CN104959992B - A kind of pneumatic software gripping device - Google Patents

Abstract

The invention discloses a kind of pneumatic software gripping device, this device includes pneumatic software mechanical hand (1), support component (2) is propped up in inducing QI, inducing QI pedestal (3), cover plate (4) and source of the gas diverter (5).Source of the gas diverter (5) is placed in inducing QI pedestal (3), inducing QI is propped up the lower section of support component (2) and is fixed with pneumatic software mechanical hand (1), and pneumatic software mechanical hand (1) is connected with source of the gas diverter (5) by gas source pipe.The compressed gas that the software gripping device of present invention design provides at outside air pump gas channels in pneumatic software mechanical hand (1) and air bag is inflated or air-breathing, thus realize the outwardly or inwardly flexural deformation of pneumatic software mechanical hand (1), reach grasping or the purpose of pickup 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 the important attribute that organism is essential and pervasive.The biological tissue all with softness of the overwhelming majority, these are raw Thing relies on self flexible, it is possible to efficiently, mutual with nature harmoniously.The robot of " software " also can be main as organism Dynamic or change own form, rigidity and motion passively, thus more safely and efficiently with environmental interaction.Conventional flex hinge is former The robot of reason is dependent on the making for reaching " flexible " of the stiffener such as connection and spring of multiple small rigid element Purpose, but control mode and conventional rigid robot do not have the difference of essence, although therefore this kind of robot solve to a certain extent The problem that certainly some rigid machine people exists, still has its limitation, still should divide in the category of " rigidity " robot.

Summary of the invention

Purpose of the present invention design is a kind of based on soft material with the pneumatic software gripping device of pneumatic control, to replace biography System mechanical hand performs end and carries out the efficiently operation of safety.Finger of the present invention is designed as the Wrinkled flexible structure of lamination arrangement Body, by being inflated or air-breathing to the passage of finger interior, thus realizes finger and is bent outwardly or aduncate attitude Deformation, reaches grasping or pickup object.

A kind of pneumatic software gripping device of the present invention, it includes pneumatic software mechanical hand (1), support component is propped up in inducing QI (2), inducing QI pedestal (3), cover plate (4) and source of the gas diverter (5).

Give vent to anger interface (5B), C of source of the gas diverter (5) is provided with intake interface (5E), A gives vent to anger interface (5A), B gives vent to anger interface (5C) give vent to anger interface (5D) with D.Source of the gas diverter (5) is arranged in the cavity (3A) of inducing QI pedestal (3).

Cover plate (4) is provided with through hole (4A), and described through hole (4A) passes for the pipeline supplying source of the gas, the supply after passing The pipeline of source of the gas is connected on the intake interface (5E) of source of the gas diverter (5).

Inducing QI pedestal (3) is provided with cavity (3A) and base plate (3B)；On described cavity (3A) opening, cover plate is installed (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) pass for C gas source conduit (2C)；AD through hole (3B4) passes for D gas source conduit (2D)；Central blind hole (3B5) is used for Installing the one end supporting cylinder (2E), the other end supporting cylinder (2E) is arranged on infrabasal plate (2J), and passes through long spiro nail (2I) fixing；

The one end supporting cylinder (2E) is arranged in the central blind hole (3B5) of inducing QI pedestal (3), supports the another of cylinder (2E) One end is arranged on infrabasal plate (2J), and is fixed by long spiro nail (2I), supports and is socketed spring (2H) and nut on cylinder (2E) (2G)。

The FA lobe (2F1) of upper substrate (2F) is provided with FA groove (2F11), and the two ends of FA groove (2F11) are that AA props up 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 and leads to Hole (2F15).FF through hole (2F14) and FG through hole (2F15) are used for placing AC pin (24C).The upper ends of A connecting rod (23A) exists In FA groove (2F11).FB lobe (2F2) is provided with FB groove (2F21), and the two ends of FB groove (2F21) are BA support arms (2F22) with 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 used for placing BC pin (25C).The upper ends of B connecting rod (23B) is at FB In groove (2F21).FC lobe (2F3) is provided with FC groove (2F31), and the two ends of FC groove (2F31) are CA support arm (2F32) With 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 used for placing CC pin (26C).The upper ends of C connecting rod (23C) is at FC groove (2F31) in.FD lobe (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), DA support arm (2F42) is provided with FL through hole (2F44), and DB support arm (2F43) is provided with FM through hole (2F45).FL leads to Hole (2F44) and FM through hole (2F45) are used for placing DC pin (27C).The upper ends of D connecting rod (23D) is at FD groove (2F41) In.

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

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) connects lid (22A) for A air valve passes.Described BA The two ends of groove (21A1) are A support arm (21A11) and B support arm (21A12), and A support arm (21A11) is provided with BA through hole (21A13), B support arm (21A12) is provided with BB through hole (21A14).BA through hole (21A13) and BB through hole (21A14) are used 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 arms (21A21) with D support arm (21A22), C support arm (21A21) is provided with BC through hole (21A23), and D support arm (21A22) is provided with BD and leads to Hole (21A24).BC through hole (21A23) and BD through hole (21A24) are used for placing AA pin (24A).The A lug of infrabasal plate (2J) (2J1) it is placed in BB groove (21A2).

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) connects lid (22B) for B air valve passes.Described BC The two ends of groove (21B1) are E support arm (21B11) and F support arm (21B12), and E support arm (21B11) is provided with BE through hole (21B13), F support arm (21B12) is provided with BF through hole (21B14).BE through hole (21B13) and BF through hole (21B14) are used 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 arms (21B21) with H support arm (21B22), G support arm (21B21) is provided with BG through hole (21B23), and H support arm (21B22) is provided with BH and leads to Hole (21B24).BG through hole (21B23) and BH through hole (21B24) are used for placing BA pin (25A).The B lug of infrabasal plate (2J) (2J2) it is placed in BD groove (21B2).

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) connects lid (22C) for C air valve passes.Described BE The two ends of groove (21C1) are I support arm (21C11) and J support arm (21C12), and I support arm (21C11) is provided with BI through hole (21C13), J support arm (21C12) is provided with BJ through hole (21C14).BI through hole (21C13) and BJ through hole (21C14) are used 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 arms (21C21) with L support arm (21C22), K support arm (21C21) is provided with BK through hole (21C23), and L support arm (21C22) is provided with BL and leads to Hole (21C24).BK through hole (21C23) and BL through hole (21C24) are used for placing CA pin (26A).The C lug of infrabasal plate (2J) (2J3) it is placed in BF groove (21C2).

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) connects lid (22D) for D air valve passes.Described BG The two ends of groove (21D1) are M support arm (21D11) and N support arm (21D12), and M support arm (21D11) is provided with BM through hole (21D13), N support arm (21D12) is provided with BN through hole (21D14).BM through hole (21D13) and BN through hole (21D14) are used 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 With 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 used for placing DA pin (27A).The D lug of infrabasal plate (2J) (2J4) it is placed in BH groove (21D2).

