A variable stiffness omni-directional restraint explosive component handling hand and method

By using a variable rigidity omnidirectional constraint explosive component handling hand, which combines parallel pneumatic grippers and constraint module connectors with three-dimensional force sensors and fingertip force sensors, the safety issues in the handling of explosive components are solved, enabling safe picking, placement, transfer, and flipping operations.

CN116281127BActive Publication Date: 2026-07-14INST OF CHEM MATERIAL CHINA ACADEMY OF ENG PHYSICS
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
INST OF CHEM MATERIAL CHINA ACADEMY OF ENG PHYSICS
Filing Date
2023-03-20
Publication Date
2026-07-14

AI Technical Summary

Technical Problem

Existing technologies are prone to problems such as clamping force, rigid constraint force, collision and friction during the handling of explosive components, making it impossible to safely perform flipping operations and limiting the application of automated production and assembly.

Method used

The variable rigidity omnidirectional constraint explosive component handling hand is adopted, including parallel pneumatic grippers, constraint module connectors and variable rigidity constraint modules. Through the cooperation of brakes on the side and upper constraint fingers, it forms an omnidirectional rigid constraint support without clamping force or a free support state without constraint. It combines three-dimensional force sensors and fingertip force sensors for real-time detection and alarm.

Benefits of technology

It ensures safety during the picking, placement, transfer, and flipping of explosive components, avoiding excessive clamping force, rigid constraint force, collision and friction, thus ensuring the safe handling of explosives.

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Abstract

The application discloses a variable-rigidity omnidirectional constraint explosive component carrying hand and a carrying method. The variable-rigidity omnidirectional constraint safety carrying hand is formed by cooperation of parallel air claws, constraint module connecting pieces and variable-rigidity constraint modules, and can brake and fix upper constraint fingers, side constraint fingers and lower constraint fingers of the variable-rigidity constraint modules on the surface of an object to form an omnidirectional non-clamping force rigid constraint support state. The rigid omnidirectional constraint safety carrying method comprises a picking-up stage, a carrying stage and a placing stage, and can avoid that the explosive bears excessive clamping force, rigid constraint force, collision, friction and the like in the picking-up, placing, transferring and overturning process of the explosive component, so that the safety of explosive carrying is ensured.
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