CN104959992A - Pneumatic soft body grasping device - Google Patents

Abstract

The invention discloses a pneumatic soft body grasping device. The pneumatic soft body grasping device comprises a pneumatic soft body manipulator (1), an air guide supporting assembly (2), an air guide base (3), a cover plate (4) and an air source divider (5). The air source divider (5) is arranged in the air guide base (3). The pneumatic soft body manipulator (1) is fixed below the air guide supporting assembly (2) and connected with the air source divider (5) through an air source pipe. According to the pneumatic soft body grasping device, compressed air provided by an external air pump is used for inflating or sucking air from an air channel and an air bag in the pneumatic soft body manipulator (1) so that the pneumatic soft body manipulator (1) can bend and deform outwards or inwards to grasp or pick up an object.

Description

A kind of pneumatic software gripping device

Technical field

The present invention relates to a kind of gripping device, more particularly, refer to a kind of pneumatic software gripping device.

Background technology

Flexibility is organism essence and pervasive important attribute.The overwhelming majority is biological all has soft tissue, and these are biological relies on self flexible, can efficiently, mutual with nature harmoniously.The robot of " software " also as organism, can change own form, rigidity and motion actively or passively, thus more safely and efficiently with environmental interaction.The robot of conventional flex hinge principle is the object made for reaching " flexibility " of the stiffener such as connection and spring relying on multiple small rigid element, but control mode and conventional rigid robot do not have the difference of essence, therefore although this kind of robot solves some rigid machine people Problems existing to a certain extent, still there is its limitation, still should divide the category in " rigidity " robot.

Summary of the invention

A kind of pneumatic software gripping device based on soft material and pneumatic control of object of the present invention design, performs end to replace conventional robot and carries out the efficient and operation of safety.The present invention's finger is designed to the Wrinkled flexible structure of lamination arrangement, by carrying out inflating or air-breathing to the passage of finger interior, thus realizes finger and is bent outwardly or aduncate posture deforming, reach and grasp or pick up object.

A kind of pneumatic software gripping device of the present invention, it includes pneumatic software manipulator (1), air guide supporting component (2), air guide pedestal (3), cover plate (4) and source of the gas current divider (5).

Source of the gas current divider (5) is provided with intake interface (5E), A gives vent to anger interface (5A), B give vent to anger interface (5C) and the D of interface (5B), C that give vent to anger gives vent to anger interface (5D).Source of the gas current divider (5) is arranged in the cavity (3A) of air guide pedestal (3).

Cover plate (4) is provided with through hole (4A), described through hole (4A) passes for the pipeline of air feed source of the gas, and the pipeline of the air feed source of the gas after passing is connected on the intake interface (5E) of source of the gas current divider (5).

Air guide pedestal (3) is provided with cavity (3A) and base plate (3B); Described cavity (3A) openend is provided with cover plate (4); AA through hole (3B1) passes for A gas source conduit (2A); AB through hole (3B2) passes for B gas source conduit (2B); AC through hole (3B3) passes for C gas source conduit (2C); AD through hole (3B4) passes for D gas source conduit (2D); Central blind hole (3B5) is for installing one end of support cylinder (2E), and the other end of support cylinder (2E) is arranged on infrabasal plate (2J), and is fixed by long spiro nail (2I);

One end of support cylinder (2E) is arranged in the central blind hole (3B5) of air guide pedestal (3), the other end of support cylinder (2E) is arranged on infrabasal plate (2J), and fixed by long spiro nail (2I), support cylinder (2E) is socketed spring (2H) and nut (2G).

The FA lug boss (2F1) of upper substrate (2F) is provided with FA groove (2F11), the two ends of FA groove (2F11) are AA support arm (2F12) and AB support arm (2F13), AA support arm (2F12) is provided with FF through hole (2F14), and AB support arm (2F13) is provided with FG through hole (2F15).FF through hole (2F14) and FG through hole (2F15) are for placing AC pin (24C).The upper ends of A connecting rod (23A) is in FA groove (2F11).FB lug boss (2F2) is provided with FB groove (2F21), the two ends of FB groove (2F21) are BA support arm (2F22) and BB support arm (2F23), BA support arm (2F22) is provided with FH through hole (2F24), and BB support arm (2F23) is provided with FI through hole (2F25).FH through hole (2F24) and FI through hole (2F25) are for placing BC pin (25C).The upper ends of B connecting rod (23B) is in FB groove (2F21).FC lug boss (2F3) is provided with FC groove (2F31), the two ends of FC groove (2F31) are CA support arm (2F32) and CB support arm (2F33), CA support arm (2F32) is provided with FJ through hole (2F34), and CB support arm (2F33) is provided with FK through hole (2F35).FJ through hole (2F34) and FK through hole (2F35) are for placing CC pin (26C).The upper ends of C connecting rod (23C) is in FC groove (2F31).FD lug boss (2F4) is provided with FD groove (2F41), the two ends of FD groove (2F41) are DA support arm (2F42) and DB support arm (2F43), DA support arm (2F42) is provided with FL through hole (2F44), and DB support arm (2F43) is provided with FM through hole (2F45).FL through hole (2F44) and FM through hole (2F45) are for placing DC pin (27C).The upper ends of D connecting rod (23D) is in FD groove (2F41).

The countersunk head through hole (2J5) of infrabasal plate (2J) passes for long spiro nail (2I), and the long spiro nail (2I) after passing is threaded in the screwed hole (2E1) of support cylinder (2E) lower end.Upper countersunk head chamber (2J6) is for placing the lower end of spring (2H).A lug (2J1) is provided with JA through hole (2J11), and JA through hole (2J11) is for placing AA pin (24A).B lug (2J2) is provided with JB through hole (2J21), and JB through hole (2J21) is for placing BA pin (25A).C lug (2J3) is provided with JC through hole (2J31), and JC through hole (2J31) is for placing CA pin (26A).D lug (2J4) is provided with JD through hole (2J41), and JD through hole (2J41) is for placing DA pin (27A).

The soft pawl erecting bed (21A) of A is provided with BA groove (21A1), BB groove (21A2) and BA arch countersunk head through hole (21A3).Described BA arch countersunk head through hole (21A3) is passed for the A lower interface (22A2) of A air valve connection cover (22A).The two ends of described BA groove (21A1) are A support arm (21A11) and B support arm (21A12), A support arm (21A11) is provided with BA through hole (21A13), and B support arm (21A12) is provided with BB through hole (21A14).BA through hole (21A13) and BB through hole (21A14) are for placing AB pin (24B).The lower end of A connecting rod (23A) is placed in BA groove (21A1).The two ends of described BB groove (21A2) are C support arm (21A21) and D support arm (21A22), C support arm (21A21) is provided with BC through hole (21A23), and D support arm (21A22) is provided with BD through hole (21A24).BC through hole (21A23) and BD through hole (21A24) are for placing AA pin (24A).The A lug (2J1) of infrabasal plate (2J) is placed in BB groove (21A2).

The soft pawl erecting bed (21B) of B is provided with BC groove (21B1), BD groove (21B2) and BB arch countersunk head through hole (21B3).Described BB arch countersunk head through hole (21B3) is passed for the B lower interface (22B2) of B air valve connection cover (22B).The two ends of described BC groove (21B1) are E support arm (21B11) and F support arm (21B12), E support arm (21B11) is provided with BE through hole (21B13), and F support arm (21B12) is provided with BF through hole (21B14).BE through hole (21B13) and BF through hole (21B14) are for placing BB pin (25B).The lower end of B connecting rod (23B) is placed in BC groove (21B1).The two ends of described BD groove (21B2) are G support arm (21B21) and H support arm (21B22), G support arm (21B21) is provided with BG through hole (21B23), and H support arm (21B22) is provided with BH through hole (21B24).BG through hole (21B23) and BH through hole (21B24) are for placing BA pin (25A).The B lug (2J2) of infrabasal plate (2J) is placed in BD groove (21B2).

The soft pawl erecting bed (21C) of C is provided with BE groove (21C1), BF groove (21C2) and BC arch countersunk head through hole (21C3).Described BC arch countersunk head through hole (21C3) is passed for the C lower interface (22C2) of C air valve connection cover (22C).The two ends of described BE groove (21C1) are I support arm (21C11) and J support arm (21C12), I support arm (21C11) is provided with BI through hole (21C13), and J support arm (21C12) is provided with BJ through hole (21C14).BI through hole (21C13) and BJ through hole (21C14) are for placing CB pin (26B).The lower end of C connecting rod (23C) is placed in BE groove (21C1).The two ends of described BF groove (21C2) are K support arm (21C21) and L support arm (21C22), K support arm (21C21) is provided with BK through hole (21C23), and L support arm (21C22) is provided with BL through hole (21C24).BK through hole (21C23) and BL through hole (21C24) are for placing CA pin (26A).The C lug (2J3) of infrabasal plate (2J) is placed in BF groove (21C2).

The soft pawl erecting bed (21D) of D is provided with BG groove (21D1), BH groove (21D2) and BD arch countersunk head through hole (21D3).Described BD arch countersunk head through hole (21D3) is passed for the D lower interface (22D2) of D air valve connection cover (22D).The two ends of described BG groove (21D1) are M support arm (21D11) and N support arm (21D12), M support arm (21D11) is provided with BM through hole (21D13), and N support arm (21D12) is provided with BN through hole (21D14).BM through hole (21D13) and BN through hole (21D14) are for placing DB pin (27B).The lower end of D connecting rod (23D) is placed in BG groove (21D1).The two ends of described BH groove (21D2) are O support arm 21D21 and P support arm (21D22), O support arm (21D21) is provided with BO through hole (21D23), and P support arm (21D22) is provided with BP through hole (21D24).BO through hole (21D23) and BP through hole (21D24) are for placing DA pin (27A).The D lug (2J4) of infrabasal plate (2J) is placed in BH groove (21D2).

A air valve connection cover (22A) is provided with A taper air valve body (22A3), the upper interface of A (22A1) and A lower interface (22A2), is that A ventilates air flue (22A4) between the upper interface of A (22A1) and A lower interface (22A2).A air valve connection cover (22A) is fixed on the soft pawl erecting bed (21A) of A, and A lower interface (22A2) is through BA arch countersunk head through hole (21A3) on the soft pawl erecting bed (21A) of A.Described A lower interface (22A2) profile is arcuate in shape.The upper interface of A (22A1) is connected with the lower end of A gas source conduit (2A).A lower interface (22A2), through after BA arch countersunk head through hole (21A3) on the soft pawl erecting bed (21A) of A, inserts in the A gas channels (1A6) of the first software finger module (11).