A air valve connects lid (22A) and is provided with A taper air valve body (22A3), the upper interface of A (22A1) and A lower interface (22A2), between the upper interface of A (22A1) and A lower interface (22A2) it is A ventilation air flue (22A4).A air valve connects lid (22A) to be fixed On A soft pawl erecting bed (21A), and A lower interface (22A2) is through the BA arch countersunk head through hole on A soft pawl erecting bed (21A) (21A3).Described A lower interface (22A2) profile is arcuate in shape.The upper interface of A (22A1) connects with the lower end of A gas source conduit (2A) Connect.After A lower interface (22A2) passes BA arch countersunk head through hole (21A3) on A soft pawl erecting bed (21A), insert the first software hands Refer in the A gas channels (1A6) of module (11).

B air valve connects lid (22B) and is provided with B taper air valve body (22B3), the upper interface of B (22B1) and B lower interface (22B2), between the upper interface of B (22B1) and B lower interface (22B2) it is B ventilation air flue (22B4).B air valve connects lid (22B) to be fixed On B soft pawl erecting bed (21B), and B lower interface (22B2) is through the BB arch countersunk head through hole on B soft pawl erecting bed (21B) (21B3).Described B lower interface (22B2) profile is arcuate in shape.The upper interface of B (22B1) connects with the lower end of B gas source conduit (2B) Connect.After B lower interface 22B2 passes BB arch countersunk head through hole (21B3) on B soft pawl erecting bed (21B), insert the second software finger In the B gas channels (1B6) of module (12).

C air valve connects lid (22C) and is provided with C taper air valve body (22C3), the upper interface of C (22C1) and C lower interface (22C2), between the upper interface of C (22C1) and C lower interface (22C2) it is C ventilation air flue (22C4).C air valve connects lid (22C) to be fixed On C soft pawl erecting bed (21C), and C lower interface (22C2) is through the BC arch countersunk head through hole on C soft pawl erecting bed (21C) (21C3).Described C lower interface (22C2) profile is arcuate in shape.The upper interface of C (22C1) connects with the lower end of C gas source conduit (2C) Connect.After C lower interface (22C2) passes BC arch countersunk head through hole (21C3) on C soft pawl erecting bed (21C), insert the 3rd software hands Refer in the C gas channels (1C6) of module (13).

D air valve connects lid (22D) and is provided with D taper air valve body (22D3), the upper interface of D (22D1) and D lower interface (22D2), between the upper interface of D (22D1) and D lower interface (22D2) it is D ventilation air flue (22D4).D air valve connects lid (22D) to be fixed On D soft pawl erecting bed (21D), and D lower interface (22D2) is through the BD arch countersunk head through hole on D soft pawl erecting bed (21D) (21D3).Described D lower interface (22D2) profile is arcuate in shape.The upper interface of D (22D1) connects with the lower end of D gas source conduit (2D) Connect.After D lower interface (22D2) passes BD arch countersunk head through hole (21D3) on D soft pawl erecting bed (21D), insert the 4th software hands Refer in the D gas channels (1D6) of module (14).

The upper end of A connecting rod (23A) is provided with CA through hole (23A1), and this CA through hole (23A1) is used for placing AC pin (24C).A The lower end of connecting rod (23A) is provided with CB through hole (23A2), and this CB through hole (23A2) is used 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 used for placing BC pin (25C).B The lower end of connecting rod (23B) is provided with CD through hole (23B2), and this CD through hole (23B2) is used 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 used for placing CC pin (26C).C The lower end of connecting rod (23C) is provided with CF through hole (23C2), and this CF through hole (23C2) is used 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 used for placing DC pin (27C).D The lower end of connecting rod (23D) is provided with CH through hole (23D2), and this CH through hole (23D2) is used for placing DB pin (27B).

It is arranged at intervals with many between A finger tips (1A1) and A finger joint (1A2) of the first software finger module (1A) Individual A flexible joint (1A3) and A flexible joint shoulder (1A5).A flexible joint (1A3) and A flexible joint shoulder (1A5) are disposed on A hands Referring to the top of fingerboard (1A4), it is protruding (1A41) that the bottom of A finger fingerboard (1A4) is provided with multiple A.On A flexible joint (1A3) It 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) turn on A gas channels (1A6).A flexible joint shoulder (1A5) is positioned between adjacent described vertical section (1A33).First The inside of software finger module (1A) is provided with A gas channels (1A6).

It is arranged at intervals with many between B finger tips (1B1) and B finger joint (1B2) of the second software finger module (1B) Individual B flexible joint (1B3) and B flexible joint shoulder (1B5).B flexible joint (1B3) and B flexible joint shoulder (1B5) are disposed on B hands Referring to the top of fingerboard (1B4), it is protruding (1B41) that the bottom of B finger fingerboard (1B4) is provided with multiple B.On B flexible joint (1B3) It 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) turn on B gas channels (1B6).B flexible joint shoulder (1B5) is positioned between adjacent described vertical section (1B33).Second The inside of software finger module (1B) is provided with B gas channels (1B6).

It is arranged at intervals with many between C finger tips (1C1) and C finger joint (1C2) of the 3rd software finger module (1C) Individual C flexible joint (1C3) and C flexible joint shoulder (1C5).C flexible joint (1C3) and C flexible joint shoulder (1C5) are disposed on C hands Referring to the top of fingerboard (1C4), it is protruding (1C41) that the bottom of C finger fingerboard (1C4) is provided with multiple C.On C flexible joint (1C3) It 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) turn on C gas channels (1C6).C flexible joint shoulder (1C5) is positioned between adjacent described vertical section (1C33).3rd The inside of software finger module (1C) is provided with C gas channels (1C6).

It is arranged at intervals with many between D finger tips (1D1) and D finger joint (1D2) of the 4th software finger module (1D) Individual D flexible joint (1D3) and D flexible joint shoulder (1D5).D flexible joint (1D3) and D flexible joint shoulder (1D5) are disposed on D hands Referring to the top of fingerboard (1D4), it is protruding (1D41) that the bottom of D finger fingerboard (1D4) is provided with multiple D.On D flexible joint (1D3) It 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) turn on D gas channels (1D6).D flexible joint shoulder (1D5) is positioned between adjacent described vertical section (1D33).4th The inside of software finger module (1D) is provided with D gas channels (1D6).

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

1. apparatus of the present invention breach the restriction of Conventional mechanisms and control method, and (Young's modulus is little to have employed soft material In 1Mpa), controlled the motion of software finger by pneumatic control mode, it is achieved that manufacturing process and the innovation of type of drive. Pneumatic software mechanical hand uses soft material casting to form, and entirety presents enough flexibilities；Its profile, air cavity are through reasonably Design, possesses good performance, with people and workpiece mutual in have good practicality and safety.Pneumatic software grasping dress The control put uses pneumatic mode, is carried out the state of control valve by single-chip microcomputer, enables air cavity the most inflatable and deflatable, it is achieved The different attitude motions of pneumatic software mechanical hand.

