005611 electricity Effects 0.000 description 1
- 239000000499 gel Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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- 229920002379 silicone rubber Polymers 0.000 description 1
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Abstract
The utility model discloses a kind of grabbing device in kind and soft robots, are related to robotic technology field.The material object grabbing device includes that crawl arm, vacuum (-tight) housing, pneumatic mechanism and multiple softwares refer to.Vacuum (-tight) housing and multiple softwares refer to the one end for being mounted on crawl arm, multiple softwares refer to be distributed around vacuum (-tight) housing, pneumatic mechanism is installed on crawl arm, and it is connected to respectively with cavity and absorption cavity is referred to, pneumatic mechanism can absorb the gas in absorption cavity, material object to be adsorbed on vacuum (-tight) housing, pneumatic mechanism can also absorb the gas referred in cavity, close up so that multiple softwares refer to and grab material object.Compared with prior art, material object grabbing device provided by the utility model refers to due to using the vacuum (-tight) housing connecting with pneumatic mechanism and the software being installed on around vacuum (-tight) housing, so material object can either be adsorbed on vacuum (-tight) housing, material object can be grabbed again, dual fixation prevents material object from falling, it is solid and reliable, it avoids generating scratch in body surface, it is practical.
Description
Technical field
The utility model relates to robotic technology fields, in particular to a kind of grabbing device in kind and software machine
Device people.
Background technique
Soft robot is a kind of Flexiable robot, can only be driven with air.Scientist's current research it is soft
Body robot is made of can be bent, reverse and pick up more than 100 times of own wt of object using papery and silicon rubber.Software
The design inspiration of robot is to imitate internal structure or shape framework of insect of the mankind etc., especially the latter.
Soft inflating robot model is advanced unlike mechanical robot, but does not include in their soft body
Any electronic device.Inflating flexible robot is considered as best tool, and this kind of robot can complete many tradition machineries
The function that robot cannot achieve.Traditional mainstream robot is to load connection electricity using metal and the manufacture of other hard materials
Sub- instrument and element, they can manufacture automobile, carry heavier object device, or even disassembly bomb.Inventor the study found that
In industrial processes, traditional rigid mechanical clamping jaw is in crawl object, when being grabbed especially for precision instrument part,
Scratch or scratch easily are caused to body surface, or even more serious damage is caused on object and influences its normal use.
In view of this, designing and manufacturing a kind of firm in kind grabbing device of crawl and soft robot especially in machine
Device life is particularly important in producing.
Utility model content
The purpose of this utility model is to provide a kind of grabbing devices in kind, and structure is simple, can be right under the conditions of flexibility
Object is grabbed, solid and reliable, avoids generating scratch in body surface, practical.
The another object of the utility model is to provide a kind of soft robot, and structure is simple, can be under the conditions of flexibility
Object is grabbed, it is solid and reliable, it avoids generating scratch in body surface, practical, cost performance is high.
The utility model is that it is realized by adopting the following technical scheme.
A kind of material object grabbing device, including crawl arm, vacuum (-tight) housing, pneumatic mechanism and multiple softwares refer to, vacuum (-tight) housing and multiple
Software refers to the one end for being mounted on crawl arm, and multiple softwares refer to be distributed around vacuum (-tight) housing, is provided with absorption cavity in vacuum (-tight) housing, soft
Body is provided with finger cavity in referring to, pneumatic mechanism is installed on crawl arm, and is connected to respectively with cavity and absorption cavity is referred to, pneumatic motor
Structure can absorb the gas in absorption cavity, material object is adsorbed on vacuum (-tight) housing, pneumatic mechanism, which can also absorb, to be referred in cavity
Gas close up so that multiple softwares refer to and grab material object.
Further, pneumatic mechanism includes the first Pneumatic assembly and the second Pneumatic assembly, the first Pneumatic assembly and the second gas
Dynamic component is mounted on crawl arm, and the first Pneumatic assembly is connected to absorption cavity, and the second Pneumatic assembly is connected to cavity is referred to.