B air valve connection cover (22B) is provided with B taper air valve body (22B3), the upper interface of B (22B1) and B lower interface (22B2), is that B ventilates air flue (22B4) between the upper interface of B (22B1) and B lower interface (22B2).B air valve connection cover (22B) is fixed on the soft pawl erecting bed (21B) of B, and B lower interface (22B2) is through BB arch countersunk head through hole (21B3) on the soft pawl erecting bed (21B) of B.Described B lower interface (22B2) profile is arcuate in shape.The upper interface of B (22B1) is connected with the lower end of B gas source conduit (2B).B lower interface 22B2, through after BB arch countersunk head through hole (21B3) on the soft pawl erecting bed (21B) of B, inserts in the B gas channels (1B6) of the second software finger module (12).

C air valve connection cover (22C) is provided with C taper air valve body (22C3), the upper interface of C (22C1) and C lower interface (22C2), is that C ventilates air flue (22C4) between the upper interface of C (22C1) and C lower interface (22C2).C air valve connection cover (22C) is fixed on the soft pawl erecting bed (21C) of C, and C lower interface (22C2) is through BC arch countersunk head through hole (21C3) on the soft pawl erecting bed (21C) of C.Described C lower interface (22C2) profile is arcuate in shape.The upper interface of C (22C1) is connected with the lower end of C gas source conduit (2C).C lower interface (22C2), through after BC arch countersunk head through hole (21C3) on the soft pawl erecting bed (21C) of C, inserts in the C gas channels (1C6) of the 3rd software finger module (13).

D air valve connection cover (22D) is provided with D taper air valve body (22D3), the upper interface of D (22D1) and D lower interface (22D2), is that D ventilates air flue (22D4) between the upper interface of D (22D1) and D lower interface (22D2).D air valve connection cover (22D) is fixed on the soft pawl erecting bed (21D) of D, and D lower interface (22D2) is through BD arch countersunk head through hole (21D3) on the soft pawl erecting bed (21D) of D.Described D lower interface (22D2) profile is arcuate in shape.The upper interface of D (22D1) is connected with the lower end of D gas source conduit (2D).D lower interface (22D2), through after BD arch countersunk head through hole (21D3) on the soft pawl erecting bed (21D) of D, inserts in the D gas channels (1D6) of the 4th software finger module (14).

The upper end of A connecting rod (23A) is provided with CA through hole (23A1), and this CA through hole (23A1) is for placing AC pin (24C).The lower end of A connecting rod (23A) is provided with CB through hole (23A2), and this CB through hole (23A2) is for placing AB pin (24B).

The upper end of B connecting rod (23B) is provided with CC through hole (23B1), and this CC through hole (23B1) is for placing BC pin (25C).The lower end of B connecting rod (23B) is provided with CD through hole (23B2), and this CD through hole (23B2) is for placing BB pin (25B).

The upper end of C connecting rod (23C) is provided with CE through hole (23C1), and this CE through hole (23C1) is for placing CC pin (26C).The lower end of C connecting rod (23C) is provided with CF through hole (23C2), and this CF through hole (23C2) is for placing CB pin (26B).

The upper end of D connecting rod (23D) is provided with CG through hole (23D1), and this CG through hole (23D1) is for placing DC pin (27C).The lower end of D connecting rod (23D) is provided with CH through hole (23D2), and this CH through hole (23D2) is for placing DB pin (27B).

The A finger tips (1A1) of the first software finger module (1A) and A point and are arranged at intervals with multiple A flexible joint (1A3) between joint (1A2) and A flexible joint is takeed on (1A5).A flexible joint (1A3) and A flexible joint shoulder (1A5) are disposed on the top that A points fingerboard (1A4), and the bottom that A points fingerboard (1A4) is provided with multiple A projection (1A41).A flexible joint (1A3) is provided with arcuate segment (1A32) and vertical section (1A33); The inside of A flexible joint (1A3) is A air bag (1A31) structure, this A air bag (1A31) and A gas channels (1A6) conducting.A flexible joint shoulder (1A5) is positioned between adjacent described vertical section (1A33).The inside of the first software finger module (1A) is provided with A gas channels (1A6).

The B finger tips (1B1) of the second software finger module (1B) and B point and are arranged at intervals with multiple B flexible joint (1B3) between joint (1B2) and B flexible joint is takeed on (1B5).B flexible joint (1B3) and B flexible joint shoulder (1B5) are disposed on the top that B points fingerboard (1B4), and the bottom that B points fingerboard (1B4) is provided with multiple B projection (1B41).B flexible joint (1B3) is provided with arcuate segment (1B32) and vertical section (1B33); The inside of B flexible joint (1B3) is B air bag (1B31) structure, this B air bag (1B31) and B gas channels (1B6) conducting.B flexible joint shoulder (1B5) is positioned between adjacent described vertical section (1B33).The inside of the second software finger module (1B) is provided with B gas channels (1B6).

The C finger tips (1C1) of the 3rd software finger module (1C) and C point and are arranged at intervals with multiple C flexible joint (1C3) between joint (1C2) and C flexible joint is takeed on (1C5).C flexible joint (1C3) and C flexible joint shoulder (1C5) are disposed on the top that C points fingerboard (1C4), and the bottom that C points fingerboard (1C4) is provided with multiple C projection (1C41).C flexible joint (1C3) is provided with arcuate segment (1C32) and vertical section (1C33); The inside of C flexible joint (1C3) is C air bag (1C31) structure, this C air bag (1C31) and C gas channels (1C6) conducting.C flexible joint shoulder (1C5) is positioned between adjacent described vertical section (1C33).The inside of the 3rd software finger module (1C) is provided with C gas channels (1C6).

The D finger tips (1D1) of the 4th software finger module (1D) and D point and are arranged at intervals with multiple D flexible joint (1D3) between joint (1D2) and D flexible joint is takeed on (1D5).D flexible joint (1D3) and D flexible joint shoulder (1D5) are disposed on the top that D points fingerboard (1D4), and the bottom that D points fingerboard (1D4) is provided with multiple D projection (1D41).D flexible joint (1D3) is provided with arcuate segment (1D32) and vertical section (1D33); The inside of D flexible joint (1D3) is D air bag (1D31) structure, this D air bag (1D31) and D gas channels (1D6) conducting.D flexible joint shoulder (1D5) is positioned between adjacent described vertical section (1D33).The inside of the 4th software finger module (1D) is provided with D gas channels (1D6).

The advantage of the pneumatic software gripping device of the present invention's design is:

1. apparatus of the present invention breach the restriction of Conventional mechanisms and control method, have employed soft material (Young's modulus is less than 1Mpa), controlled the motion of software finger, achieve the innovation of manufacturing process and type of drive by pneumatic control mode.Pneumatic software manipulator adopts soft material casting to form, and entirety presents enough flexibilities; Its profile, air cavity, through reasonably design, possess good performance, with people and workpiece mutual in have good practicality and security.The control of pneumatic software gripping device adopts pneumatic mode, is carried out the state of control valve, enables air cavity inflate freely and exit, realize the different attitude motions of pneumatic software manipulator by single-chip microcomputer.

2. finger of the present invention, realizes curving inwardly motion or being bent outwardly motion by pneumatic control mode.When curving inwardly, by the degree of crook regulating the air pressure inflated in pneumatic software manipulator to regulate finger, reach the object capturing Different Weight object; When being bent outwardly, realize by vacuumizing pneumatic software manipulator, this is the action that conventional robot and even human finger can not complete, the volume range of the object that this special motion mode can make pneumatic software gripping device to capture increases greatly, improves its adaptability in productive life greatly.

3. finger of the present invention has the advantages such as structure is simple, high flexibility, high power to weight ratio, quality are light and with low cost.Pneumatic software manipulator and rigid machine palmistry ratio, pneumatic software manipulator does not have the structural restrictions such as the connecting rod of similar rigid machine hand, hinge and motor, does not have complicated control system; When grasping frangible, complex-shaped workpiece, there is irreplaceable advantage.

4. apparatus of the present invention realize the attitudes vibration of finger by the source of the gas that outside provides, can realize picking up and discharge the entity of spherical, sheet, cubic, bore spine surface and various complex appearance, and the article of the object in own wt 3 times can be picked up, in the space station minicomputer mechanical arm operation in future, the field such as industrial production line and medical rehabilitation has potential application prospect.

Accompanying drawing explanation

Fig. 1 is the structure chart of pneumatic software gripping device of the present invention.

Figure 1A is the exploded view of pneumatic software gripping device of the present invention.

Figure 1B be pneumatic software gripping device of the present invention grasp structure graph.

Fig. 1 C is another viewing angle constructions of the state that grasps figure of pneumatic software gripping device of the present invention.

Fig. 1 D is the pick-up situation structure chart of pneumatic software gripping device of the present invention.

Fig. 1 E is another viewing angle constructions of pick-up situation figure of pneumatic software gripping device of the present invention.

Fig. 2 is the structure chart of the air cavity pedestal in the present invention.

Fig. 3 is the structure schematic diagram of the multiplex roles of source of the gas controller in the present invention.

Fig. 4 is the front view of the air guide supporting component in the present invention.

Fig. 4 A is the upward view of the air guide supporting component in the present invention.

Fig. 4 B is the upward view of the unassembled erecting bed of air guide supporting component in the present invention.

Fig. 4 C is the exploded view of the air guide supporting component in the present invention.

Fig. 4 D is the structure chart of upper substrate in the air guide supporting component in the present invention.

Fig. 4 E is the structure chart of infrabasal plate in the air guide supporting component in the present invention.

Fig. 4 F is the structure chart of the soft pawl erecting bed of A in the air guide supporting component in the present invention.

Fig. 4 G is the structure chart of the soft pawl erecting bed of B in the air guide supporting component in the present invention.

Fig. 4 H is the structure chart of the soft pawl erecting bed of C in the air guide supporting component in the present invention.

Fig. 4 I is the structure chart of the soft pawl erecting bed of D in the air guide supporting component in the present invention.

Fig. 4 J is the exploded view of upper substrate and soft pawl erecting bed in the air guide supporting component in the present invention.

Fig. 4 K is the structure chart of A air valve connection cover in the air guide supporting component in the present invention.

Fig. 4 L is the structure chart of B air valve connection cover in the air guide supporting component in the present invention.