2. the finger of the present invention, realizes curving inwardly motion or being bent outwardly motion by pneumatic control mode.To During interior bending, regulate the degree of crook of finger by regulation air pressure of inflation in pneumatic software mechanical hand, reach to capture The purpose of Different Weight object；When being bent outwardly, by realizing pneumatic software mechanical hand evacuation, this is conventional robot Or even the action that human finger can not complete, this special motion mode enables to pneumatic software gripping device and can capture The volume range of object be greatly increased, be greatly improved its adaptability in productive life.

3. the finger of the present invention has simple in construction, high flexibility, high power to weight ratio, light weight and the advantage such as with low cost.Gas Dynamic software mechanical hand is not similar to the connecting rod of rigid machine hands, hinge and electricity with rigid machine palmistry ratio, pneumatic software mechanical hand Restriction in the structures such as machine, does not has the control system of complexity；Have irreplaceable when grasping frangible, complex-shaped workpiece Advantage.

4. apparatus of the present invention realize the attitudes vibration of finger by the source of the gas that outside provides, it is possible to achieve pick up and discharge Spherical, lamellar, cubic, bore spine surface and the entity of various complex appearance, and can pick up in own wt 3 times The article of object, in following space station minicomputer mechanical arm operation, the field such as industrial production line and medical rehabilitation has potential Application prospect.

Accompanying drawing explanation

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

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

Figure 1B is the grasping structure graph of the pneumatic software gripping device of the present invention.

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

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

Fig. 1 E is another viewing angle constructions figure of pick-up situation of the 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 the source of the gas controller in the present invention.

Fig. 4 is the front view that support component is propped up in the inducing QI in the present invention.

Fig. 4 A is the upward view that support component is propped up in the inducing QI in the present invention.

Fig. 4 B is the upward view that the unassembled erecting bed of support component is propped up in the inducing QI in the present invention.

Fig. 4 C is the exploded view that support component is propped up in the inducing QI in the present invention.

Fig. 4 D is that the structure chart of upper substrate in support component is propped up in the inducing QI in the present invention.

Fig. 4 E is that the structure chart of infrabasal plate in support component is propped up in the inducing QI in the present invention.

Fig. 4 F is the structure chart that the soft pawl erecting bed of A in support component is propped up in the inducing QI in the present invention.

Fig. 4 G is the structure chart that the soft pawl erecting bed of B in support component is propped up in the inducing QI in the present invention.

Fig. 4 H is the structure chart that the soft pawl erecting bed of C in support component is propped up in the inducing QI in the present invention.

Fig. 4 I is the structure chart that the soft pawl erecting bed of D in support component is propped up in the inducing QI in the present invention.

Fig. 4 J is that upper substrate and the exploded view of soft pawl erecting bed in support component are propped up in the inducing QI in the present invention.

Fig. 4 K is that the structure chart of A air valve connection lid in support component is propped up in the inducing QI in the present invention.

Fig. 4 L is that the structure chart of B air valve connection lid in support component is propped up in the inducing QI in the present invention.

Fig. 4 M is that the structure chart of C air valve connection lid in support component is propped up in the inducing QI in the present invention.

Fig. 4 N is that the structure chart of D air valve connection lid in support component is propped up in the inducing QI in the present invention.

Fig. 4 O is that the sectional view of A air valve connection lid in support component is propped up in the inducing QI 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 when inflation of the first software finger module 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.

See shown in Fig. 1, Figure 1A, a kind of pneumatic software gripping device of present invention design, include pneumatic software machine Tool hands 1, inducing QI prop up support component 2, inducing QI pedestal 3, cover plate 4 and source of the gas diverter 5.

In the present invention, the KQ2UD04-06 model that SMC (Chinese) company limited produces selected by described source of the gas diverter 5 Pneumatic joint.In order to coordinate the number of software finger module, shown in Figure 3, at least provided with one on described source of the gas diverter 5 Intake interface 5E, four interfaces of giving vent to anger, i.e. 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 mechanical hand 1 (also referred to as finger) can be made up of the software finger module that two structures are identical；Or by The software finger module composition that three structures are identical；Or the software finger module identical by four structures is constituted；Or by six The software finger module that individual structure is identical is constituted；Or the software finger module identical by eight structures is constituted.Pneumatic soft Arrange how many software finger module on body mechanical hand 1 on earth to be based on grasping what object determined.Such as Fig. 1, Figure 1B～Fig. 1 E Shown pneumatic software mechanical hand 1 is made up of four fingers that structure is identical, the i.e. first software finger module 1A, the second software hands Refer to module 1B, the 3rd software finger module 1C and the 4th software finger module 1D.

In the present invention, choose, according to the software finger module number arranged, the conducting gas circuit that inducing QI is propped up in support component 2, With reference to shown in Fig. 1, inducing QI is propped up and is arranged four conducting gas circuits in support component 2.Shown in Figure 1A, Fig. 4 A, Fig. 4 C, i.e. A source of the gas conduction pipe It is the first conducting gas circuit that 2A, A soft pawl erecting bed 21A and A air valve connect lid 22A；B source of the gas conduction pipe 2B, B soft pawl erecting bed 21B Connecting lid 22B with B air valve is the second conducting gas circuit；C source of the gas conduction pipe 2C, C soft pawl erecting bed 21C and C air valve connect lid 22C 3rd conducting gas circuit；It is the 4th conducting gas circuit that D source of the gas conduction pipe 2D, D soft pawl erecting bed 21D and D air valve connect lid 22D.

First software finger module 1A

Seeing 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 uses silicon rubber raw material (i.e. silicone rubber) processing, therefore is software speciality.

First software finger module 1A is provided with A finger tips 1A1, A finger joint 1A2, A flexible joint 1A3, A finger Fingerboard 1A4 and A flexible joint shoulder 1A5.It is arranged at intervals with multiple A flexible joint between A finger tips 1A1 and A finger joint 1A2 1A3 and A flexible joint shoulder 1A5.A flexible joint 1A3 and A flexible joint shoulder 1A5 is disposed on the top of A finger fingerboard 1A4, A hands Refer to that the bottom of fingerboard 1A4 is provided with multiple A projection 1A41.Described A projection 1A41 is used for increasing when picking up object and between object Frictional force.

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；A is soft Property joint 1A3 inside be A air bag 1A31 structure, this A air bag 1A31 and A gas channels 1A6 turn on.A flexible joint shoulder 1A5 is positioned at 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 to A gas When being inflated in paths 1A6, the gas being filled with imports in A air bag 1A31 by A gas channels 1A6 so that 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, and the outer lug of opposite side is designated as B outer lug 1A35), A flexible joint 1A3 extension reaches to extend the first software finger module 1A；Air-breathing is carried out in A gas channels 1A6 Time, A flexible joint 1A3 tightens up and reaches to crimp the first software finger module 1A.Under an effect filling an air-breathing body, it is achieved that the The grasping of one software finger module 1A, put down action.

