826 results about "Pinch grip" patented technology

An unmanned aerial vehicle includes a body. The body has an upper side and a lower side opposite the upper side. At least one rotor is coupled to the body to generate lift in an upward direction. A mechanism is mounted to the lower side of the body. The mechanism includes a landing gear, a storage system, a robotic arm housing, a counterweight housing, a robotic arm, an actuator, and an end effector. The actuator is coupled to the robotic arm to move the robotic arm between a retracted position and an extended position. The end effector is coupled to the distal end of the robotic arm. The end effector includes a gripper with a pair of opposing compressible elements for gripping an object between the pair of compressible elements.

A hanger clip assembly includes a body defining a pair of elongate arms each having a pinch grip element disposed at a first end thereof and a gripping surface disposed at a second, opposed end thereof. The pair of elongate arms are joined by an intervening resilient member adapted to bias the pair of elongate arms and associated gripping surfaces towards one another. The body further defines an internal spring clip receiver. The assembly further includes a cooperating spring clip member defined by a pair of elongate spring clip arms joined by an intervening spring clip resilient portion. The spring clip member is dimensioned to be received within an interior of the internal spring clip receiver such that in use the spring clip member assists in biasing each of the pair of elongated arms and associated gripping surfaces towards one another.

The invention discloses a clamping force global sensing device and a calibration method, and belongs to the technical field of clamping force sensing. Comprising a clamping force sensing module, a clamping force clamping jaw and a clamping device body, the clamping force sensing module is located between the clamping device body and the clamping device clamping jaw, and a parallelogram flexible hinge mechanism is arranged in the clamping force sensing module; a parallelogram flexible hinge moving end and a parallelogram flexible hinge fixed end are arranged in the parallelogram flexible hinge mechanism, and the parallelogram flexible hinge fixed end is fixed to the clamp holder body through the sensing module clamp holder adapter plate. And the moving end of the parallelogram flexible hinge is connected with the clamping jaw of the clamping device through the sensing module clamping jaw adapter plate. According to the clamping force global sensing device and the calibration method, the clamping force is converted into linear infinitesimal displacement in a single direction through the translation characteristic of the flexible hinge structure, and then the magnitude of the clamping force is detected through the piezoelectric / piezoresistive sensor.

A system that includes a workpiece and a robotic gripper apparatus. The workpiece includes a pair of opposed first retention features. Each first retention feature includes a first proximal end, a first distal end, and an outer periphery. The pair of opposed grippers are moveable between a first position in which the pair of opposed grippers engage the pair of opposed first retention features. Each gripper includes a mounting feature having a second proximal end, a second distal end, and an inner periphery. When the pair of opposed grippers are in the first position, a first portion of the inner periphery near the first proximal end engages a first portion of the outer periphery near the second proximal end and a second portion of the inner periphery near the first distal end is separated from a second portion of the outer periphery near the second distal end.

An under-actuation type gripper capable of gripping asymmetrical objects is provided. The under-actuation type gripper may include: a frame providing a base surface; at least two or more finger portions provided on the frame in a form of facing each other and having a finger tip at an end; and a driving portion mounted onto the frame and configured to provide a driving force to the finger portion so as to grip an object to be gripped, wherein the finger portion includes: a first link installed between the driving portion and the finger tip, providing a contact surface for the object to be gripped, and having at least one joint portion; a second link connected to longitudinal upper and lower ends of the first link and forming a trapezoidal link mechanism with the first link; and a third link connected to longitudinal upper and lower ends of the first link, forming a double parallelogram link mechanism with the first link in a longitudinal direction of the first link, and being unlocked from the second link.

The invention relates to a gripper. The first clamping body comprises a first main body, a first clamping part and a first handle part, and the first clamping part and the first handle part are arranged at the two ends of the first main body; the second clamping body comprises a second main body, a second clamping part and a second handle part, the second clamping part and the second handle part are arranged at the two ends of the second main body, and the first clamping body and the second clamping body are rotationally connected around an axis; the first clamping part and the second clamping part jointly define a clamping end of the clamp holder, and the first handle and the second handle jointly define a holding end of the clamp holder; the first handle part is obliquely arranged relative to the first main body, the second handle part is obliquely arranged relative to the second main body, and the inclination directions of the first handle part and the second handle part are the same.