Fig. 4 M is the structure chart of C air valve connection cover in the air guide supporting component in the present invention.

Fig. 4 N is the structure chart of D air valve connection cover in the air guide supporting component in the present invention.

Fig. 4 O is the sectional view of A air valve connection cover in the air guide supporting component in the present invention.

Fig. 5 is the structure chart of the first software finger module in the present invention.

Fig. 5 A is another viewing angle constructions figure of the first software finger module in the present invention.

Fig. 5 B is the profile of the first software finger module in the present invention.

Fig. 5 C is the section gray-scale map of the first software finger module in the present invention.

Fig. 5 D is the joint profile of the first software finger module in the present invention.

Fig. 5 E is the structure chart of the first software finger module when inflating in the present invention.

Fig. 5 F is the second section of structure of the software finger module in the present invention.

Fig. 5 G is the third section of structure of the software finger module in the present invention.

Fig. 5 H is the profile of the second software finger module in the present invention.

Fig. 5 I is the profile of the 3rd software finger module in the present invention.

Fig. 5 J is the profile of the 4th software finger module in the present invention.

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is described in further detail.

Shown in Fig. 1, Figure 1A, a kind of pneumatic software gripping device of the present invention's design, includes pneumatic software manipulator 1, air guide supporting component 2, air guide pedestal 3, cover plate 4 and source of the gas current divider 5.

In the present invention, the pneumatic joint of the KQ2UD04-06 model that described source of the gas current divider 5 selects SMC (China) Co., Ltd to produce.In order to coordinate the number of software finger module, shown in Figure 3, described source of the gas current divider 5 is at least provided with an intake interface 5E, four interfaces of giving vent to anger, namely A interface 5A, B interface 5B, C interface 5C and D that give vent to anger that give vent to anger that give vent to anger gives vent to anger interface 5D.

Pneumatic software manipulator 1 (also claiming to point) can be made up of the software finger module that two structures are identical; Or the software finger module identical by three structures is formed; Or the software finger module identical by four structures is formed; Or the software finger module identical by six structures is formed; Or the software finger module identical by eight structures is formed.Pneumatic software manipulator 1 arranges how many software finger module on earth decide according to grasping object.Pneumatic software manipulator 1 as shown in Fig. 1, Figure 1B ~ Fig. 1 E is made up of four fingers that structure is identical, i.e. the first software finger module 1A, the second software finger module 1B, the 3rd software finger module 1C and the 4th software finger module 1D.

In the present invention, choose the conducting gas circuit in air guide supporting component 2 according to the software finger module number arranged, shown in figure 1, four conducting gas circuits are set in air guide supporting component 2.Shown in Figure 1A, Fig. 4 A, Fig. 4 C, namely A source of the gas conduction pipe 2A, A soft pawl erecting bed 21A and A air valve connection cover 22A is the first conducting gas circuit; B source of the gas conduction pipe 2B, B soft pawl erecting bed 21B and B air valve connection cover 22B is the second conducting gas circuit; C source of the gas conduction pipe 2C, C soft pawl erecting bed 21C and C air valve connection cover 22C is the 3rd conducting gas circuit; D source of the gas conduction pipe 2D, D soft pawl erecting bed 21D and D air valve connection cover 22D is the 4th conducting gas circuit.

First software finger module 1A

Shown in Fig. 1, Figure 1A, Fig. 5, Fig. 5 A ~ 5G, the first software finger module 1A is formed in one structural member.First software finger module 1A adopts silicon rubber raw material (i.e. silicon rubber) processing, therefore is software speciality.

First software finger module 1A is provided with A finger tips 1A1, A and points joint 1A2, A flexible joint 1A3, A finger fingerboard 1A4 and A flexible joint shoulder 1A5.A finger tips 1A1 and A points between joint 1A2 and is arranged at intervals with multiple A flexible joint 1A3 and A flexible joint shoulder 1A5.A flexible joint 1A3 and A flexible joint shoulder 1A5 is disposed on the top that A points fingerboard 1A4, and the bottom that A points fingerboard 1A4 is provided with the protruding 1A41 of multiple A.Frictional force when the protruding 1A41 of described A picks up object for increasing and between object.

As shown in Fig. 5, Fig. 5 B, Fig. 5 C, Fig. 5 D, A flexible joint 1A3 is provided with arcuate segment 1A32 and vertical section 1A33; The inside of A flexible joint 1A3 is A air bag 1A31 structure, this A air bag 1A31 and A gas channels 1A6 conducting.A flexible joint shoulder 1A5 is between adjacent described vertical section 1A33.Described A air bag 1A31 structure can be taper arched door shape (as shown in Figure 5 C), arched door shape (as illustrated in figure 5f) or convex shape (as depicted in fig. 5g).

As shown in Fig. 5 A, Fig. 5 B, Fig. 5 C, the inside of the first software finger module 1A is provided with A gas channels 1A6.When inflating in A gas channels 1A6, the gas be filled with imports in A air bag 1A31 by A gas channels 1A6, make A air bag 1A31 to both sides outer lug (as shown in fig. 5e, the outer lug of side is designated as A outer lug 1A34, the outer lug of opposite side is designated as B outer lug 1A35), A flexible joint 1A3 extends and reaches elongation first software finger module 1A; When carrying out air-breathing in A gas channels 1A6, A flexible joint 1A3 tightens up and reaches curling first software finger module 1A.Under filling the effect of an air absorbing body one, achieve the grasping of the first software finger module 1A, put down action.

In the present invention, the multiple A flexible joint 1A3 on the first software finger module 1A arrange according to lamination, form Wrinkled structure.The Compressed Gas provided at outside air pump carries out inflating or air-breathing to described A gas channels 1A6 and described A air bag 1A31, thus realizes the first software finger module 1A outwards or the distortion that curves inwardly, and reaches the object of picking up object.

Second software finger module 1B

Shown in Fig. 1, Figure 1A, Fig. 5 H, the second software finger module 1B is formed in one structural member.Second software finger module 1B adopts silicon rubber raw material (i.e. silicon rubber) processing, therefore is software speciality.

Second software finger module 1B is provided with B finger tips 1B1, B and points joint 1B2, B flexible joint 1B3, B finger fingerboard 1B4 and B flexible joint shoulder 1B5.B finger tips 1B1 and B points between joint 1B2 and is arranged at intervals with multiple B flexible joint 1B3 and B flexible joint shoulder 1B5.B flexible joint 1B3 and B flexible joint shoulder 1B5 is disposed on the top that B points fingerboard 1B4, and the bottom that B points fingerboard 1B4 is provided with the protruding 1B41 of multiple B.Frictional force when the protruding 1B41 of described B picks up object for increasing and between object.

As illustrated in fig. 5h, B flexible joint 1B3 is provided with arcuate segment 1B32 and vertical section 1B33; The inside of B flexible joint 1B3 is B air bag 1B31 structure, this B air bag 1B31 and B gas channels 1B6 conducting.B flexible joint shoulder 1B5 is between adjacent described vertical section 1B33.Described B air bag 1B31 structure can be taper arched door shape (as shown in Figure 5 C), arched door shape (as illustrated in figure 5f) or convex shape (as depicted in fig. 5g).

As illustrated in fig. 5h, the inside of the second software finger module 1B is provided with B gas channels 1B6.When inflating in B gas channels 1B6, the gas be filled with is imported in B air bag 1B31 by B gas channels 1B6, makes B air bag 1B31 to both sides outer lug, and B flexible joint 1B3 extends and reaches elongation second software finger module 1B; When carrying out air-breathing in B gas channels 1B6, B flexible joint 1B3 tightens up and reaches curling second software finger module 1B.Under filling the effect of an air absorbing body one, achieve the grasping of the second software finger module 1B, put down action.

In the present invention, the multiple B flexible joint 1B3 on the second software finger module 1B arrange according to lamination, form Wrinkled structure.The Compressed Gas provided at outside air pump carries out inflating or air-breathing to described B gas channels 1B6 and described B air bag 1B31, thus realizes the second software finger module 1B outwards or the distortion that curves inwardly, and reaches the object of picking up object.

3rd software finger module 1C

Shown in Fig. 1, Figure 1A, Fig. 5 I, the 3rd software finger module 1C is formed in one structural member.3rd software finger module 1C adopts silicon rubber raw material (i.e. silicon rubber) processing, therefore is software speciality.

3rd software finger module 1C is provided with C finger tips 1C1, C and points joint 1C2, C flexible joint 1C3, C finger fingerboard 1C4 and C flexible joint shoulder 1C5.C finger tips 1C1 and C points between joint 1C2 and is arranged at intervals with multiple C flexible joint 1C3 and C flexible joint shoulder 1C5.C flexible joint 1C3 and C flexible joint shoulder 1C5 is disposed on the top that C points fingerboard 1C4, and the bottom that C points fingerboard 1C4 is provided with the protruding 1C41 of multiple C.Frictional force when the protruding 1C41 of described C picks up object for increasing and between object.

As shown in fig. 5i, C flexible joint 1C3 is provided with arcuate segment 1C32 and vertical section 1C33; The inside of C flexible joint 1C3 is C air bag 1C31 structure, this C air bag 1C31 and C gas channels 1C6 conducting.C flexible joint shoulder 1C5 is between adjacent described vertical section 1C33.Described C air bag 1C31 structure can be taper arched door shape (as shown in Figure 5 C), arched door shape (as illustrated in figure 5f) or convex shape (as depicted in fig. 5g).

As shown in fig. 5i, the inside of the 3rd software finger module 1C is provided with C gas channels 1C6.When inflating in C gas channels 1C6, the gas be filled with is imported in C air bag 1C31 by C gas channels 1C6, makes C air bag 1C31 to both sides outer lug, and C flexible joint 1C3 extends and reaches elongation the 3rd software finger module 1C; When carrying out air-breathing in C gas channels 1C6, C flexible joint 1C3 tightens up and reaches curling 3rd software finger module 1C.Under filling the effect of an air absorbing body one, achieve the grasping of the 3rd software finger module 1C, put down action.

In the present invention, the multiple C flexible joint 1C3 on the 3rd software finger module 1C arrange according to lamination, form Wrinkled structure.The Compressed Gas provided at outside air pump carries out inflating or air-breathing to described C gas channels 1C6 and described C air bag 1C31, thus realizes the 3rd software finger module 1C outwards or the distortion that curves inwardly, and reaches the object of picking up object.