In the present invention, the multiple A flexible joint 1A3 in the first software finger module 1A arrange according to lamination, constitute pleat Wrinkle formula structure.The compressed gas provided at outside air pump is inflated to described A gas channels 1A6 and described A air bag 1A31 Or air-breathing, thus realize the first software finger module 1A outwardly or inwardly flexural deformation, reach to pick up the purpose of object.

Second software finger module 1B

Seeing 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 uses silicon rubber raw material (i.e. silicone rubber) processing, therefore is software speciality.

Second software finger module 1B is provided with B finger tips 1B1, B finger joint 1B2, B flexible joint 1B3, B finger Fingerboard 1B4 and B flexible joint shoulder 1B5.It is arranged at intervals with multiple B flexible joint between B finger tips 1B1 and B finger joint 1B2 1B3 and B flexible joint shoulder 1B5.B flexible joint 1B3 and B flexible joint shoulder 1B5 is disposed on the top of B finger fingerboard 1B4, B hands Refer to that the bottom of fingerboard 1B4 is provided with multiple B projection 1B41.Described B projection 1B41 is used for increasing when picking up object and between object Frictional force.

As illustrated in fig. 5h, B flexible joint 1B3 is provided with arcuate segment 1B32 and vertical section 1B33；B flexible joint 1B3's is interior Portion is B air bag 1B31 structure, and this B air bag 1B31 and B gas channels 1B6 turns on.B flexible joint shoulder 1B5 is positioned at adjacent described hang down Between straight section 1B33.Described B air bag 1B31 structure can be that taper arched door shape (as shown in Figure 5 C), arched door shape are (such as Fig. 5 F Shown in) 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 to B gas channels 1B6 In when being inflated, the gas being filled with is imported in B air bag 1B31 by B gas channels 1B6 so that B air bag 1B31 is outside both sides Projection, B flexible joint 1B3 extends and reaches to extend the second software finger module 1B；When carrying out air-breathing in B gas channels 1B6, B flexible joint 1B3 tightens up and reaches to crimp the second software finger module 1B.Under an effect filling an air-breathing body, it is achieved that second The grasping of software finger module 1B, put down action.

In the present invention, the multiple B flexible joint 1B3 in the second software finger module 1B arrange according to lamination, constitute pleat Wrinkle formula structure.The compressed gas provided at outside air pump is inflated to described B gas channels 1B6 and described B air bag 1B31 Or air-breathing, thus realize the second software finger module 1B outwardly or inwardly flexural deformation, reach to pick up the purpose of object.

3rd software finger module 1C

Seeing 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 uses silicon rubber raw material (i.e. silicone rubber) processing, therefore is software speciality.

3rd software finger module 1C is provided with C finger tips 1C1, C finger joint 1C2, C flexible joint 1C3, C finger Fingerboard 1C4 and C flexible joint shoulder 1C5.It is arranged at intervals with multiple C flexible joint between C finger tips 1C1 and C finger joint 1C2 1C3 and C flexible joint shoulder 1C5.C flexible joint 1C3 and C flexible joint shoulder 1C5 is disposed on the top of C finger fingerboard 1C4, C hands Refer to that the bottom of fingerboard 1C4 is provided with multiple C projection 1C41.Described C projection 1C41 is used for increasing when picking up object and between object Frictional force.

As shown in fig. 5i, C flexible joint 1C3 is provided with arcuate segment 1C32 and vertical section 1C33；C flexible joint 1C3's is interior Portion is C air bag 1C31 structure, and this C air bag 1C31 and C gas channels 1C6 turns on.C flexible joint shoulder 1C5 is positioned at adjacent described hang down Between straight section 1C33.Described C air bag 1C31 structure can be that taper arched door shape (as shown in Figure 5 C), arched door shape are (such as Fig. 5 F Shown in) 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 to C gas channels 1C6 In when being inflated, the gas being filled with is imported in C air bag 1C31 by C gas channels 1C6 so that C air bag 1C31 is outside both sides Projection, C flexible joint 1C3 extends and reaches to extend the 3rd software finger module 1C；When carrying out air-breathing in C gas channels 1C6, C flexible joint 1C3 tightens up and reaches to crimp the 3rd software finger module 1C.Under an effect filling an air-breathing body, it is achieved that the 3rd The grasping of software finger module 1C, put down action.

In the present invention, the multiple C flexible joint 1C3 in the 3rd software finger module 1C arrange according to lamination, constitute pleat Wrinkle formula structure.The compressed gas provided at outside air pump is inflated to described C gas channels 1C6 and described C air bag 1C31 Or air-breathing, thus realize the 3rd software finger module 1C outwardly or inwardly flexural deformation, reach to pick up the purpose of object.

4th software finger module 1D

Seeing 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 uses silicon rubber raw material (i.e. silicone rubber) processing, therefore is software speciality.

4th software finger module 1D is provided with D finger tips 1D1, D finger joint 1D2, D flexible joint 1D3, D finger Fingerboard 1D4 and D flexible joint shoulder 1D5.It is arranged at intervals with multiple D flexible joint between D finger tips 1D1 and D finger joint 1D2 1D3 and D flexible joint shoulder 1D5.D flexible joint 1D3 and D flexible joint shoulder 1D5 is disposed on the top of D finger fingerboard 1D4, D hands Refer to that the bottom of fingerboard 1D4 is provided with multiple D projection 1D41.Described D projection 1D41 is used for increasing when picking up object and between object Frictional force.

As indicated at figure 5j, D flexible joint 1D3 is provided with arcuate segment 1D32 and vertical section 1D33；D flexible joint 1D3's is interior Portion is D air bag 1D31 structure, and this D air bag 1D31 and D gas channels 1D6 turns on.D flexible joint shoulder 1D5 is positioned at adjacent described hang down Between straight section 1D33.Described D air bag 1D31 structure can be that taper arched door shape (as shown in Figure 5 C), arched door shape are (such as Fig. 5 F Shown in) 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 to D gas channels 1D6 In when being inflated, the gas being filled with is imported in D air bag 1D31 by D gas channels 1D6 so that D air bag 1D31 is outside both sides Projection, D flexible joint 1D3 extends and reaches to extend the 4th software finger module 1D；When carrying out air-breathing in D gas channels 1D6, D flexible joint 1D3 tightens up and reaches to crimp the 4th software finger module 1D.Under an effect filling an air-breathing body, it is achieved that the 4th The grasping of software finger module 1D, put down action.

In the present invention, the multiple D flexible joint 1D3 in the 4th software finger module 1D arrange according to lamination, constitute pleat Wrinkle formula structure.The compressed gas provided at outside air pump is inflated to described D gas channels 1D6 and described D air bag 1D31 Or air-breathing, thus realize the 4th software finger module 1D outwardly or inwardly flexural deformation, reach to pick up the purpose of object.