A crane game machine includes a cabinet, an operation unit, and an operation interface. The operation unit includes a bridge crane mechanism, a gripper mechanism that is movably mounted to the bridge crane mechanism, and a crane motor that is connected to the gripper mechanism. The crane motor is operable for urging the gripper mechanism to undertake a lowering journey in which the gripper mechanism is moved downwardly, and a lifting journey in which the gripper mechanism is moved upwardly. At least one of the lowering journey and the lifting journey is divided into a plurality of subsections. A moving speed of the gripper mechanism in one of the plurality of subsections is different from the moving speed of the gripper mechanism in at least another one of the plurality of subsections. The operation interface is operable for urging the bridge crane mechanism to drive movement of the gripper mechanism.

A method for controlling the impact between the gripping fingers of a robotic gripper and an object to be gripped comprises the steps of : a) setting a set-point value of the gripper closing speed; b) controlling the movement of the gripper at the closing speed set-point value; c1) calculating a speed datum representative of the closing speed; c2) comparing said speed datum with a speed threshold value; d1) calculating a datum for the current absorbed by the gripper; d2) comparing said absorbed current datum with a pre- established absorbed current threshold value; e) determining whether the gripping fingers have impacted upon the object when the speed datum is lower than the speed threshold value or when the absorbed current value is above the absorbed current threshold value; f) activating a braking device as soon as an impact is detected.

The utility model relates to the field of drilling equipment, and discloses mining drilling equipment which comprises a moving platform, a drilling system and a drilling rod supply system are arranged on the moving platform, the drilling rod supply system comprises a mechanical arm, the drilling system comprises a rack, a clamping device and a power head are arranged on the rack, the power head is arranged on the rack in a sliding mode, and the clamping device comprises a base. A front clamp holder and a rear clamp holder are arranged on the base; the front clamping device comprises a swing body, the swing body is rotationally connected with the base, the initial position of the swing body is located on the base, and after the swing body rotates relative to the base, the large drilling tool can be directly placed at the initial position of the swing body. And a large drilling tool with a large size can be quickly mounted.

The utility model relates to the technical field of polishing and burnishing machines, in particular to a polishing and burnishing machine holder quick-mounting mechanism which comprises a connecting rod bolted on a holder, the connecting rod is coaxially embedded into a mounting sleeve in a sliding mode, and a limiting groove is formed in the top end of the connecting rod. The mounting sleeve is fixed on the lifting main shaft; a pin shaft and a plurality of movable balls which are uniformly distributed are arranged in the mounting sleeve, and the pin shaft is embedded into the limiting groove; the mounting sleeve is slidably sleeved with a locking sleeve, the locking sleeve is used for pushing the balls to be embedded into the clamping grooves, and the clamping grooves are linear and formed in the outer wall of the connecting rod. And the connecting rod is configured to be locked between the pin shaft and the ball. Through cooperation of the pin shaft and the limiting groove, rapid positioning of the position of the clamping groove can be guaranteed, it is guaranteed that the ball can be embedded into the clamping groove so as to complete rapid replacement of the connecting rod, the overall structure is simple, and the manufacturing cost is reduced.

A gripper for handling SMD component reel cassettes using a robotic arm automatically controlled by a robot controller wherein the robotic arm carries and manipulates the gripper on a tool flange of the robotic arm. The gripper includes a drive pinion, which is rotatably mounted on the gripper main body and is designed to mesh with an output wheel of the SMD component reel cassette when the SMD component reel cassette is coupled to the gripper. The gripper includes a drive motor, which is disposed on the gripper main body and is designed to automatically drive the drive pinion.

According to an aspect of the disclosure, a robot arm gripper device includes a grip unit capable of gripping an object by a hinge movement, a power transmission unit coupled to the grip unit and transmitting power to the grip unit, and a buffer unit having one side connected to the power transmission unit and another side connected to a robot arm body, wherein the power transmission unit is movable on the buffer unit.