4th software finger module 1D

Shown in Fig. 1, Figure 1A, Fig. 5 J, the 4th software finger module 1D is formed in one structural member.4th software finger module 1D adopts silicon rubber raw material (i.e. silicon rubber) processing, therefore is software speciality.

4th software finger module 1D is provided with D finger tips 1D1, D and points joint 1D2, D flexible joint 1D3, D finger fingerboard 1D4 and D flexible joint shoulder 1D5.D finger tips 1D1 and D points between joint 1D2 and is arranged at intervals with multiple D flexible joint 1D3 and D flexible joint shoulder 1D5.D flexible joint 1D3 and D flexible joint shoulder 1D5 is disposed on the top that D points fingerboard 1D4, and the bottom that D points fingerboard 1D4 is provided with the protruding 1D41 of multiple D.Frictional force when the protruding 1D41 of described D picks up object for increasing and between object.

As indicated at figure 5j, D flexible joint 1D3 is provided with arcuate segment 1D32 and vertical section 1D33; The inside of D flexible joint 1D3 is D air bag 1D31 structure, this D air bag 1D31 and D gas channels 1D6 conducting.D flexible joint shoulder 1D5 is between adjacent described vertical section 1D33.Described D air bag 1D31 structure can be taper arched door shape (as shown in Figure 5 C), arched door shape (as illustrated in figure 5f) or convex shape (as depicted in fig. 5g).

As indicated at figure 5j, the inside of the 4th software finger module 1D is provided with D gas channels 1D6.When inflating in D gas channels 1D6, the gas be filled with is imported in D air bag 1D31 by D gas channels 1D6, makes D air bag 1D31 to both sides outer lug, and D flexible joint 1D3 extends and reaches elongation the 4th software finger module 1D; When carrying out air-breathing in D gas channels 1D6, D flexible joint 1D3 tightens up and reaches curling 4th software finger module 1D.Under filling the effect of an air absorbing body one, achieve the grasping of the 4th software finger module 1D, put down action.

In the present invention, the multiple D flexible joint 1D3 on the 4th software finger module 1D arrange according to lamination, form Wrinkled structure.The Compressed Gas provided at outside air pump carries out inflating or air-breathing to described D gas channels 1D6 and described D air bag 1D31, thus realizes the 4th software finger module 1D outwards or the distortion that curves inwardly, and reaches the object of picking up object.

Air guide supporting component 2

Shown in Fig. 1, Figure 1A, Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, air guide supporting component 2 includes support cylinder 2E, nut 2G, spring 2H, upper substrate 2F, infrabasal plate 2J; And the gas source conduit that four structures are identical, i.e. A gas source conduit 2A, B gas source conduit 2B, C gas source conduit 2C and D gas source conduit 2D; And the soft pawl erecting bed that four structures are identical, i.e. A soft pawl erecting bed 21A, B soft pawl erecting bed 21B, C soft pawl erecting bed 21C and D soft pawl erecting bed 21D; And the air valve connection cover that four structures are identical, i.e. A air valve connection cover 22A, B air valve connection cover 22B, C air valve connection cover 22C and D air valve connection cover 22D; And the connecting rod that four structures are identical, i.e. A connecting rod 23A, B connecting rod 23B, C connecting rod 23C and D connecting rod 23D; And AA pin 24A, AB pin 24B, AC pin 24C; BA pin 25A, BB pin 25B, BC pin 25C; CA pin 26A, CB pin 26B, CC pin 26C; DA pin 27A, DB pin 27B and DC pin 27C.

Support cylinder 2E

Shown in Fig. 4 C, support cylinder 2E is provided with external screw thread (not shown), this external screw thread coordinates with nut 2G, realize regulating the spacing between upper substrate 2F and infrabasal plate 2J, thus reach the subtended angle between adjustment four finger (the first software finger module 1A, the second software finger module 1B, the 3rd software finger module 1C and the 4th software finger module 1D).One end of support cylinder 2E is provided with screwed hole 2E1, and this screwed hole 2E1 is for placing long spiro nail 2I.

One end of support cylinder 2E is arranged in the central blind hole 3B5 of air guide pedestal 3, and the other end of support cylinder 2E is arranged on infrabasal plate 2J, and is fixed by long spiro nail 2I, and support cylinder 2E is socketed spring 2H and nut 2G.

Upper substrate 2F

Shown in Fig. 4 C, Fig. 4 D, upper substrate 2F is provided with FA lug boss 2F1, FB lug boss 2F2, FC lug boss 2F3, FD lug boss 2F4, FA through hole 2F5, FB through hole 2F6, FC through hole 2F7, FD through hole 2F8 and FE through hole 2F9.

Described FA through hole 2F5 is used for the other end of A gas source conduit 2A and passes, on the A being connected to A air valve connection cover 22A through the other end of the A gas source conduit 2A after FA through hole 2F5 on interface 22A1, as shown in Figure 4 C;

Described FB through hole 2F6 is used for the other end of B gas source conduit 2B and passes, on the B being connected to B air valve connection cover 22B through the other end of the B gas source conduit 2B after FB through hole 2F6 on interface 22B1, as shown in Figure 4 C;

Described FC through hole 2F7 is used for the other end of C gas source conduit 2C and passes, on the C being connected to C air valve connection cover 22C through the other end of the C gas source conduit 2C after FC through hole 2F7 on interface 22C1, as shown in Figure 4 C;

Described FD through hole 2F8 is used for the other end of D gas source conduit 2D and passes, on the D being connected to D air valve connection cover 22D through the D gas source conduit 2D other end after FD through hole 2F8 on interface 22D1, as shown in Figure 4 C;

Described FE through hole 2F9 is used for support cylinder 2E and passes, and the one end through the support cylinder 2E after FE through hole 2F9 is arranged in the central blind hole 3B3 of air guide pedestal 3, as shown in Figure 2; The other end of support cylinder 2E is arranged in the countersunk central hole 2J5 of infrabasal plate 2J, as shown in Figure 4 C.

Shown in Fig. 4 D, described FA lug boss 2F1 is provided with FA groove 2F11, and the two ends of FA groove 2F11 are AA support arm 2F12 and AB support arm 2F13, and AA support arm 2F12 is provided with FF through hole 2F14, and AB support arm 2F13 is provided with FG through hole 2F15.FF through hole 2F14 and FG through hole 2F15 is for placing AC pin 24C.The upper ends of A connecting rod 23A is in FA groove 2F11.

Shown in Fig. 4 D, described FB lug boss 2F2 is provided with FB groove 2F21, and the two ends of FB groove 2F21 are BA support arm 2F22 and BB support arm 2F23, and BA support arm 2F22 is provided with FH through hole 2F24, and BB support arm 2F23 is provided with FI through hole 2F25.FH through hole 2F24 and FI through hole 2F25 is for placing BC pin 25C.The upper ends of B connecting rod 23B is in FB groove 2F21.

Shown in Fig. 4 D, described FC lug boss 2F3 is provided with FC groove 2F31, and the two ends of FC groove 2F31 are CA support arm 2F32 and CB support arm 2F33, and CA support arm 2F32 is provided with FJ through hole 2F34, and CB support arm 2F33 is provided with FK through hole 2F35.FJ through hole 2F34 and FK through hole 2F35 is for placing CC pin 26C.The upper ends of C connecting rod 23C is in FC groove 2F31.

Shown in Fig. 4 D, described FD lug boss 2F4 is provided with FD groove 2F41, and the two ends of FD groove 2F41 are DA support arm 2F42 and DB support arm 2F43, and DA support arm 2F42 is provided with FL through hole 2F44, and DB support arm 2F43 is provided with FM through hole 2F45.FL through hole 2F44 and FM through hole 2F45 is for placing DC pin 27C.The upper ends of D connecting rod 23D is in FD groove 2F41.

Infrabasal plate 2J

Shown in Fig. 4 C, Fig. 4 E, infrabasal plate 2J is provided with A lug 2J1, B lug 2J2, C lug 2J3, D lug 2J4, countersunk head through hole 2J5 and upper countersunk head chamber 2J6.Described countersunk head through hole 2J5 is used for long spiro nail 2I and passes, and the long spiro nail 2I after passing is threaded in the screwed hole 2E1 of support cylinder 2E lower end.Described upper countersunk head chamber 2J6 is for placing the lower end of spring 2H.

Shown in Fig. 4 E, described A lug 2J1 is provided with JA through hole 2J11, and JA through hole 2J11 is for placing AA pin 24A.

Shown in Fig. 4 E, described B lug 2J2 is provided with JB through hole 2J21, and JB through hole 2J21 is for placing BA pin 25A.

Shown in Fig. 4 E, described C lug 2J3 is provided with JC through hole 2J31, and JC through hole 2J31 is for placing CA pin 26A.

Shown in Fig. 4 E, described D lug 2J4 is provided with JD through hole 2J41, and JD through hole 2J41 is for placing DA pin 27A.

The soft pawl erecting bed (A soft pawl erecting bed 21A, B soft pawl erecting bed 21B, C soft pawl erecting bed 21C and D soft pawl erecting bed 21D) that four structures are identical:

Shown in Fig. 4 C, Fig. 4 F, A soft pawl erecting bed 21A is provided with BA groove 21A1, BB groove 21A2 and BA arch countersunk head through hole 21A3.The A lower interface 22A2 that described BA arch countersunk head through hole 21A3 is used for A air valve connection cover 22A passes.The two ends of described BA groove 21A1 are A support arm 21A11 and B support arm 21A12, and A support arm 21A11 is provided with BA through hole 21A13, and B support arm 21A12 is provided with BB through hole 21A14.BA through hole 21A13 and BB through hole 21A14 is for placing AB pin 24B.The lower end of A connecting rod 23A is placed in BA groove 21A1.The two ends of described BB groove 21A2 are C support arm 21A21 and D support arm 21A22, and C support arm 21A21 is provided with BC through hole 21A23, and D support arm 21A22 is provided with BD through hole 21A24.BC through hole 21A23 and BD through hole 21A24 is for placing AA pin 24A.The A lug 2J1 of infrabasal plate 2J is placed in BB groove 21A2.