Support component 2 is propped up in inducing QI

Seeing shown in Fig. 1, Figure 1A, Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, inducing QI is propped up support component 2 and is included support cylinder 2E, spiral shell Female 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 source of the gas 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 that four structures are identical Lid, i.e. A air valve connect lid 22A, B air valve connect lid 22B, C air valve connect lid 22C and D air valve connect lid 22D；And four knots The connecting rod that structure is 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

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

The one end supporting cylinder 2E is arranged in the central blind hole 3B5 of inducing QI pedestal 3, and the other end supporting cylinder 2E is installed On infrabasal plate 2J, and fixed by long spiro nail 2I, support and on cylinder 2E, be socketed spring 2H and nut 2G.

Upper substrate 2F

See shown in Fig. 4 C, Fig. 4 D, upper substrate 2F be provided with FA lobe 2F1, FB lobe 2F2, FC lobe 2F3, FD lobe 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 passes, through the A gas source conduit 2A after FA through hole 2F5 for the other end of A gas source conduit 2A The other end be connected to A air valve and connect on the A of lid 22A on interface 22A1, as shown in Figure 4 C；

Described FB through hole 2F6 passes, through the B gas source conduit 2B after FB through hole 2F6 for the other end of B gas source conduit 2B The other end be connected to B air valve and connect on the B of lid 22B on interface 22B1, as shown in Figure 4 C；

Described FC through hole 2F7 passes, through the C gas source conduit 2C after FC through hole 2F7 for the other end of C gas source conduit 2C The other end be connected to C air valve and connect on the C of lid 22C on interface 22C1, as shown in Figure 4 C；

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

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

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

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

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

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

Infrabasal plate 2J

See shown in Fig. 4 C, Fig. 4 E, infrabasal plate 2J be 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 passes for long spiro nail 2I, the long spiro nail 2I screw thread after passing It is connected 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.

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

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

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

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

Soft pawl erecting bed (A soft pawl erecting bed 21A, B soft pawl erecting bed 21B, C soft pawl erecting bed 21C that four structures are identical Pawl erecting bed 21D soft with D):

Seeing 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 is sunk Head through hole 21A3.The A lower interface 22A2 that described BA arch countersunk head through hole 21A3 connects lid 22A for A air valve passes.Described BA is recessed The two ends of groove 21A1 are A support arm 21A11 and B support arm 21A12, and A support arm 21A11 is provided with on BA through hole 21A13, B support arm 21A12 It is provided with BB through hole 21A14.BA through hole 21A13 and BB through hole 21A14 is used 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, D support arm 21A22 is provided with BD through hole 21A24.BC through hole 21A23 and BD through hole 21A24 is used for placing AA pin Nail 24A.The A lug 2J1 of infrabasal plate 2J is placed in BB groove 21A2.

Seeing 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 is sunk Head through hole 21B3.The B lower interface 22B2 that described BB arch countersunk head through hole 21B3 connects lid 22B for B air valve passes.Described BC is recessed The two ends of groove 21B1 are E support arm 21B11 and F support arm 21B12, and E support arm 21B11 is provided with on BE through hole 21B13, F support arm 21B12 It is provided with BF through hole 21B14.BE through hole 21B13 and BF through hole 21B14 is used 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, H support arm 21B22 is provided with BH through hole 21B24.BG through hole 21B23 and BH through hole 21B24 is used for placing BA pin Nail 25A.The B lug 2J2 of infrabasal plate 2J is placed in BD groove 21B2.

Seeing 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 is sunk Head through hole 21C3.The C lower interface 22C2 that described BC arch countersunk head through hole 21C3 connects lid 22C for C air valve passes.Described BE is recessed The two ends of groove 21C1 are I support arm 21C11 and J support arm 21C12, and I support arm 21C11 is provided with on BI through hole 21C13, J support arm 21C12 It is provided with BJ through hole 21C14.BI through hole 21C13 and BJ through hole 21C14 is used 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, L support arm 21C22 is provided with BL through hole 21C24.BK through hole 21C23 and BL through hole 21C24 is used for placing CA pin Nail 26A.The C lug 2J3 of infrabasal plate 2J is placed in BF groove 21C2.

Seeing 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 is sunk Head through hole 21D3.The D lower interface 22D2 that described BD arch countersunk head through hole 21D3 connects lid 22D for D air valve passes.Described BG is recessed The two ends of groove 21D1 are M support arm 21D11 and N support arm 21D12, and M support arm 21D11 is provided with on BM through hole 21D13, N support arm 21D12 It is provided with BN through hole 21D14.BM through hole 21D13 and BN through hole 21D14 is used 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, P support arm 21D22 is provided with BP through hole 21D24.BO through hole 21D23 and BP through hole 21D24 is used for placing DA pin Nail 27A.The D lug 2J4 of infrabasal plate 2J is placed in BH groove 21D2.

The air valve that four structures are identical connects lid, and (A air valve connects lid 22A, B air valve and connects lid 22B, C air valve and connect lid 22C Lid 22D is connected with D air valve):

See shown in Fig. 4 C, Fig. 4 K, A air valve connect lid 22A be provided with A taper air valve body 22A3, A upper interface 22A1 and It is A ventilation air flue 22A4 (as shown in Fig. 4 O) between A lower interface 22A2, A upper interface 22A1 and A lower interface 22A2.A air valve connects Lid 22A is fixed on A soft pawl erecting bed 21A, and A lower interface 22A2 is through the BA arch countersunk head through hole on A soft pawl erecting bed 21A 21A3.Described A lower interface 22A2 profile is arcuate in shape.The lower end of A upper interface 22A1 and A gas source conduit 2A is connected.A lower interface After 22A2 passes the BA arch countersunk head through hole 21A3 on A soft pawl erecting bed 21A, insert the A finger of the first software finger module 11 In joint 1A2, connect lid 22A by source of the gas diverter 5, A gas source conduit 2A and A air valve and realize soft to first for outside source of the gas Body finger module 11 is inflated or air-breathing.

See shown in Fig. 4 C, Fig. 4 L, B air valve connect lid 22B be provided with B taper air valve body 22B3, B upper interface 22B1 and It it is B ventilation air flue 22B4 (not shown) between B lower interface 22B2, B upper interface 22B1 and B lower interface 22B2.B air valve connects Lid 22B is fixed on B soft pawl erecting bed 21B, and B lower interface 22B2 is through the BB arch countersunk head through hole on B soft pawl erecting bed 21B 21B3.Described B lower interface 22B2 profile is arcuate in shape.The lower end of B upper interface 22B1 and B gas source conduit 2B is connected.B lower interface After 22B2 passes the BB arch countersunk head through hole 21B3 on B soft pawl erecting bed 21B, insert the B finger of the second software finger module 12 In joint, connect lid 22B by source of the gas diverter 5, B gas source conduit 2B and B air valve and realize outside source of the gas to the second software Finger module 12 is inflated or air-breathing.