The invention discloses a flexible under-actuated gripper and a semi-closed-loop self-adaptive impedance control method thereof. The gripper comprises a flexible clamping unit, a driving part, a driving part mover position sensor and an input force sensor. The control method comprises the steps that the compliant under-actuated gripper is initialized; obtaining an equivalent parameter vector of the object to be grabbed; determining a tracking mode weight coefficient, and correcting the tracking mode weight coefficient in the two-point clamping mode; acquiring an expected jaw position; and according to the equivalent parameter vector of the object to be grabbed, the tracking modal weight coefficient and the expected jaw position are input to an adaptive impedance controller to carry out iterative optimization on the compliant under-actuated gripper. By means of the method, the feedback dependence of the system can be reduced, and then the grabbing precision of objects of different shapes and rigidities is improved. The compliant under-actuated gripper and the semi-closed-loop adaptive impedance control method thereof can be widely applied to the technical field of robot control.

A system and method for operating a transfer robot and a multi-surface gripper to grasp and transfer objects is disclosed.

A handling system, gripper device and a gripper for forming and handling slugs of flat baked products such as biscuits and cookies, said gripper being arranged for a mechanical type gripper as end-effector and being arranged to load a group of staggered products, form a slug from said group, and unload said slug into said outfeed transport device, said gripper comprising a longitudinal retainer comprising elongated wall elements extending along a longitudinal direction of said gripper and configured for an open position for loading said group of staggered products, and a closed position for unloading said slug into a tray transported by a transport device, a holding element for open and closed positions for loading and unloading said group of staggered products; and a pushing element for displacement of said pushing element in longitudinal direction into said retainer for compacting said group of staggered products into a slug.

The invention discloses a multi-mode paper folding clamping device and an optimization control method thereof. The clamping device adopts four-finger diagonal layout, each finger is composed of double-layer Kresling paper folding units, a three-stable-state structure is formed by splicing opposite chiral paper folding cylinders and square finger strips, and symmetrical air bag sets are arranged on the inner side special edge faces. The improved MRBMO algorithm is combined with the closed-loop control method, high-precision control over the movement direction and posture adjustment of the single finger of the clamp holder is achieved, the grabbing capacity of the clamp holder is further guaranteed, meanwhile, through the synergistic effect of MRBMO-PID closed-loop control and the multi-strategy optimization algorithm, the movement precision of the single finger of the clamp holder under the complex working condition is effectively guaranteed, and the grabbing precision of the single finger of the clamp holder under the complex working condition is effectively improved. And high-reliability grabbing operation is achieved.

The invention relates to a fishing device and method for a falling reamer of a horizontal directional drill, and the fishing device comprises a manipulator clamp holder, a reamer drill rod telescopic fishing cylinder, and a universal head spherical hinge device for regulating and controlling the clamp holder, and the spherical hinge end of the universal head spherical hinge device for regulating and controlling the clamp holder is connected with a front-end drill rod; and the other end of the spherical hinge is connected with the main rod of the manipulator holder and the telescopic fishing barrel of the reamer drill rod. According to the salvage device and method, the universal head spherical hinge device is installed on the guide drill rod, the deviation between the axis of the salvage barrel and the axis of the drill rod of the reamer falling down accidentally is directly reduced through random rotation of the universal head and free stretching and retracting of the salvage barrel, and the butt joint capturing capacity of the salvage barrel is greatly improved; and meanwhile, the clamping distance and the clamping force of the manipulator clamping device can be flexibly adjusted through four mechanical arms, the manipulator clamping device can be applied to accident hole expanders of different sizes, and the fastening performance of clamping the falling hole expanders is ensured.

A gripping tool for raising and moving a stack of flat products lying on top of one another, such as folded products, is preferably a robot-guided gripping tool with a horizontally movable gripper for reaching under the stack. A first actuator positions the gripper in a first horizontal position or in a second horizontal position and a second actuator establishes a horizontal additional position, such as an intermediate position, for the gripper. The device can securely grip and handle stacks of different formats and to prevent collisions of the gripper, in particular gripper tines, with stacks, with other components, or with operating personnel. The device is suitable for use in the graphics industry and in particular in the environment of folding machines or their product delivery, where stacks of folded products lying on top of one another are stacked on pallets.