Shown in Fig. 4 C, Fig. 4 G, B soft pawl erecting bed 21B is provided with BC groove 21B1, BD groove 21B2 and BB arch countersunk head through hole 21B3.The B lower interface 22B2 that described BB arch countersunk head through hole 21B3 is used for B air valve connection cover 22B passes.The two ends of described BC groove 21B1 are E support arm 21B11 and F support arm 21B12, and E support arm 21B11 is provided with BE through hole 21B13, and F support arm 21B12 is provided with BF through hole 21B14.BE through hole 21B13 and BF through hole 21B14 is for placing BB pin 25B.The lower end of B connecting rod 23B is placed in BC groove 21B1.The two ends of described BD groove 21B2 are G support arm 21B21 and H support arm 21B22, and G support arm 21B21 is provided with BG through hole 21B23, and H support arm 21B22 is provided with BH through hole 21B24.BG through hole 21B23 and BH through hole 21B24 is for placing BA pin 25A.The B lug 2J2 of infrabasal plate 2J is placed in BD groove 21B2.

Shown in Fig. 4 C, Fig. 4 H, C soft pawl erecting bed 21C is provided with BE groove 21C1, BF groove 21C2 and BC arch countersunk head through hole 21C3.The C lower interface 22C2 that described BC arch countersunk head through hole 21C3 is used for C air valve connection cover 22C passes.The two ends of described BE groove 21C1 are I support arm 21C11 and J support arm 21C12, and I support arm 21C11 is provided with BI through hole 21C13, and J support arm 21C12 is provided with BJ through hole 21C14.BI through hole 21C13 and BJ through hole 21C14 is for placing CB pin 26B.The lower end of C connecting rod 23C is placed in BE groove 21C1.The two ends of described BF groove 21C2 are K support arm 21C21 and L support arm 21C22, and K support arm 21C21 is provided with BK through hole 21C23, and L support arm 21C22 is provided with BL through hole 21C24.BK through hole 21C23 and BL through hole 21C24 is for placing CA pin 26A.The C lug 2J3 of infrabasal plate 2J is placed in BF groove 21C2.

Shown in Fig. 4 C, Fig. 4 I, D soft pawl erecting bed 21D is provided with BG groove 21D1, BH groove 21D2 and BD arch countersunk head through hole 21D3.The D lower interface 22D2 that described BD arch countersunk head through hole 21D3 is used for D air valve connection cover 22D passes.The two ends of described BG groove 21D1 are M support arm 21D11 and N support arm 21D12, and M support arm 21D11 is provided with BM through hole 21D13, and N support arm 21D12 is provided with BN through hole 21D14.BM through hole 21D13 and BN through hole 21D14 is for placing DB pin 27B.The lower end of D connecting rod 23D is placed in BG groove 21D1.The two ends of described BH groove 21D2 are O support arm 21D21 and P support arm 21D22, and O support arm 21D21 is provided with BO through hole 21D23, and P support arm 21D22 is provided with BP through hole 21D24.BO through hole 21D23 and BP through hole 21D24 is for placing DA pin 27A.The D lug 2J4 of infrabasal plate 2J is placed in BH groove 21D2.

The air valve connection cover (A air valve connection cover 22A, B air valve connection cover 22B, C air valve connection cover 22C and D air valve connection cover 22D) that four structures are identical:

Shown in Fig. 4 C, Fig. 4 K, it is that A ventilates air flue 22A4 (as shown in Fig. 4 O) that A air valve connection cover 22A is provided with between the upper interface 22A1 of A taper air valve body 22A3, A and the upper interface 22A1 of A lower interface 22A2, A and A lower interface 22A2.A air valve connection cover 22A is fixed on A soft pawl erecting bed 21A, and A lower interface 22A2 is through the BA arch countersunk head through hole 21A3 on A soft pawl erecting bed 21A.Described A lower interface 22A2 profile is arcuate in shape.The upper interface 22A1 of A is connected with the lower end of A gas source conduit 2A.A lower interface 22A2 is through after the BA arch countersunk head through hole 21A3 on A soft pawl erecting bed 21A, the A inserting the first software finger module 11 points in joint 1A2, realizes the source of the gas of outside to carry out inflating or air-breathing to the first software finger module 11 by source of the gas current divider 5, A gas source conduit 2A and A air valve connection cover 22A.

Shown in Fig. 4 C, Fig. 4 L, it is that B ventilates air flue 22B4 (not shown) that B air valve connection cover 22B is provided with between the upper interface 22B1 of B taper air valve body 22B3, B and the upper interface 22B1 of B lower interface 22B2, B and B lower interface 22B2.B air valve connection cover 22B is fixed on B soft pawl erecting bed 21B, and B lower interface 22B2 is through the BB arch countersunk head through hole 21B3 on B soft pawl erecting bed 21B.Described B lower interface 22B2 profile is arcuate in shape.The upper interface 22B1 of B is connected with the lower end of B gas source conduit 2B.B lower interface 22B2 is through after the BB arch countersunk head through hole 21B3 on B soft pawl erecting bed 21B, the B inserting the second software finger module 12 points in joint, realizes the source of the gas of outside to carry out inflating or air-breathing to the second software finger module 12 by source of the gas current divider 5, B gas source conduit 2B and B air valve connection cover 22B.

Shown in Fig. 4 C, Fig. 4 M, it is that C ventilates air flue 22C4 (not shown) that C air valve connection cover 22C is provided with between the upper interface 22C1 of C taper air valve body 22C3, C and the upper interface 22C1 of C lower interface 22C2, C and C lower interface 22C2.C air valve connection cover 22C is fixed on C soft pawl erecting bed 21C, and C lower interface 22C2 is through the BC arch countersunk head through hole 21C3 on C soft pawl erecting bed 21C.Described C lower interface 22C2 profile is arcuate in shape.The upper interface 22C1 of C is connected with the lower end of C gas source conduit 2C.C lower interface 22C2 is through after the BC arch countersunk head through hole 21C3 on C soft pawl erecting bed 21C, the C inserting the 3rd software finger module 13 points in joint, realizes the source of the gas of outside to carry out inflating or air-breathing to the 3rd software finger module 13 by source of the gas current divider 5, C gas source conduit 2C and C air valve connection cover 22C.

Shown in Fig. 4 C, Fig. 4 N, it is that D ventilates air flue 22D4 (not shown) that D air valve connection cover 22D is provided with between the upper interface 22D1 of D taper air valve body 22D3, D and the upper interface 22D1 of D lower interface 22D2, D and D lower interface 22D2.D air valve connection cover 22D is fixed on D soft pawl erecting bed 21D, and D lower interface 22D2 is through the BD arch countersunk head through hole 21D3 on D soft pawl erecting bed 21D.Described D lower interface 22D2 profile is arcuate in shape.The upper interface 22D1 of D is connected with the lower end of D gas source conduit 2D.D lower interface 22D2 is through after the BD arch countersunk head through hole 21D3 on D soft pawl erecting bed 21D, the D inserting the 4th software finger module 14 points in joint, realizes the source of the gas of outside to carry out inflating or air-breathing to the 4th software finger module 14 by source of the gas current divider 5, D gas source conduit 2D and D air valve connection cover 22D.

The connecting rod (A connecting rod 23A, B connecting rod 23B, C connecting rod 23C and D connecting rod 23D) that four structures are identical:

Shown in Fig. 4 C, the upper end of A connecting rod 23A is provided with CA through hole 23A1, and this CA through hole 23A1 is for placing AC pin 24C.The lower end of A connecting rod 23A is provided with CB through hole 23A2, and this CB through hole 23A2 is for placing AB pin 24B.

Shown in Fig. 4 C, the upper end of B connecting rod 23B is provided with CC through hole 23B1, and this CC through hole 23B1 is for placing BC pin 25C.The lower end of B connecting rod 23B is provided with CD through hole 23B2, and this CD through hole 23B2 is for placing BB pin 25B.

Shown in Fig. 4 C, the upper end of C connecting rod 23C is provided with CE through hole 23C1, and this CE through hole 23C1 is for placing CC pin 26C.The lower end of C connecting rod 23C is provided with CF through hole 23C2, and this CF through hole 23C2 is for placing CB pin 26B.

Shown in Fig. 4 C, the upper end of D connecting rod 23D is provided with CG through hole 23D1, and this CG through hole 23D1 is for placing DC pin 27C.The lower end of D connecting rod 23D is provided with CH through hole 23D2, and this CH through hole 23D2 is for placing DB pin 27B.

AA pin 24A

Shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of AA pin 24A is in turn through BD through hole 21A24, JA through hole 2J11 and BC through hole 21A23.That is: described BD through hole 21A24 is arranged on the D support arm 21A22 of A soft pawl erecting bed 21A; Described JA through hole 2J11 is arranged on the A lug 2J1 of infrabasal plate 2J; Described BC through hole 21A23 is arranged on the C support arm 21A21 of A soft pawl erecting bed 21A.

In the present invention, the C support arm 21A21 of A lug 2J1 and A soft pawl erecting bed 21A and the fixed installation of D support arm 21A22 of infrabasal plate 2J is realized by AA pin 24A.

BA pin 25A

Shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of BA pin 25A is in turn through BH through hole 21B24, JB through hole 2J21 and BG through hole 21B23.That is: described BH through hole 21B24 is arranged on the H support arm 21B22 of B soft pawl erecting bed 21B; Described JB through hole 2J21 is arranged on the B lug 2J2 of infrabasal plate 2J; Described BG through hole 21B23 is arranged on the G support arm 21B21 of B soft pawl erecting bed 21B.

In the present invention, the G support arm 21B21 of B lug 2J2 and B soft pawl erecting bed 21B and the fixed installation of H support arm 21B22 of infrabasal plate 2J is realized by BA pin 25A.

CA pin 26A

Shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of CA pin 26A is in turn through BL through hole 21C24, JC through hole 2J31 and BK through hole 21C23.That is: described BL through hole 21C24 is arranged on the L support arm 21C22 of C soft pawl erecting bed 21C; Described JC through hole 2J31 is arranged on the C lug 2J3 of infrabasal plate 2J; Described BK through hole 21C23 is arranged on the K support arm 21C21 of C soft pawl erecting bed 21C.

In the present invention, the K support arm 21C21 of C lug 2J3 and C soft pawl erecting bed 21C and the fixed installation of L support arm 21C22 of infrabasal plate 2J is realized by CA pin 26A.

DA pin 27A

Shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of DA pin 27A is in turn through BP through hole 21D24, JD through hole 2J41 and BO through hole 21D23.That is: described BP through hole 21D24 is arranged on the P support arm 21D22 of D soft pawl erecting bed 21D; Described JD through hole 2J41 is arranged on the D lug 2J4 of infrabasal plate 2J; Described BO through hole 21D23 is arranged on the O support arm 21D21 of D soft pawl erecting bed 21D.