See shown in Fig. 4 C, Fig. 4 M, C air valve connect lid 22C be provided with C taper air valve body 22C3, C upper interface 22C1 and It it is C ventilation air flue 22C4 (not shown) between C lower interface 22C2, C upper interface 22C1 and C lower interface 22C2.C air valve connects Lid 22C is fixed on C soft pawl erecting bed 21C, and C lower interface 22C2 is through the BC arch countersunk head through hole on C soft pawl erecting bed 21C 21C3.Described C lower interface 22C2 profile is arcuate in shape.The lower end of C upper interface 22C1 and C gas source conduit 2C is connected.C lower interface After 22C2 passes the BC arch countersunk head through hole 21C3 on C soft pawl erecting bed 21C, insert the C finger of the 3rd software finger module 13 In joint, connect lid 22C by source of the gas diverter 5, C gas source conduit 2C and C air valve and realize outside source of the gas to the 3rd software Finger module 13 is inflated or air-breathing.

See shown in Fig. 4 C, Fig. 4 N, D air valve connect lid 22D be provided with D taper air valve body 22D3, D upper interface 22D1 and It it is D ventilation air flue 22D4 (not shown) between D lower interface 22D2, D upper interface 22D1 and D lower interface 22D2.D air valve connects Lid 22D is fixed on D soft pawl erecting bed 21D, and D lower interface 22D2 is through the BD arch countersunk head through hole on D soft pawl erecting bed 21D 21D3.Described D lower interface 22D2 profile is arcuate in shape.The lower end of D upper interface 22D1 and D gas source conduit 2D is connected.D lower interface After 22D2 passes the BD arch countersunk head through hole 21D3 on D soft pawl erecting bed 21D, insert the D finger of the 4th software finger module 14 In joint, connect lid 22D by source of the gas diverter 5, D gas source conduit 2D and D air valve and realize outside source of the gas to the 4th software Finger module 14 is inflated or air-breathing.

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:

Seeing 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 used 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 used for placing AB pin 24B.

Seeing 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 used 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 used for placing BB pin 25B.

Seeing 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 used 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 used for placing CB pin 26B.

Seeing 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 used 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 used for placing DB pin 27B.

AA pin 24A

Seeing shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of AA pin 24A is sequentially 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 A soft pawl erecting bed On the C support arm 21A21 of 21A.

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

BA pin 25A

Seeing shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of BA pin 25A is sequentially 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 B soft pawl erecting bed On the G support arm 21B21 of 21B.

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

CA pin 26A

Seeing shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of CA pin 26A is sequentially 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 C soft pawl erecting bed On the K support arm 21C21 of 21C.

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

DA pin 27A

Seeing shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of DA pin 27A is sequentially 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 D soft pawl erecting bed On the O support arm 21D21 of 21D.

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

AB pin 24B

Seeing shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of AB pin 24B is sequentially 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 of A soft pawl erecting bed 21A On support arm 21A12.

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

BB pin 25B

Seeing shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of BB pin 25B is sequentially 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 of B soft pawl erecting bed 21B On support arm 21B12.

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

CB pin 26B

Seeing shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of CB pin 26B is sequentially 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 of C soft pawl erecting bed 21C On support arm 21C12.

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

DB pin 27B

Seeing shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of DB pin 27B is sequentially 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 of D soft pawl erecting bed 21D On support arm 21D12.

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

AC pin 24C

Seeing shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of AC pin 24C is sequentially 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 of FA lobe 2F1 of upper substrate 2F On 2F12；Described CA through hole 23A1 is arranged on the upper end of A connecting rod 23A；Described FG through hole 2F15 is arranged on upper substrate 2F's On the AB support arm 2F13 of FA lobe 2F1.

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

BC pin 25C

Seeing shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of BC pin 25C is sequentially 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 of FB lobe 2F2 of upper substrate 2F On 2F22；Described CC through hole 23B1 is arranged on the upper end of B connecting rod 23B；Described FI through hole 2F25 is arranged on upper substrate 2F's On the BB support arm 2F23 of FB lobe 2F2.

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

CC pin 26C

Seeing shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of CC pin 26C is sequentially 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 of FC lobe 2F3 of upper substrate 2F On 2F32；Described CE through hole 23C1 is arranged on the upper end of C connecting rod 23C；Described FK through hole 2F35 is arranged on upper substrate 2F's On the CB support arm 2F33 of FC lobe 2F3.

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

DC pin 27C

Seeing shown in Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, Fig. 4 J, one end of DC pin 27C is sequentially 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 of FD lobe 2F4 of upper substrate 2F On 2F42；Described CG through hole 23D1 is arranged on the upper end of D connecting rod 23D；Described FM through hole 2F45 is arranged on upper substrate 2F's On the DB support arm 2F43 of FD lobe 2F4.

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

Inducing QI pedestal 3

Seeing shown in Fig. 1, Figure 1A, Fig. 2, Fig. 3, inducing QI pedestal 3 is provided with cavity 3A and base plate 3B；Described cavity 3A opening Cover plate 4 is installed on end；Source of the gas diverter 5 is arranged in the cavity 3A of inducing QI 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.

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

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

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

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

Central blind hole 3B5 is used for installing (such as welding, threaded) and supports one end of cylinder 2E, supports cylinder 2E another End is arranged on infrabasal plate 2J, and is fixed by long spiro nail 2I, supports and is socketed spring 2H and nut 2G on cylinder 2E, supports cylinder 2E is provided with external screw thread (not shown), and this external screw thread coordinates with nut 2G, it is achieved regulation upper substrate 2F and infrabasal plate 2J it Between spacing, thus reach to regulate four fingers (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) between subtended angle.

Cover plate 4

Seeing shown in Fig. 1, Figure 1A, cover plate 4 is provided with through hole 4A, described through hole 4A and passes for the pipeline supplying source of the gas, The pipeline of the supply source of the gas after passing is connected on the intake interface 5E of source of the gas diverter 5.

In the present invention, inducing QI pedestal 3 and the combination of cover plate 4, it is possible to achieve hand-held pneumatic software gripping device carries out thing The grasping of body.Can also be by cover plate 4 be fixed with outside mechanical arm, it is achieved by the grasping of the object of robotic arm manipulation.

