729 results about "Pinch grip" patented technology

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.

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.

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.

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.

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

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 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).

This robot hand (20) includes a pair of finger parts (21) for sandwiching and holding each of the plurality of workpieces, a winding part (22), and a holding part (23). The winding part (22) is disposed at distal end parts of the pair of finger parts (21), and winds up each of the plurality of workpieces by rotational driving. The holding part (23) is disposed closer to base end parts of the pair of finger parts (21) than the winding part (22), and collectively holds the plurality of workpieces wound up by the winding part (22) by pressing.

The present disclosure relates to a gripper for forming slugs of flat baked products, comprising a longitudinal retainer arranged for individually loading the flat baked products and comprising elongated wall elements extending along a longitudinal direction of the gripper for enclosing the retainer forming a retainer space for retaining the flat baked products a loading element, arranged for displacement of at least a contact surface thereof which is located adjacent a segment of the circumference of a loaded flat baked product near a free end of the retaining space; and wherein the gripper is arranged for displacement of the contact surface of the loading element enabling individually loading the flat baked products for forming the slug in the retainer space, and wherein the gripper is further arranged for rotating the longitudinal retainer over a rotation-axis in a plane parallel to a supporting surface of the conveyor means at the input for bringing the slug from a horizontal vertical orientation into a vertical horizontal orientation, and wherein at least one of the elongated wall elements is arranged for displacement thereof for unloading the vertical horizontally oriented slug into the conveyor means of the packing device.

The invention discloses a micro-gripper based on a flexible slider-crank mechanism. The micro-gripper comprises a piezoelectric stretching device, a base frame, a clamping arm and the flexible slider-crank mechanism, wherein the base frame, the clamping arm and the flexible slider-crank mechanism are integrally formed. The base frame comprises a base, a base column and a mounting groove, the piezoelectric stretching device is located in the mounting groove, the flexible crank sliding block mechanism comprises two flexible curved bars, two flexible connecting rods and a driving sliding block, the driving sliding block is driven by the piezoelectric stretching device, the two ends of the driving sliding block are hinged to one ends of the flexible connecting rods respectively, and the flexible curved bars are hinged to the upper end of the base column. The root part of the clamping arm is connected with the middle part of the flexible connecting rod; the micro gripper is simple and compact in structure, stable and reliable in clamping, high in universality, remarkable in displacement amplification effect, high in structural integration level, reasonable in structural design, high in rigidity and beneficial to microminiaturization design.

Handling system (1) in the form of at least one shuttle (2) for a wire assembly machine (3) comprising a plurality of wire end processing stations (4), wherein the at least one shuttle (2) has at least one gripper (5) for holding at least one conductor (6), wherein the at least one shuttle (2) comprises at least one strand bundler (7) separate from the at least one gripper (5) for bundling strands (9) of the at least one conductor (6) that are preferably from 3 mm to 30 mm and / or exposed from an insulation (8), wherein the at least one strand bundler (7) is arranged on the at least one shuttle (2) in such a way that the at least one strand bundler (7) is movement-coupled to the at least one gripper (5) in a transport direction (10) of the at least one shuttle (2).

The utility model discloses an anti-vibration clamp holder of a suspended filter in an anti-vibration electrical control cabinet for a train, which comprises a clamping control plate horizontally fixed on a vertical mounting plate in the electrical control cabinet, the clamping control plate is provided with a vertically communicated clamping hole, and a filter element container of the suspended filter is clamped in the clamping hole. The clamping control plate at the front part of the clamping hole is provided with a clamping gap for communicating the clamping hole with the external space, so that a left clamping arm and a right clamping arm which are clamped in a pincerlike manner are formed on the left and right sides of the clamping hole and the clamping gap of the clamping control plate, and the left clamping arm and the right clamping arm are clamped and fixed on a prismatic convex block on the outer side of the filter element container from the left and right sides. The clamping device has the advantages that a suspended filter element container can be subjected to clamping control of vibration in the horizontal direction, the filter element container is prevented from shaking horizontally during strong vibration, and mounting and fixing parts are prevented from loosening; the normal filtering function of the filter element container can be kept, and the filtering function of the filter element is prevented from losing efficacy during high-frequency vibration.

To provide an end effector that is capable of reducing weight and saving space, and also capable of improving work efficiency of a robot.SOLUTION: An end effector 6 includes a plurality of claws 8 and a drive mechanism 12 that changes the configuration of the plurality of claws 8 from one configuration to another configuration among a plurality of configurations each exhibiting mutually different functions. The plurality of functions includes at least two of: (a) a wheel function for moving the robot 2, (b) a gripper function for gripping an object, (c) a shovel function for digging up the object, and (d) a drill function for excavating the object.SELECTED DRAWING: Figure 1

The present invention provides an instrument clamping device, a slave operating device having the instrument clamping device, and a surgical robot including the slave operating device, wherein the device for clamping the instrument includes a clamping arm, a driving block, an elastic member, and an operating mechanism. The driving block is driven by the elastic member and the operating mechanism to move. During the movement of the driving block, the end of the clamping arm contacts different parts of the driving block to achieve the opening of the clamping arm and clamping of the instrument. The direction of the elastic force provided by the elastic member of the present invention is the same as the direction of movement of the driving block, so that the driving block can be subjected to a larger elastic force when the clamping arm clamps the instrument, so that the clamping arm can firmly clamp the instrument.

An exemplary harvester comprises a cutting and gripping unit, comprising: a top frame; a base ring structure; a plurality of supports arranged in a circular configuration to form a cage-like structure, wherein proximal ends of the plurality of supports are affixed to the top frame and distal ends of the plurality of supports are affixed to the base ring structure; a set of grippers connected to the top frame; a blade rotatably connected to the base ring structure, wherein the blade is configured to cut the produce while at least a part of the produce is enclosed within the plurality of supports and secured by the set of grippers.

The present disclosure provides a vision based control of a reconfigurable soft robotic gripper. Conventional methods lack an intelligent control method which automatically adapts the configuration of the gripper based on the target object. The present disclosure includes a robotic gripper with a rigid palm and three soft fingers attached to the palm. Each finger is separately actuated using three separate motors. Out of the three fingers, one is fixed, and other two can move relative to the base, the motion of the movable fingers is actuated by motor(s). Each finger has multiple sensors to detect the magnitude of bending. A camera is attached to the base of the gripper, facing the object to be grasped. The camera image and the sensors measurements are given to a control unit and the control unit in turn gives the control signal to the actuator motors to suit the object to be grasped.