In the present invention, the O support arm 21D21 of D lug 2J4 and D soft pawl erecting bed 21D and the fixed installation of P support arm 21D22 of infrabasal plate 2J is realized by DA pin 27A.

AB pin 24B

Shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of AB pin 24B is in turn through BA through hole 21A13, CB through hole 23A2 and BB through hole 21A14.That is: described BA through hole 21A13 is arranged on the A support arm 21A11 of A soft pawl erecting bed 21A; Described CB through hole 23A2 is arranged on the lower end of A connecting rod 23A; Described BB through hole 21A14 is arranged on the B support arm 21A12 of A soft pawl erecting bed 21A.

In the present invention, the lower end of A connecting rod 23A and the A support arm 21A11 of A soft pawl erecting bed 21A and the fixed installation of B support arm 21A12 is realized by AB pin 24B.

BB pin 25B

Shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of BB pin 25B is in turn through BE through hole 21B13, CD through hole 23B2 and BF through hole 21B14.That is: described BE through hole 21B13 is arranged on the E support arm 21B11 of B soft pawl erecting bed 21B; Described CD through hole 23B2 is arranged on the lower end of B connecting rod 23B; Described BF through hole 21B14 is arranged on the F support arm 21B12 of B soft pawl erecting bed 21B.

In the present invention, the lower end of B connecting rod 23B and the E support arm 21B11 of B soft pawl erecting bed 21B and the fixed installation of F support arm 21B12 is realized by BB pin 25B.

CB pin 26B

Shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of CB pin 26B is in turn through BI through hole 21C13, CF through hole 23C2 and BJ through hole 21C14.That is: described BI through hole 21C13 is arranged on the I support arm 21C11 of C soft pawl erecting bed 21C; Described CF through hole 23C2 is arranged on the lower end of C connecting rod 23C; Described BJ through hole 21C14 is arranged on the J support arm 21C12 of C soft pawl erecting bed 21C.

In the present invention, the lower end of C connecting rod 23C and the I support arm 21C11 of C soft pawl erecting bed 21C and the fixed installation of J support arm 21C12 is realized by CB pin 26B.

DB pin 27B

Shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of DB pin 27B is in turn through BM through hole 21D13, CH through hole 23D2 and BN through hole 21D14.That is: described BM through hole 21D13 is arranged on the M support arm 21D11 of D soft pawl erecting bed 21D; Described CH through hole 23D2 is arranged on the lower end of D connecting rod 23D; Described BN through hole 21D14 is arranged on the N support arm 21D12 of D soft pawl erecting bed 21D.

In the present invention, the lower end of D connecting rod 23D and the M support arm 21D11 of D soft pawl erecting bed 21D and the fixed installation of N support arm 21D 12 is realized by DB pin 27B.

AC pin 24C

Shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of AC pin 24C is in turn through FF through hole 2F14, CA through hole 23A1 and FG through hole 2F15.That is: described FF through hole 2F14 is arranged on the AA support arm 2F12 of the FA lug boss 2F1 of upper substrate 2F; Described CA through hole 23A1 is arranged on the upper end of A connecting rod 23A; Described FG through hole 2F15 is arranged on the AB support arm 2F13 of the FA lug boss 2F1 of upper substrate 2F.

In the present invention, the fixed installation of the upper end of A connecting rod 23A and the AA support arm 2F12 of upper substrate 2F and AB support arm 2F13 is realized by AC pin 24C.

BC pin 25C

Shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of BC pin 25C is in turn through FH through hole 2F14, CC through hole 23B1 and FI through hole 2F15.That is: described FH through hole 2F24 is arranged on the BA support arm 2F22 of the FB lug boss 2F2 of upper substrate 2F; Described CC through hole 23B1 is arranged on the upper end of B connecting rod 23B; Described FI through hole 2F25 is arranged on the BB support arm 2F23 of the FB lug boss 2F2 of upper substrate 2F.

In the present invention, the fixed installation of the upper end of B connecting rod 23B and the BA support arm 2F22 of upper substrate 2F and BB support arm 2F23 is realized by BC pin 25C.

CC pin 26C

Shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of CC pin 26C is in turn through FJ through hole 2F34, CE through hole 23C1 and FK through hole 2F35.That is: described FJ through hole 2F34 is arranged on the CA support arm 2F32 of the FC lug boss 2F3 of upper substrate 2F; Described CE through hole 23C1 is arranged on the upper end of C connecting rod 23C; Described FK through hole 2F35 is arranged on the CB support arm 2F33 of the FC lug boss 2F3 of upper substrate 2F.

In the present invention, the fixed installation of the upper end of C connecting rod 23C and the CA support arm 2F32 of upper substrate 2F and CB support arm 2F33 is realized by CC pin 26C.

DC pin 27C

Shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of DC pin 27C is in turn through FL through hole 2F44, CG through hole 23D1 and FM through hole 2F45.That is: described FL through hole 2F44 is arranged on the DA support arm 2F42 of the FD lug boss 2F4 of upper substrate 2F; Described CG through hole 23D1 is arranged on the upper end of D connecting rod 23D; Described FM through hole 2F45 is arranged on the DB support arm 2F43 of the FD lug boss 2F4 of upper substrate 2F.

In the present invention, the fixed installation of the upper end of D connecting rod 23D and the DA support arm 2F42 of upper substrate 2F and DB support arm 2F43 is realized by DC pin 27C.

Air guide pedestal 3

Shown in Fig. 1, Figure 1A, Fig. 2, Fig. 3, air guide pedestal 3 is provided with cavity 3A and base plate 3B; Described cavity 3A openend is provided with cover plate 4; Source of the gas current divider 5 is arranged in the cavity 3A of air guide pedestal 3.Described base plate 3B is provided with AA through hole 3B1, AB through hole 3B2, AC through hole 3B3, AD through hole 3B4 and central blind hole 3B5.

One end that AA through hole 3B1 is used for A gas source conduit 2A is passed, and the A that the A gas source conduit 2A one end after passing is connected to source of the gas current divider 5 gives vent to anger on interface 5A; The other end of A gas source conduit 2A is through on interface 22A1 on the A being connected to A air valve connection cover 22A after the FA through hole 2F5 of upper substrate 2F, the A lower interface 22A2 of A air valve connection cover 22A inserts in the A gas channels 1A6 of the first software finger module 1A, as shown in Fig. 4 C, Fig. 5 A.

One end that AB through hole 3B2 is used for B gas source conduit 2B is passed, and the B that the B gas source conduit 2B one end after passing is connected to source of the gas current divider 5 gives vent to anger on interface 5A; The other end of B gas source conduit 2B is through on interface 22B1 on the B being connected to B air valve connection cover 22B after the FB through hole 2F6 of upper substrate 2F, the B lower interface 22B2 of B air valve connection cover 22B inserts in the B gas channels 1B6 of the second software finger module 1B, as shown in Fig. 4 C, Fig. 5 H.

One end that AC through hole 3B3 is used for C gas source conduit 2C is passed, and the C that the C gas source conduit 2C one end after passing is connected to source of the gas current divider 5 gives vent to anger on interface 5C; The other end of C gas source conduit 2C is through on interface 22C1 on the C being connected to C air valve connection cover 22C after the FC through hole 2F7 of upper substrate 2F, the C lower interface 22C2 of C air valve connection cover 22C inserts in the C gas channels 1C6 of the 3rd software finger module 1C, as shown in Fig. 4 C, Fig. 5 H.

One end that AD through hole 3B4 is used for D gas source conduit 2D is passed, and the D that the D gas source conduit 2D one end after passing is connected to source of the gas current divider 5 gives vent to anger on interface 5D; The other end of D gas source conduit 2D is through on interface 22D1 on the D being connected to D air valve connection cover 22D after the FD through hole 2F8 of upper substrate 2F, the D lower interface 22D2 of D air valve connection cover 22D inserts in the D gas channels 1D6 of the 4th software finger module 1D, as shown in Fig. 4 C, Fig. 5 H.

Central blind hole 3B5 is used for installing (as welding, be threaded) one end of support cylinder 2E, the other end of support cylinder 2E is arranged on infrabasal plate 2J, and fixed by long spiro nail 2I, support cylinder 2E is socketed spring 2H and nut 2G, support cylinder 2E is provided with external screw thread (not shown), this external screw thread coordinates with nut 2G, realize regulating the spacing between upper substrate 2F and infrabasal plate 2J, thus reach adjustment four finger (the first software finger module 1A, second software finger module 1B, 3rd software finger module 1C and the 4th software finger module 1D) between subtended angle.

Cover plate 4

Shown in Fig. 1, Figure 1A, cover plate 4 is provided with through hole 4A, and the pipeline that described through hole 4A is used for air feed source of the gas passes, and the pipeline of the air feed source of the gas after passing is connected on the intake interface 5E of source of the gas current divider 5.

In the present invention, air guide pedestal 3 and the combination of cover plate 4, can realize hand-held pneumatic software gripping device and carry out grasping of object.Also can by cover plate 4 and outside mechanical arm be fixed, realize grasping by the object of robotic arm manipulation.

The grasping or pick up motion of object:

In the present invention, outside air pump is connected with the intake interface 5E of source of the gas current divider 5, four interfaces of giving vent to anger of source of the gas current divider 5 are pointed (the first software finger module 1A, the second software finger module 1B, the 3rd software finger module 1C and the 4th software finger module 1D) respectively and are connected with four softwares, provide inflation or aspiratory action by source of the gas current divider 5 respectively to four software fingers.Under four software fingers are in inflation action simultaneously, four softwares point the distortion (as shown in Figure 1B, Fig. 1 C) that simultaneously curves inwardly.Under four software fingers are in aspiratory action simultaneously, four software fingers are bent outwardly distortion (as shown in Fig. 1 D, Fig. 1 E) simultaneously.Under inflation or aspiratory action, the evagination of the inner balloon of four softwares finger pastes with inhaling, thus realizes the outside or distortion that curves inwardly of four softwares fingers simultaneously, reaches the object grasping or pick up object.By regulating the nut 2G on support cylinder 2E, achieve the distance adjustment between upper substrate 2F and four soft pawl erecting bed (21A, 21B, 21C and 21D), thus reach the subtended angle of adjustment four finger (the first software finger module 1A, the second software finger module 1B, the 3rd software finger module 1C and the 4th software finger module 1D), be beneficial to the object grasping or pick up different size.