The grasping of object or pickup motion:

In the present invention, outside air pump is connected with the intake interface 5E of source of the gas diverter 5, and four of source of the gas diverter 5 go out Gas interface respectively with four software fingers (the first software finger module 1A, the second software finger module 1B, the 3rd software finger mould Block 1C and the 4th software finger module 1D) connect, provide inflation or air-breathing to four software fingers respectively by source of the gas diverter 5 Action.When four software fingers are simultaneously under inflation action, four software fingers curve inwardly deformation (such as Figure 1B, figure simultaneously Shown in 1C).When four software fingers are simultaneously under aspiratory action, four software fingers be bent outwardly simultaneously deformation (as Fig. 1 D, Shown in Fig. 1 E).Under inflation or aspiratory action, the evagination of the inner balloon of four software fingers pastes with inhaling, thus realizes four simultaneously Individual software finger outwardly or inwardly flexural deformation, reaches grasping or the purpose of pickup object.Supported on cylinder 2E by regulation Nut 2G, it is achieved that between upper substrate 2F and four soft pawl erecting beds (21A, 21B, 21C and 21D) distance regulation, thus Reach to regulate four fingers (the first software finger module 1A, the second software finger module 1B, the 3rd software finger module 1C and Four software finger module 1D) subtended angle, be beneficial to grasping or pick up various sizes of object.

Claims (5)

1. a pneumatic software gripping device, it is characterised in that: include pneumatic software mechanical hand (1), support component is propped up in inducing QI (2), inducing QI pedestal (3), cover plate (4) and source of the gas diverter (5)；

Give vent to anger interface (5B), C of source of the gas diverter (5) is provided with intake interface (5E), A gives vent to anger interface (5A), B gives vent to anger interface (5C) Give vent to anger interface (5D) with D；Source of the gas diverter (5) is arranged in the cavity (3A) of inducing QI pedestal (3)；

Cover plate (4) is provided with through hole (4A), and described through hole (4A) passes for the pipeline supplying source of the gas, the supply source of the gas after passing Pipeline be connected on the intake interface (5E) of source of the gas diverter (5)；

Inducing QI pedestal (3) is provided with cavity (3A) and base plate (3B)；Cover plate (4) is installed on described cavity (3A) opening；Institute State base plate (3B) and be 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) one end；AB through hole (3B2) is worn for B gas source conduit (2B) one end Cross；AC through hole (3B3) passes for C gas source conduit (2C) one end；AD through hole (3B4) passes for D gas source conduit (2D) one end； Central blind hole (3B5) is used for installing the one end supporting cylinder (2E), and the other end supporting cylinder (2E) is arranged on infrabasal plate (2J) On, and fixed by long spiro nail (2I)；

Inducing QI is propped up support component (2) and is included 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 source of the gas 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) with D soft pawl erecting bed (21D)；And

The air valve connection lid that four structures are identical, i.e. A air valve connects lid (22A), (22B) is covered in the connection of B air valve, C air valve connects lid (22C) lid (22D) is connected with D air valve；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)；

The one end supporting cylinder (2E) is arranged in the central blind hole (3B5) of inducing QI pedestal (3), supports the other end of cylinder (2E) It is arranged on infrabasal plate (2J), and is fixed by long spiro nail (2I), support and be socketed spring (2H) and nut (2G) on cylinder (2E)；

Upper substrate (2F) be provided with FA lobe (2F1), FB lobe (2F2), FC lobe (2F3), FD lobe (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) The other end for A gas source conduit (2A) passes, and described FB through hole (2F6) passes for the other end of B gas source conduit (2B), institute Stating FC through hole (2F7) and pass for the other end of C gas source conduit (2C), described FD through hole (2F8) is for D gas source conduit (2D) The other end passes, and described FE through hole (2F9) is used for supporting cylinder (2E) and passes；

Described FA lobe (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), AA support arm (2F12) is provided with FF through hole (2F14), and AB support arm (2F13) is provided with FG through hole (2F15)；FF leads to Hole (2F14) and FG through hole (2F15) are used for placing AC pin (24C)；The upper ends of A connecting rod (23A) is at FA groove (2F11) In；

Described FB lobe (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), BA support arm (2F22) is provided with FH through hole (2F24), and BB support arm (2F23) is provided with FI through hole (2F25)；FH leads to Hole (2F24) and FI through hole (2F25) are used for placing BC pin (25C)；The upper ends of B connecting rod (23B) is at FB groove (2F21) In；

Described FC lobe (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), CA support arm (2F32) is provided with FJ through hole (2F34), and CB support arm (2F33) is provided with FK through hole (2F35)；FJ leads to Hole (2F34) and FK through hole (2F35) are used for placing CC pin (26C)；The upper ends of C connecting rod (23C) is at FC groove (2F31) In；

Described FD lobe (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), DA support arm (2F42) is provided with FL through hole (2F44), and DB support arm (2F43) is provided with FM through hole (2F45)；FL leads to Hole (2F44) and FM through hole (2F45) are used for placing DC pin (27C)；The upper ends of D connecting rod (23D) is at FD groove (2F41) In；

Infrabasal plate (2J) is provided with A lug (2J1), B lug (2J2), C lug (2J3), D lug (2J4), countersunk head through hole (2J5) With upper countersunk head chamber (2J6)；Described countersunk head through hole (2J5) passes for long spiro nail (2I), and long spiro nail (2I) screw thread after passing is even It is connected in the screwed hole (2E1) supporting cylinder (2E) lower end；Described upper countersunk head chamber (2J6) is used 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 used for placing AA pin (24A)；Described B lug (2J2) being provided with JB through hole (2J21), JB through hole (2J21) is used for placing BA pin (25A)；Described C lug (2J3) is provided with JC through hole (2J31), JC through hole (2J31) is used for placing CA pin (26A)；Described D lug (2J4) is provided with JD through hole (2J41), JD through hole (2J41) is used for placing DA pin (27A)；

A soft pawl erecting bed (21A) is provided with BA groove (21A1), BB groove (21A2) and BA arch countersunk head through hole (21A3)；Institute State BA arch countersunk head through hole (21A3) and pass for the A lower interface (22A2) of A air valve connection lid (22A)；Described BA groove (21A1) two ends are A support arm (21A11) and B support arm (21A12), and A support arm (21A11) is provided with BA through hole (21A13), and B props up Arm (21A12) is provided with BB through hole (21A14)；BA through hole (21A13) and BB through hole (21A14) are used 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 used for placing AA pin (24A)；The A lug (2J1) of infrabasal plate (2J) is placed on In BB groove (21A2)；

B soft pawl erecting bed (21B) is provided with BC groove (21B1), BD groove (21B2) and BB arch countersunk head through hole (21B3)；Institute State BB arch countersunk head through hole (21B3) and pass for the B lower interface (22B2) of B air valve connection lid (22B)；Described BC groove (21B1) two ends are E support arm (21B11) and F support arm (21B12), and E support arm (21B11) is provided with BE through hole (21B13), and F props up Arm (21B12) is provided with BF through hole (21B14)；BE through hole (21B13) and BF through hole (21B14) are used 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 used for placing BA pin (25A)；The B lug (2J2) of infrabasal plate (2J) is placed on In BD groove (21B2)；