Further, the first Pneumatic assembly includes air pump, snorkel and connector, and air pump is installed on crawl arm, is connect
Head is installed on vacuum (-tight) housing, and one end of snorkel is connect with air pump, and the other end is connected to by connector with absorption cavity.
Further, software refers to that, including multiple finger units, multiple finger units are sequentially connected, refer to and be provided with unit air in unit
Chamber, multiple unit cavity connections, and combine to be formed and refer to cavity.
Further, refer to that unit includes the first halfbody and the second halfbody, the first halfbody and the second half body by integral forming, and group
Conjunction forms unit cavity, and the first halfbody is arranged close to vacuum (-tight) housing, and the first halfbody is for supporting material object.
Further, the hardness of the first halfbody is greater than the hardness of the second halfbody.
Further, vacuum (-tight) housing in a ring, and is installed on the middle part of crawl arm, and multiple softwares, which refer to centered on vacuum (-tight) housing, is in
Annular array distribution.
Further, the quantity that software refers to be three, two neighboring software refer between angle be 120 degree.
Further, vacuum (-tight) housing and software refer to is made of silica gel material.
A kind of soft robot, including robot body and grabbing device in kind, grabbing device in kind includes crawl arm, true
Sky cover, pneumatic mechanism and multiple softwares refer to, vacuum (-tight) housing and multiple softwares refer to the one end for being mounted on crawl arm, crawl arm it is another
End is installed on robot body, and multiple softwares refer to be distributed around vacuum (-tight) housing, and absorption cavity is provided in vacuum (-tight) housing, and software refers to interior
It is provided with finger cavity, pneumatic mechanism is installed on crawl arm, and is connected to respectively with cavity and absorption cavity is referred to, pneumatic mechanism can
The gas in absorption cavity is absorbed, material object is adsorbed on vacuum (-tight) housing, pneumatic mechanism can also absorb the gas referred in cavity,
Close up so that multiple softwares refer to and grab material object.
Material object grabbing device and soft robot provided by the utility model have the advantages that
Material object grabbing device provided by the utility model, vacuum (-tight) housing and multiple softwares refer to the one end for being mounted on crawl arm,
Multiple softwares refer to be distributed around vacuum (-tight) housing, is provided with absorption cavity in vacuum (-tight) housing, software refer in be provided with finger cavity, pneumatic mechanism
It being installed on crawl arm, and is connected to respectively with cavity and absorption cavity is referred to, pneumatic mechanism can absorb the gas in absorption cavity,
Material object to be adsorbed on vacuum (-tight) housing, pneumatic mechanism can also absorb the gas referred in cavity, close up simultaneously so that multiple softwares refer to
Crawl is in kind.Compared with prior art, grabbing device in kind provided by the utility model is connect due to using with pneumatic mechanism
Vacuum (-tight) housing and the software that is installed on around vacuum (-tight) housing refer to, so material object can either be adsorbed on vacuum (-tight) housing, and can be right
Material object is grabbed, and dual fixation prevents material object from falling, solid and reliable, avoids generating scratch in body surface, practical.
Soft robot provided by the utility model, including grabbing device in kind, structure is simple, can either adsorb material object
In on vacuum (-tight) housing, and material object can be grabbed, dual fixation prevents material object from falling, and it is solid and reliable, it avoids in body surface
Scratch is generated, practical, cost performance is high.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the structural schematic diagram for the grabbing device in kind that the utility model first embodiment provides；
The structural schematic diagram that software refers in the grabbing device in kind that Fig. 2 provides for the utility model first embodiment；
The structural schematic diagram of pneumatic mechanism in the grabbing device in kind that Fig. 3 provides for the utility model first embodiment；
Fig. 4 is the structural schematic diagram of Fig. 2 middle finger unit；
Fig. 5 is the structural schematic diagram for the soft robot that the utility model second embodiment provides.