Claims (8)

1. a pneumatic software gripping device, is characterized in that: include pneumatic software manipulator (1), air guide supporting component (2), air guide pedestal (3), cover plate (4) and source of the gas current divider (5);

Source of the gas current divider (5) is provided with intake interface (5E), A gives vent to anger interface (5A), B give vent to anger interface (5C) and the D of interface (5B), C that give vent to anger gives vent to anger interface (5D); Source of the gas current divider (5) is arranged in the cavity (3A) of air guide pedestal (3);

Cover plate (4) is provided with through hole (4A), described through hole (4A) passes for the pipeline of air feed source of the gas, and the pipeline of the air feed source of the gas after passing is connected on the intake interface (5E) of source of the gas current divider (5);

Air guide pedestal (3) is provided with cavity (3A) and base plate (3B); Described cavity (3A) openend is provided with cover plate (4); Described base plate (3B) is provided with AA through hole (3B1), AB through hole (3B2), AC through hole (3B3), AD through hole (3B4) and central blind hole (3B5); AA through hole (3B1) passes for A gas source conduit (2A); AB through hole (3B2) passes for B gas source conduit (2B); AC through hole (3B3) passes for C gas source conduit (2C); AD through hole (3B4) passes for D gas source conduit (2D); Central blind hole (3B5) is for installing one end of support cylinder (2E), and the other end of support cylinder (2E) is arranged on infrabasal plate (2J), and is fixed by long spiro nail (2I);

Air guide supporting component (2) includes support cylinder (2E), nut (2G), spring (2H), upper substrate (2F), infrabasal plate (2J); And

The gas source conduit that four structures are identical, i.e. A gas source conduit (2A), B gas source conduit (2B), C gas source conduit (2C) and D gas source conduit (2D); And

The soft pawl erecting bed that four structures are identical, the i.e. soft pawl erecting bed (21D) of A soft pawl erecting bed (21A), B soft pawl erecting bed (21B), C soft pawl erecting bed (21C) and D; And

The air valve connection cover that four structures are identical, i.e. A air valve connection cover (22A), B air valve connection cover (22B), C air valve connection cover (22C) and D air valve connection cover (22D); And

The connecting rod that four structures are identical, i.e. A connecting rod (23A), B connecting rod (23B), C connecting rod (23C) and D connecting rod (23D); And

AA pin (24A), AB pin (24B), AC pin (24C);

BA pin (25A), BB pin (25B), BC pin (25C);

CA pin (26A), CB pin (26B), CC pin (26C);

DA pin (27A), DB pin (27B) and DC pin (27C);

One end of support cylinder (2E) is arranged in the central blind hole (3B5) of air guide pedestal (3), the other end of support cylinder (2E) is arranged on infrabasal plate (2J), and fixed by long spiro nail (2I), support cylinder (2E) is socketed spring (2H) and nut (2G);

Upper substrate (2F) is provided with FA lug boss (2F1), FB lug boss (2F2), FC lug boss (2F3), FD lug boss (2F4), FA through hole (2F5), FB through hole (2F6), FC through hole (2F7), FD through hole (2F8) and FE through hole (2F9); Described FA through hole (2F5) is passed for the other end of A gas source conduit (2A), described FB through hole (2F6) is passed for the other end of B gas source conduit (2B), described FC through hole (2F7) is passed for the other end of C gas source conduit (2C), described FD through hole (2F8) is passed for the other end of D gas source conduit (2D), and described FE through hole (2F9) is passed for support cylinder (2E);

Described FA lug boss (2F1) is provided with FA groove (2F11), the two ends of FA groove (2F11) are AA support arm (2F12) and AB support arm (2F13), AA support arm (2F12) is provided with FF through hole (2F14), and AB support arm (2F13) is provided with FG through hole (2F15); FF through hole (2F14) and FG through hole (2F15) are for placing AC pin (24C); The upper ends of A connecting rod (23A) is in FA groove (2F11);

Described FB lug boss (2F2) is provided with FB groove (2F21), the two ends of FB groove (2F21) are BA support arm (2F22) and BB support arm (2F23), BA support arm (2F22) is provided with FH through hole (2F24), and BB support arm (2F23) is provided with FI through hole (2F25); FH through hole (2F24) and FI through hole (2F25) are for placing BC pin (25C); The upper ends of B connecting rod (23B) is in FB groove (2F21);

Described FC lug boss (2F3) is provided with FC groove (2F31), the two ends of FC groove (2F31) are CA support arm (2F32) and CB support arm (2F33), CA support arm (2F32) is provided with FJ through hole (2F34), and CB support arm (2F33) is provided with FK through hole (2F35); FJ through hole (2F34) and FK through hole (2F35) are for placing CC pin (26C); The upper ends of C connecting rod (23C) is in FC groove (2F31);

Described FD lug boss (2F4) is provided with FD groove (2F41), the two ends of FD groove (2F41) are DA support arm (2F42) and DB support arm (2F43), DA support arm (2F42) is provided with FL through hole (2F44), and DB support arm (2F43) is provided with FM through hole (2F45); FL through hole (2F44) and FM through hole (2F45) are for placing DC pin (27C); The upper ends of D connecting rod (23D) is in FD groove (2F41);

Infrabasal plate (2J) is provided with A lug (2J1), B lug (2J2), C lug (2J3), D lug (2J4), countersunk head through hole (2J5) and upper countersunk head chamber (2J6); Described countersunk head through hole (2J5) is passed for long spiro nail (2I), and the long spiro nail (2I) after passing is threaded in the screwed hole (2E1) of support cylinder (2E) lower end; Described upper countersunk head chamber (2J6) is for placing the lower end of spring (2H); Described A lug (2J1) is provided with JA through hole (2J11), and JA through hole (2J11) is for placing AA pin (24A); Described B lug (2J2) is provided with JB through hole (2J21), and JB through hole (2J21) is for placing BA pin (25A); Described C lug (2J3) is provided with JC through hole (2J31), and JC through hole (2J31) is for placing CA pin (26A); Described D lug (2J4) is provided with JD through hole (2J41), and JD through hole (2J41) is for placing DA pin (27A);

The soft pawl erecting bed (21A) of A is provided with BA groove (21A1), BB groove (21A2) and BA arch countersunk head through hole (21A3); Described BA arch countersunk head through hole (21A3) is passed for the A lower interface (22A2) of A air valve connection cover (22A); The two ends of described BA groove (21A1) are A support arm (21A11) and B support arm (21A12), A support arm (21A11) is provided with BA through hole (21A13), and B support arm (21A12) is provided with BB through hole (21A14); BA through hole (21A13) and BB through hole (21A14) are for placing AB pin (24B); The lower end of A connecting rod (23A) is placed in BA groove (21A1); The two ends of described BB groove (21A2) are C support arm (21A21) and D support arm (21A22), C support arm (21A21) is provided with BC through hole (21A23), and D support arm (21A22) is provided with BD through hole (21A24); BC through hole (21A23) and BD through hole (21A24) are for placing AA pin (24A); The A lug (2J1) of infrabasal plate (2J) is placed in BB groove (21A2);

The soft pawl erecting bed (21B) of B is provided with BC groove (21B1), BD groove (21B2) and BB arch countersunk head through hole (21B3); Described BB arch countersunk head through hole (21B3) is passed for the B lower interface (22B2) of B air valve connection cover (22B); The two ends of described BC groove (21B1) are E support arm (21B11) and F support arm (21B12), E support arm (21B11) is provided with BE through hole (21B13), and F support arm (21B12) is provided with BF through hole (21B14); BE through hole (21B13) and BF through hole (21B14) are for placing BB pin (25B); The lower end of B connecting rod (23B) is placed in BC groove (21B1); The two ends of described BD groove (21B2) are G support arm (21B21) and H support arm (21B22), G support arm (21B21) is provided with BG through hole (21B23), and H support arm (21B22) is provided with BH through hole (21B24); BG through hole (21B23) and BH through hole (21B24) are for placing BA pin (25A); The B lug (2J2) of infrabasal plate (2J) is placed in BD groove (21B2);

The soft pawl erecting bed (21C) of C is provided with BE groove (21C1), BF groove (21C2) and BC arch countersunk head through hole (21C3); Described BC arch countersunk head through hole (21C3) is passed for the C lower interface (22C2) of C air valve connection cover (22C); The two ends of described BE groove (21C1) are I support arm (21C11) and J support arm (21C12), I support arm (21C11) is provided with BI through hole (21C13), and J support arm (21C12) is provided with BJ through hole (21C14); BI through hole (21C13) and BJ through hole (21C14) are for placing CB pin (26B); The lower end of C connecting rod (23C) is placed in BE groove (21C1); The two ends of described BF groove (21C2) are K support arm (21C21) and L support arm (21C22), K support arm (21C21) is provided with BK through hole (21C23), and L support arm (21C22) is provided with BL through hole (21C24); BK through hole (21C23) and BL through hole (21C24) are for placing CA pin (26A); The C lug (2J3) of infrabasal plate (2J) is placed in BF groove (21C2);

The soft pawl erecting bed (21D) of D is provided with BG groove (21D1), BH groove (21D2) and BD arch countersunk head through hole (21D3); Described BD arch countersunk head through hole (21D3) is passed for the D lower interface (22D2) of D air valve connection cover (22D); The two ends of described BG groove (21D1) are M support arm (21D11) and N support arm (21D12), M support arm (21D11) is provided with BM through hole (21D13), and N support arm (21D12) is provided with BN through hole (21D14); BM through hole (21D13) and BN through hole (21D14) are for placing DB pin (27B); The lower end of D connecting rod (23D) is placed in BG groove (21D1); The two ends of described BH groove (21D2) are O support arm 21D21 and P support arm (21D22), O support arm (21D21) is provided with BO through hole (21D23), and P support arm (21D22) is provided with BP through hole (21D24); BO through hole (21D23) and BP through hole (21D24) are for placing DA pin (27A); The D lug (2J4) of infrabasal plate (2J) is placed in BH groove (21D2);

A air valve connection cover (22A) is provided with A taper air valve body (22A3), the upper interface of A (22A1) and A lower interface (22A2), is that A ventilates air flue (22A4) between the upper interface of A (22A1) and A lower interface (22A2); A air valve connection cover (22A) is fixed on the soft pawl erecting bed (21A) of A, and A lower interface (22A2) is through BA arch countersunk head through hole (21A3) on the soft pawl erecting bed (21A) of A; Described A lower interface (22A2) profile is arcuate in shape; The upper interface of A (22A1) is connected with the lower end of A gas source conduit (2A); A lower interface (22A2) is through after BA arch countersunk head through hole (21A3) on the soft pawl erecting bed (21A) of A, insert in the A gas channels (1A6) of the first software finger module (11), realize the source of the gas of outside to carry out inflating or air-breathing to the first software finger module (11) by source of the gas current divider (5), A gas source conduit (2A) and A air valve connection cover (22A);