Embodiments herein describe methods, devices, and systems for a reticle gripper damper and isolation system for handling reticles and reducing vibrations in a reticle handler for lithography apparatuses and systems. A reticle handler apparatus includes a reticle handler arm, a reticle baseplate configured to hold the reticle, and a gripper arranged to connect the reticle baseplate to the reticle handler arm. The gripper includes a static structure that is coupled to the reticle handler arm, an isolation structure that is coupled to the static structure, and one or more damping elements. The gripper is configured to reduce vibrations of the reticle in the reticle handler apparatus using the one or more damping elements.

The inventive concept provides a substrate transfer robot. The substrate transfer robot includes a fastening body; a support body protruding to a front from the fastening body, and supporting a bottom surface of the substrate if the substrate is positioned in a first posture; a gripper member coupled to the fastening body and relatively movable with respect to the support body; and a gripper driver moving the gripper member between a first position and a second position, and wherein the gripper member includes: a first gripper positioned at a side of the support body; and a second gripper positioned at another side of the support body, and wherein an alignment pin for aligning a position of the substrate is installed at the support body, and if a position at which the substrate is aligned with the support body is referred to as a reference position, the first position is a position at which the first gripper and the second gripper contact a substrate positioned at the reference position to grip the substrate, and the second position is a position at which the first gripper and the second gripper are spaced apart from the substrate positioned at the reference position, and the first posture is a posture that a top surface of the substrate is horizontal to the ground.

To provide a moving mechanism and a gripping device used for the moving mechanism, which are used in a game device that allows its size to be reduced and is capable of giving a plyer a feeling of excitement.SOLUTION: There is provided a gripping device for gripping a prize including a body with a first driving part and a rotation body provided below the body. The body includes a slip ring part connected to the rotation body. The rotation body includes an arm unit for gripping a prize and is configured to rotate around a central axis of the slip ring part by the drive of the first driving part. There is also provided a moving mechanism used for a game device that moves a prize in a game space to a prize takeout space through an opening. The moving mechanism includes a driving part, a support part connected to the driving part, a first movable part that is connected to the support part and is movable along the support part, and a prize gripping part provided at the first movable part.SELECTED DRAWING: Figure 3

The flexible bistable clamp holder comprises a clamp holder base, at least three sets of clamping jaws extending downwards are evenly distributed on the circumference of the clamp holder base, each clamping jaw comprises a framework driven by an electric mechanism to be bent inwards and outwards, and flexible contact plates are fixedly connected to the inner side and the outer side of each framework. On the basis of the design of a tensioning bistable soft clamping structure, the functions of rapid grabbing, stable clamping and zero-power maintaining of the gripper are achieved through the bistable characteristic, extra energy consumption is not needed during closing, and meanwhile on the basis of the material characteristic of the flexible contact plate, the rapid and stable grabbing capacity of fragile objects, fragile objects, fragile objects and fragile objects which are prone to deformation and the like is further improved.

To provide a gripper which achieves downsizing with a simple structure.SOLUTION: A gripper includes: at least three idler pulleys installed on the same circumference; a belt wound around the idler pulleys; tension pulleys as many as the idler pulleys, the tension pulleys installed on a center side of the circumference on which the idler pulleys are installed to give tension to the belt, and deforming the belt into a radial shape projecting from the center of the circumference on which the idler pulleys are installed to an idler pulley side; and a moving member installed in a portion between the idler pulleys and the tension pulleys of the belt. The belt is deformed by the tension pulleys so that an interval between portions folded by the idler pulleys is smaller than a diameter of the idler pulley on the center side of the circumference on which the idler pulleys are installed. The moving member is oriented so as to move in a radial direction of the circumference on which the idler pulleys are installed.SELECTED DRAWING: Figure 3

A wire gripper includes a second link arm, a connection member, a stationary-side wire gripping portion, and a moveable-side wire gripping portion. The second link arm is rotatably connected by a main body. The connection member is connected to the second link arm. The moveable-side wire gripping portion is movable in a direction approaching or being spaced from the stationary-side wire gripping portion in conjunction with movement of the connection member. The wire gripper includes a ratchet mechanism that blocks rotation of the operation lever in conjunction with rotation of the second link arm in one direction and allows reverse rotation in the other direction. The ratchet mechanism blocks rotation, so that movement of the moveable-side wire gripping portion in a direction being spaced from the stationary-side wire gripping portion.