Icon: 10- soft robot；100- material object grabbing device；110- crawl arm；130- vacuum (-tight) housing；131- absorption is empty
Chamber；150- pneumatic mechanism；The first Pneumatic assembly of 151-；1511- air pump；1513- snorkel；1515- connector；The second gas of 153-
Dynamic component；170- software refers to；171- refers to cavity；172- refers to unit；1721- unit cavity；The first halfbody of 1722-；1724- second
Halfbody；200- robot body.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here in attached drawing description and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the range of the utility model protection.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term "inner", "outside", "upper", "lower", "horizontal" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings or when utility model product uses is used
The orientation or positional relationship often put, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of utility model.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and should not be understood as indicating
Or imply relative importance.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " connected ", " installation ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection,
Or it is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, it can be managed with concrete condition
Solve the concrete meaning of above-mentioned term in the present invention.
With reference to the accompanying drawing, it elaborates to some embodiments of the utility model.In the absence of conflict, under
The feature in embodiment stated can be combined with each other.
First embodiment
Fig. 1 is please referred to, the utility model embodiment provides a kind of grabbing device 100 in kind, for grabbing to material object
It takes.Its structure is simple, can grab under the conditions of flexibility to object, solid and reliable, avoids generating scratch in body surface,
It is practical.
The material object grabbing device 100 includes that crawl arm 110, vacuum (-tight) housing 130, pneumatic mechanism 150 and multiple softwares refer to 170.
Vacuum (-tight) housing 130 and multiple softwares refer to 170 one end for being mounted on crawl arm 110, and multiple softwares refer to that 170 divide around vacuum (-tight) housing 130
Cloth.Vacuum (-tight) housing 130 is used to be bonded with material object, and material object absorption is got up.Multiple softwares refer to that 170 can be relative to crawl arm 110
Close up or separate, to be grabbed to material object.Vacuum (-tight) housing 130 and multiple softwares refer to 170 collective effects, double to carry out to material object
It fixes again, solid and reliable, material object is not easy to fall.Pneumatic mechanism 150 is installed on crawl arm 110, and respectively with vacuum (-tight) housing 130 and
Multiple softwares refer to 170 connections, adsorb material object to control vacuum (-tight) housing 130, and control multiple softwares and refer to that 170 move, thus right
The movement that material object is grabbed or decontroled.
It is worth noting that, being provided with absorption cavity 131 in vacuum (-tight) housing 130, pneumatic mechanism 150 and absorption cavity 131 connect
It is logical.When needing to grab in kind, vacuum (-tight) housing 130 is supported with side in kind, in kind to close absorption cavity 131, pneumatically
Mechanism 150 absorbs the gas in absorption cavity 131, so that forming vacuum in absorption cavity 131, material object is in external atmosphere pressure at this time
Under the action of be adsorbed on vacuum (-tight) housing 130.Pneumatic mechanism 150 can also be inflated into absorption cavity 131, reduce vacuum (-tight) housing
Draught head inside and outside 130, so that in kind be detached from vacuum (-tight) housing 130.
Referring to figure 2., it is notable that software refer to is provided in 170 refer to cavity 171, pneumatic mechanism 150 respectively with it is more
A finger cavity 171 is connected to.Pneumatic mechanism 150 can absorb the gas referred in cavity 171, so that software refers to 170 bending deformations, from
And multiple softwares is made to refer to that 170 close up and grab material object.Pneumatic mechanism 150 can also be inflated to referring in cavity 171, so that software
Refer to that 170 stretch deformation, so that multiple softwares refer to that 170 separate and put down the material object being crawled.