B air valve connection cover (22B) is provided with B taper air valve body (22B3), the upper interface of B (22B1) and B lower interface (22B2), is that B ventilates air flue (22B4) between the upper interface of B (22B1) and B lower interface (22B2); B air valve connection cover (22B) is fixed on the soft pawl erecting bed (21B) of B, and B lower interface (22B2) is through BB arch countersunk head through hole (21B3) on the soft pawl erecting bed (21B) of B; Described B lower interface (22B2) profile is arcuate in shape; The upper interface of B (22B1) is connected with the lower end of B gas source conduit (2B); B lower interface 22B2 is through after BB arch countersunk head through hole (21B3) on the soft pawl erecting bed (21B) of B, insert in the B gas channels (1B6) of the second software finger module (12), realize the source of the gas of outside to carry out inflating or air-breathing to the second software finger module (12) by source of the gas current divider (5), B gas source conduit (2B) and B air valve connection cover (22B);

C air valve connection cover (22C) is provided with C taper air valve body (22C3), the upper interface of C (22C1) and C lower interface (22C2), is that C ventilates air flue (22C4) between the upper interface of C (22C1) and C lower interface (22C2); C air valve connection cover (22C) is fixed on the soft pawl erecting bed (21C) of C, and C lower interface (22C2) is through BC arch countersunk head through hole (21C3) on the soft pawl erecting bed (21C) of C; Described C lower interface (22C2) profile is arcuate in shape; The upper interface of C (22C1) is connected with the lower end of C gas source conduit (2C); C lower interface (22C2) is through after BC arch countersunk head through hole (21C3) on the soft pawl erecting bed (21C) of C, insert in the C gas channels (1C6) of the 3rd software finger module (13), realize the source of the gas of outside to carry out inflating or air-breathing to the 3rd software finger module (13) by source of the gas current divider (5), C gas source conduit (2C) and C air valve connection cover (22C);

D air valve connection cover (22D) is provided with D taper air valve body (22D3), the upper interface of D (22D1) and D lower interface (22D2), is that D ventilates air flue (22D4) between the upper interface of D (22D1) and D lower interface (22D2); D air valve connection cover (22D) is fixed on the soft pawl erecting bed (21D) of D, and D lower interface (22D2) is through BD arch countersunk head through hole (21D3) on the soft pawl erecting bed (21D) of D; Described D lower interface (22D2) profile is arcuate in shape; The upper interface of D (22D1) is connected with the lower end of D gas source conduit (2D); D lower interface (22D2) is through after BD arch countersunk head through hole (21D3) on the soft pawl erecting bed (21D) of D, insert in the D gas channels (1D6) of the 4th software finger module (14), realize the source of the gas of outside to carry out inflating or air-breathing to the 4th software finger module (14) by source of the gas current divider (5), D gas source conduit (2D) and D air valve connection cover (22D);

The upper end of A connecting rod (23A) is provided with CA through hole (23A1), and this CA through hole (23A1) is for placing AC pin (24C); The lower end of A connecting rod (23A) is provided with CB through hole (23A2), and this CB through hole (23A2) is for placing AB pin (24B);

The upper end of B connecting rod (23B) is provided with CC through hole (23B1), and this CC through hole (23B1) is for placing BC pin (25C); The lower end of B connecting rod (23B) is provided with CD through hole (23B2), and this CD through hole (23B2) is for placing BB pin (25B);

The upper end of C connecting rod (23C) is provided with CE through hole (23C1), and this CE through hole (23C1) is for placing CC pin (26C); The lower end of C connecting rod (23C) is provided with CF through hole (23C2), and this CF through hole (23C2) is for placing CB pin (26B);

The upper end of D connecting rod (23D) is provided with CG through hole (23D1), and this CG through hole (23D1) is for placing DC pin (27C); The lower end of D connecting rod (23D) is provided with CH through hole (23D2), and this CH through hole (23D2) is for placing DB pin (27B);

Pneumatic software manipulator (1) is made up of the first software finger module (1A), the second software finger module (1B), the 3rd software finger module (1C) and the 4th software finger module (1D) that structure is identical;

First software finger module (1A) is provided with A finger tips (1A1), A points joint (1A2), A flexible joint (1A3), A point fingerboard (1A4) and A flexible joint shoulder (1A5); A finger tips (1A1) and A point and are arranged at intervals with multiple A flexible joint (1A3) between joint (1A2) and A flexible joint is takeed on (1A5); A flexible joint (1A3) and A flexible joint shoulder (1A5) are disposed on the top that A points fingerboard (1A4), and the bottom that A points fingerboard (1A4) is provided with multiple A projection (1A41);

A flexible joint (1A3) is provided with arcuate segment (1A32) and vertical section (1A33); The inside of A flexible joint (1A3) is A air bag (1A31) structure, this A air bag (1A31) and A gas channels (1A6) conducting; A flexible joint shoulder (1A5) is positioned between adjacent described vertical section (1A33);

The inside of the first software finger module (1A) is provided with A gas channels (1A6); When inflating in A gas channels (1A6), the gas be filled with is imported in A air bag (1A31) by A gas channels (1A6), makes A air bag (1A31) to both sides outer lug;

Second software finger module (1B) is provided with B finger tips (1B1), B points joint (1B2), B flexible joint (1B3), B point fingerboard (1B4) and B flexible joint shoulder (1B5); B finger tips (1B1) and B point and are arranged at intervals with multiple B flexible joint (1B3) between joint (1B2) and B flexible joint is takeed on (1B5); B flexible joint (1B3) and B flexible joint shoulder (1B5) are disposed on the top that B points fingerboard (1B4), and the bottom that B points fingerboard (1B4) is provided with multiple B projection (1B41);

B flexible joint (1B3) is provided with arcuate segment (1B32) and vertical section (1B33); The inside of B flexible joint (1B3) is B air bag (1B31) structure, this B air bag (1B31) and B gas channels (1B6) conducting; B flexible joint shoulder (1B5) is positioned between adjacent described vertical section (1B33);

The inside of the second software finger module (1B) is provided with B gas channels (1B6); When inflating in B gas channels (1B6), the gas be filled with is imported in B air bag (1B31) by B gas channels (1B6), makes B air bag (1B31) to both sides outer lug;

3rd software finger module (1C) is provided with C finger tips (1C1), C points joint (1C2), C flexible joint (1C3), C point fingerboard (1C4) and C flexible joint shoulder (1C5); C finger tips (1C1) and C point and are arranged at intervals with multiple C flexible joint (1C3) between joint (1C2) and C flexible joint is takeed on (1C5); C flexible joint (1C3) and C flexible joint shoulder (1C5) are disposed on the top that C points fingerboard (1C4), and the bottom that C points fingerboard (1C4) is provided with multiple C projection (1C41);

C flexible joint (1C3) is provided with arcuate segment (1C32) and vertical section (1C33); The inside of C flexible joint (1C3) is C air bag (1C31) structure, this C air bag (1C31) and C gas channels (1C6) conducting; C flexible joint shoulder (1C5) is positioned between adjacent described vertical section (1C33);

The inside of the 3rd software finger module (1C) is provided with C gas channels (1C6); When inflating in C gas channels (1C6), the gas be filled with is imported in C air bag (1C31) by C gas channels (1C6), makes C air bag (1C31) to both sides outer lug;

4th software finger module (1D) is provided with D finger tips (1D1), D points joint (1D2), D flexible joint (1D3), D point fingerboard (1D4) and D flexible joint shoulder (1D5); D finger tips (1D1) and D point and are arranged at intervals with multiple D flexible joint (1D3) between joint (1D2) and D flexible joint is takeed on (1D5); D flexible joint (1D3) and D flexible joint shoulder (1D5) are disposed on the top that D points fingerboard (1D4), and the bottom that D points fingerboard (1D4) is provided with multiple D projection (1D41);

D flexible joint (1D3) is provided with arcuate segment (1D32) and vertical section (1D33); The inside of D flexible joint (1D3) is D air bag (1D31) structure, this D air bag (1D31) and D gas channels (1D6) conducting; D flexible joint shoulder (1D5) is positioned between adjacent described vertical section (1D33);

The inside of the 4th software finger module (1D) is provided with D gas channels (1D6); When inflating in D gas channels (1D6), the gas be filled with is imported in D air bag (1D31) by D gas channels (1D6), makes D air bag (1D31) to both sides outer lug.

2. a kind of pneumatic software gripping device according to claim 1, is characterized in that: pneumatic software manipulator (1) adopts silicon rubber processing.

3. a kind of pneumatic software gripping device according to claim 1, is characterized in that: A air bag (1A31), B air bag (1B31), C air bag (1C31) and D air bag (1D31) structure can be taper arched door shape, arched door shape or convex shape.

4. a kind of pneumatic software gripping device according to claim 1, it is characterized in that: arrange four conducting gas circuits in air guide supporting component (2), namely A source of the gas conduction pipe (2A), the soft pawl erecting bed (21A) of A and A air valve connection cover (22A) are the first conducting gas circuit; The soft pawl erecting bed (21B) of B source of the gas conduction pipe (2B), B and B air valve connection cover (22B) are the second conducting gas circuit; The soft pawl erecting bed (21C) of C source of the gas conduction pipe (2C), C and C air valve connection cover (22C) are the 3rd conducting gas circuit; The soft pawl erecting bed (21D) of D source of the gas conduction pipe (2D), D and D air valve connection cover (22D) are the 4th conducting gas circuit.

5. a kind of pneumatic software gripping device according to claim 1, is characterized in that: pneumatic software manipulator (1) is made up of the software finger module that two structures are identical.

6. a kind of pneumatic software gripping device according to claim 1, is characterized in that: pneumatic software manipulator (1) is made up of the software finger module that three structures are identical.

7. a kind of pneumatic software gripping device according to claim 1, is characterized in that: pneumatic software manipulator (1) is made up of the software finger module that six structures are identical.

8. a kind of pneumatic software gripping device according to claim 1, is characterized in that: pneumatic software manipulator (1) is made up of the software finger module that eight structures are identical.