A handling system, gripper device and a gripper for forming and handling slugs of flat baked products such as biscuits and cookies, said gripper being arranged for a mechanical type gripper as end-effector and being arranged to load a group of staggered products, form a slug from said group, and unload said slug into said outfeed transport device. The gripper includes a longitudinal retainer comprising elongated wall elements extending along a longitudinal direction of said gripper and configured for an open position for loading said group of staggered products, and a closed position for unloading said slug into a tray transported by a transport device; a holding element for open and closed positions for loading and unloading said group of staggered products; and a pushing element for displacement of said pushing element in longitudinal direction into said retainer for compacting said group of staggered products into a slug.

The utility model provides a drill point blade portion clamping mechanism with a stable structure and a material supporting mechanism, the drill point blade portion clamping mechanism with the stable structure comprises a clamping driving piece, a clamping piece and two clamping jaws, the clamping piece is provided with a clamping jaw end and a driving end, a swing fulcrum portion is arranged between the clamping jaw end and the driving end, and the swing fulcrum portion is arranged on the clamping jaw end. Swinging parts are arranged on the two sides of the swinging fulcrum part, an upper opening and closing swinging notch is formed in the clamping jaw end, an upper swinging groove and a plurality of lower swinging grooves are formed in the swinging fulcrum part, the clamping jaw is fixedly arranged at the clamping jaw end, a lower opening and closing swinging notch is formed in the driving end, and a stable elastic connecting plate is arranged on the lower opening and closing swinging notch. According to the clamp holder, the problem of machining concentricity of a clamp holder in the prior art can be solved, by using the product structure, the stable elastic connecting plate provides pulling force for the two swing parts, it is guaranteed that the swing sizes of the two swing parts are consistent, meanwhile, force is applied, the problem of clamping concentricity deviation is solved, and the machining efficiency is improved. And the competitiveness of enterprises can be improved.

The invention relates to a method for handling an object (88) by means of a gripping apparatus (10), comprising a gripper base body (12) and at least one gripping unit (14), held on the gripper base body, comprising a lifting piston (16) which is adjustable relative to the gripper base body in an extension direction (22) and in a retraction direction (24) opposite to the extension direction, wherein the lifting piston can be extended in the extension direction by applying compressed air, the method comprising applying an extension pressure to the lifting piston so that the lifting piston is extended in the extension direction, placing the gripper on the object to be gripped, and gripping the object with the gripper, wherein the lifting piston is subjected to a preset pressure upon placement of the gripper and is subjected to a main pressure after placement, in particular after gripping, wherein the preset pressure is lower than the main pressure. The invention also relates to a handling apparatus for carrying out such a method.

A test terminal (1) for testing electronic components (2, 2a) has at least one gripping device (3) with at least two grippers (5) which are movably mounted in an insulating body (4), wherein each of the grippers (5) comprises gripper ends (9), and the grippers (5) can be moved from a rest position (I) into a working position (II) in the longitudinal direction (LR) of the insulating body (4) by means of a pressure body (6). The test terminal (1) has a spring (7) which presses the grippers (5) of the gripping device (3) into the rest position (I), and the grippers (5) of the gripping device (3) can be moved into the working position (II) against the spring force of the spring (7). In the rest position (I), in which the gripper ends (9) lie substantially one above the other, the gripping device (3) is closed in order to be inserted into a bore (11) of a printed circuit board (2a), and the grippers (5) of the gripping device (3) are pressed into the closed rest position (I) by means of the spring force of the spring (7). In the working position (II), in which the gripper ends (9) are at least partially spread apart, the gripping device (3) is at least partially open in order to electrically contact the bore (11) from the inside by means of the gripper ends (9).