In the present embodiment, vacuum (-tight) housing 130 in a ring, and is installed on the middle part of crawl arm 110, one end of vacuum (-tight) housing 130 with
Crawl arm 110 connects, and the other end with material object for supporting, to adsorb to material object.Multiple softwares refer to 170 with vacuum (-tight) housing 130
Prevent material object from falling to carry out clamping crawl to the side wall in kind that vacuum (-tight) housing 130 adsorbs for the distribution of center circular array,
Improve the fastness of crawl.
In the present embodiment, software refers to that 170 quantity is three, and two neighboring software refers to that the angle between 170 is 120 degree.
It is not limited to this, software refers to that 170 quantity may be two, and two softwares refer to that 170 are relatively arranged on vacuum (-tight) housing 130
Two sides, software refer to that 170 quantity may be four, and two neighboring software refers to that the angle between 170 is 90 degree, refer to software
170 quantity is not especially limited, and refers to 170 quantity in the utility model as long as can be realized and stablize crawl software in kind
Protection scope within.
In the present embodiment, vacuum (-tight) housing 130 and software refer to that 170 are made of silica gel material, it is not limited to this, to vacuum
Cover 130 and software refer to that 170 making material is not especially limited.
Referring to figure 3., pneumatic mechanism 150 includes the first Pneumatic assembly 151 and the second Pneumatic assembly 153.First pneumatic group
Part 151 and the second Pneumatic assembly 153 are mounted on crawl arm 110, and the first Pneumatic assembly 151 is connected to absorption cavity 131, with
It absorbs the air in absorption cavity 131 or is inflated into absorption cavity 131.Second Pneumatic assembly 153 connects with cavity 171 is referred to
It is logical, refer to air in cavity 171 to absorb or inflated to referring in cavity 171.
First Pneumatic assembly 151 includes air pump 1511, snorkel 1513 and connector 1515.Air pump 1511, which is installed on, grabs
It takes on arm 110, connector 1515 is installed on vacuum (-tight) housing 130, and one end of snorkel 1513 is connect with air pump 1511, and the other end is logical
It crosses connector 1515 to be connected to absorption cavity 131, the gas referred in cavity 171 is inflated or absorbed into absorption cavity 131.
In the present embodiment, the specific structure of the second Pneumatic assembly 153 is identical as the specific structure of the first Pneumatic assembly 151,
Details are not described herein.
Referring to figure 4., software refers to that 170 include multiple finger units 172.Multiple finger units 172 are sequentially connected, to form software
Refer to 170, and the movement that can be bent or stretch.Refer in unit 172 and is provided with unit cavity 1721, multiple unit cavitys
1721 connections, and combine to be formed and refer to cavity 171.
Refer to that unit 172 includes the first halfbody 1722 and the second halfbody 1724.First halfbody 1722 and the second halfbody 1,724 1
It is body formed, and combination forms unit cavity 1721, when the second Pneumatic assembly 153 is inflated into unit cavity 1721, the first half
Body 1722 and the second halfbody 1724 stretch deformation；Gas in 153 absorptive unit cavity 1721 of the second Pneumatic assembly
When, the first halfbody 1722 and the second halfbody 1724 occur bending and deformation.First halfbody 1722 is arranged close to vacuum (-tight) housing 130, the
One halfbody 1722 is for supporting material object.When the gas in 153 absorptive unit cavity 1721 of the second Pneumatic assembly, multiple the first half
Body 1722 closes up, and material object is clamped crawl under the action of multiple first halfbody 1722 and gets up.
It is worth noting that, the hardness of the first halfbody 1722 is greater than the hardness of the second halfbody 1724.When the second Pneumatic assembly
When gas in 153 absorptive unit cavitys 1721, the effect of the first halfbody 1722 and the second halfbody 1724 in external atmospheric pressure
Equal bending deformation down, the pressure that the first halfbody 1722 and the second halfbody 1724 are born at this time is identical, but due to the first halfbody 1722
Hardness be greater than the hardness of the second halfbody 1724, the bending journey of the bending degree of the first halfbody 1722 less than the second halfbody 1724
Degree, causes entire software to refer to that 170 curve inwardly, until multiple softwares refer to that 170 close up, and grabs to material object；When the second gas
When dynamic component 153 is inflated into unit cavity 1721, the first halfbody 1722 and the second halfbody 1724 are stretched under the influence of air pressure
Original position directly is deformed back to, entire software is caused to refer to that 170 stretch, multiple softwares refer to that 170 separate, and the material object being crawled is put down.
In the present embodiment, the first halfbody 1722 is made of hard gel material, and the second halfbody 1724 is by soft silica gel material
It is made, it is not limited to this, is not especially limited the making material of the first halfbody 1722 and the second halfbody 1724.
Material object grabbing device 100 provided by the embodiment of the utility model, vacuum (-tight) housing 130 and multiple softwares refer to that 170 are respectively mounted
In one end of crawl arm 110, multiple softwares refer to that 170 are distributed around vacuum (-tight) housing 130, are provided with absorption cavity in vacuum (-tight) housing 130
131, software, which refers to be provided in 170, refers to cavity 171, and pneumatic mechanism 150 is installed on crawl arm 110, and respectively with refer to cavity 171
It is connected to absorption cavity 131, pneumatic mechanism 150 can absorb the gas in absorption cavity 131, and material object is adsorbed on vacuum (-tight) housing
On 130, pneumatic mechanism 150 can also absorb the gas referred in cavity 171, so that multiple softwares refer to that 170 close up and grab material object.
Compared with prior art, grabbing device 100 in kind provided by the utility model is due to true using connecting with pneumatic mechanism 150
Sky cover 130 and the software being installed on around vacuum (-tight) housing 130 refer to 170, so material object can either be adsorbed on vacuum (-tight) housing 130,
Material object can be grabbed again, dual fixation prevents material object from falling, and it is solid and reliable, it avoids generating scratch in body surface, it is real
It is strong with property.
Second embodiment
Referring to figure 5., the utility model embodiment provides a kind of soft robot 10, including 200 He of robot body
Grabbing device 100 in kind.Wherein, the basic structure and principle of grabbing device 100 in kind and the technical effect of generation and the first reality
It is identical to apply example, to briefly describe, the present embodiment part does not refer to place, can refer to corresponding contents in first embodiment.
In the present embodiment, one end of crawl arm 110 and vacuum (-tight) housing 130 and multiple softwares refer to 170 connections, and the other end is installed on
On robot body 200, and can be relative to 200 activity of robot body, so that vacuum (-tight) housing 130 and multiple softwares refer to 170 energy
It is enough that material object is grabbed from multiple angles, the accuracy of crawl is improved, flexibly and easily.
The beneficial effect of soft robot 10 provided by the embodiment of the utility model is identical with the first embodiment, herein no longer
It repeats.
The above is only the preferred embodiments of the utility model, are not intended to limit the utility model, for this field
Technical staff for, various modifications and changes may be made to the present invention.Within the spirit and principle of the utility model,
Any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of material object grabbing device, which is characterized in that refer to including crawl arm, vacuum (-tight) housing, pneumatic mechanism and multiple softwares, it is described
Vacuum (-tight) housing and multiple softwares refer to the one end for being mounted on the crawl arm, and multiple softwares refer to around the vacuum (-tight) housing point
Cloth, is provided with absorption cavity in the vacuum (-tight) housing, the software refer in be provided with finger cavity, the pneumatic mechanism is installed on described
It on crawl arm, and is connected to respectively with the finger cavity and the absorption cavity, it is empty that the pneumatic mechanism can absorb the absorption
Intracavitary gas, material object is adsorbed on the vacuum (-tight) housing, and the pneumatic mechanism can also absorb the gas in the finger cavity
Body closes up so that multiple softwares refer to and grabs material object.
2. material object grabbing device according to claim 1, which is characterized in that the pneumatic mechanism includes the first Pneumatic assembly
With the second Pneumatic assembly, first Pneumatic assembly and second Pneumatic assembly are mounted on the crawl arm, and described
One Pneumatic assembly is connected to the absorption cavity, and second Pneumatic assembly is connected to the finger cavity.
3. it is according to claim 2 material object grabbing device, which is characterized in that first Pneumatic assembly include air pump,
Snorkel and connector, the air pump are installed on the crawl arm, and the connector is installed on the vacuum (-tight) housing, described to supply gas
One end of pipe is connect with the air pump, and the other end is connected to by the connector with the absorption cavity.
4. material object grabbing device according to claim 1, which is characterized in that the software refers to including multiple finger units, more
A finger unit is sequentially connected, and unit cavity, multiple unit cavity connections is provided in the finger unit, and combination forms institute
State finger cavity.
5. material object grabbing device according to claim 4, which is characterized in that the finger unit includes the first halfbody and second
Halfbody, first halfbody and the second half body by integral forming, and combination forms the unit cavity, first halfbody leans on
The nearly vacuum (-tight) housing setting, first halfbody is for supporting material object.
6. material object grabbing device according to claim 5, which is characterized in that the hardness of first halfbody is greater than described the
The hardness of two halfbodies.
7. material object grabbing device according to claim 1, which is characterized in that the vacuum (-tight) housing in a ring, and is installed on institute
The middle part of crawl arm is stated, multiple softwares refer to be distributed by center circular array of the vacuum (-tight) housing.
8. material object grabbing device according to claim 7, which is characterized in that the quantity that the software refers to is three, adjacent
Two softwares refer between angle be 120 degree.
9. material object grabbing device according to claim 1, which is characterized in that the vacuum (-tight) housing and the software refer to by silicon
Glue material is made.
10. a kind of soft robot, which is characterized in that including robot body and grabbing device in kind, the crawl dress in kind
It sets and refers to including crawl arm, vacuum (-tight) housing, pneumatic mechanism and multiple softwares, the vacuum (-tight) housing and multiple softwares, which refer to, is mounted on institute
One end of crawl arm is stated, the other end of the crawl arm is installed on the robot body, and multiple softwares refer to around institute
State vacuum (-tight) housing distribution, be provided with absorption cavity in the vacuum (-tight) housing, the software refer in be provided with finger cavity, the pneumatic mechanism
It is installed on the crawl arm, and is connected to respectively with the finger cavity and the absorption cavity, the pneumatic mechanism can absorb
Gas in the absorption cavity, material object is adsorbed on the vacuum (-tight) housing, and the pneumatic mechanism can also absorb the finger
Gas in cavity closes up so that multiple softwares refer to and grabs material object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820456531.5U CN208196837U (en) | 2018-04-02 | 2018-04-02 | A kind of material object grabbing device and soft robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820456531.5U CN208196837U (en) | 2018-04-02 | 2018-04-02 | A kind of material object grabbing device and soft robot |
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| CN208196837U true CN208196837U (en) | 2018-12-07 |
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| CN201820456531.5U Expired - Fee Related CN208196837U (en) | 2018-04-02 | 2018-04-02 | A kind of material object grabbing device and soft robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582147A (en) * | 2018-04-02 | 2018-09-28 | 佛山伊贝尔科技有限公司 | A kind of material object grabbing device and soft robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582147A (en) * | 2018-04-02 | 2018-09-28 | 佛山伊贝尔科技有限公司 | A kind of material object grabbing device and soft robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200602 Address after: 528400 e205, Block E, No.8, East Jinshan Avenue, Sanjiao Town, Zhongshan City, Guangdong Province Patentee after: Guangdong intelligent manufacturing equipment Technology Co.,Ltd. Address before: 528000, No. 1, block 133, 501 Hua Hua Xi Road, Chancheng District, Guangdong, Foshan Patentee before: FOSHAN YIBEIER TECHNOLOGY Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181207 |