C soft pawl erecting bed (21C) is provided with BE groove (21C1), BF groove (21C2) and BC arch countersunk head through hole (21C3)；Institute State BC arch countersunk head through hole (21C3) and pass for the C lower interface (22C2) of C air valve connection lid (22C)；Described BE groove (21C1) two ends are I support arm (21C11) and J support arm (21C12), and I support arm (21C11) is provided with BI through hole (21C13), and J props up Arm (21C12) is provided with BJ through hole (21C14)；BI through hole (21C13) and BJ through hole (21C14) are used 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 used for placing CA pin (26A)；The C lug (2J3) of infrabasal plate (2J) is placed on In BF groove (21C2)；

D soft pawl erecting bed (21D) is provided with BG groove (21D1), BH groove (21D2) and BD arch countersunk head through hole (21D3)；Institute State BD arch countersunk head through hole (21D3) and pass for the D lower interface (22D2) of D air valve connection lid (22D)；Described BG groove (21D1) two ends are M support arm (21D11) and N support arm (21D12), and M support arm (21D11) is provided with BM through hole (21D13), and N props up Arm (21D12) is provided with BN through hole (21D14)；BM through hole (21D13) and BN through hole (21D14) are used 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 that O support arm 21D21 and P props up 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 used for placing DA pin (27A)；The D lug (2J4) of infrabasal plate (2J) is placed on BH In groove (21D2)；

A air valve connects lid (22A) and is provided with A taper air valve body (22A3), the upper interface of A (22A1) and A lower interface (22A2), A It is A ventilation air flue (22A4) between upper interface (22A1) and A lower interface (22A2)；A air valve connects lid (22A) and is fixed on the soft pawl of A On erecting bed (21A), and A lower interface (22A2) passes BA arch countersunk head through hole (21A3) on A soft pawl erecting bed (21A)；Institute Stating 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), after passing BA arch countersunk head through hole (21A3) on A soft pawl erecting bed (21A), the first software finger module (1A) is inserted A gas channels (1A6) in, connecting that lid (22A) realizes by source of the gas diverter (5), A gas source conduit (2A) and A air valve will outward The source of the gas in portion is inflated or air-breathing to the first software finger module (1A)；

B air valve connects lid (22B) and is provided with B taper air valve body (22B3), the upper interface of B (22B1) and B lower interface (22B2), B It is B ventilation air flue (22B4) between upper interface (22B1) and B lower interface (22B2)；B air valve connects lid (22B) and is fixed on the soft pawl of B On erecting bed (21B), and B lower interface (22B2) passes BB arch countersunk head through hole (21B3) on B soft pawl erecting bed (21B)；Institute Stating 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), after passing BB arch countersunk head through hole (21B3) on B soft pawl erecting bed (21B), the second software finger module (1B) is inserted B gas channels (1B6) in, connecting that lid (22B) realizes by source of the gas diverter (5), B gas source conduit (2B) and B air valve will outward The source of the gas in portion is inflated or air-breathing to the second software finger module (1B)；

C air valve connects lid (22C) and is provided with C taper air valve body (22C3), the upper interface of C (22C1) and C lower interface (22C2), C It is C ventilation air flue (22C4) between upper interface (22C1) and C lower interface (22C2)；C air valve connects lid (22C) and is fixed on the soft pawl of C On erecting bed (21C), and C lower interface (22C2) passes BC arch countersunk head through hole (21C3) on C soft pawl erecting bed (21C)；Institute Stating 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), after passing BC arch countersunk head through hole (21C3) on C soft pawl erecting bed (21C), the 3rd software finger module (1C) is inserted C gas channels (1C6) in, connecting that lid (22C) realizes by source of the gas diverter (5), C gas source conduit (2C) and C air valve will outward The source of the gas in portion is inflated or air-breathing to the 3rd software finger module (1C)；

D air valve connects lid (22D) and is provided with D taper air valve body (22D3), the upper interface of D (22D1) and D lower interface (22D2), D It is D ventilation air flue (22D4) between upper interface (22D1) and D lower interface (22D2)；D air valve connects lid (22D) and is fixed on the soft pawl of D On erecting bed (21D), and D lower interface (22D2) passes BD arch countersunk head through hole (21D3) on D soft pawl erecting bed (21D)；Institute Stating 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), after passing BD arch countersunk head through hole (21D3) on D soft pawl erecting bed (21D), the 4th software finger module (1D) is inserted D gas channels (1D6) in, connecting that lid (22D) realizes by source of the gas diverter (5), D gas source conduit (2D) and D air valve will outward The source of the gas in portion is inflated or air-breathing to the 4th software finger module (1D)；

The upper end of A connecting rod (23A) is provided with CA through hole (23A1), and this CA through hole (23A1) is used for placing AC pin (24C)；A connecting rod (23A) lower end is provided with CB through hole (23A2), and this CB through hole (23A2) is used 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 used for placing BC pin (25C)；B connecting rod (23B) lower end is provided with CD through hole (23B2), and this CD through hole (23B2) is used 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 used for placing CC pin (26C)；C connecting rod (23C) lower end is provided with CF through hole (23C2), and this CF through hole (23C2) is used 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 used for placing DC pin (27C)；D connecting rod (23D) lower end is provided with CH through hole (23D2), and this CH through hole (23D2) is used for placing DB pin (27B)；

Pneumatic software mechanical hand (1) by identical the first software finger module (1A) of structure, the second software finger module (1B), Three software finger module (1C) and the 4th software finger module (1D) composition；

First software finger module (1A) is provided with A finger tips (1A1), A finger joint (1A2), A flexible joint (1A3), A Finger fingerboard (1A4) and A flexible joint shoulder (1A5)；It is arranged at intervals with many between A finger tips (1A1) and A finger joint (1A2) Individual A flexible joint (1A3) and A flexible joint shoulder (1A5)；A flexible joint (1A3) and A flexible joint shoulder (1A5) are disposed on A hands Referring to the top of fingerboard (1A4), it is protruding (1A41) that the bottom of A finger fingerboard (1A4) is provided with multiple A；

A flexible joint (1A3) is provided with arcuate segment (1A32) and vertical section (1A33)；The inside of A flexible joint (1A3) is A gas Capsule (1A31) structure, this A air bag (1A31) turns on A gas channels (1A6)；A flexible joint shoulder (1A5) is positioned at adjacent described hang down Between straight section (1A33)；

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

Second software finger module (1B) is provided with B finger tips (1B1), B finger joint (1B2), B flexible joint (1B3), B Finger fingerboard (1B4) and B flexible joint shoulder (1B5)；It is arranged at intervals with many between B finger tips (1B1) and B finger joint (1B2) Individual B flexible joint (1B3) and B flexible joint shoulder (1B5)；B flexible joint (1B3) and B flexible joint shoulder (1B5) are disposed on B hands Referring to the top of fingerboard (1B4), it is protruding (1B41) that the bottom of B finger fingerboard (1B4) is provided with multiple B；

B flexible joint (1B3) is provided with arcuate segment (1B32) and vertical section (1B33)；The inside of B flexible joint (1B3) is B gas Capsule (1B31) structure, this B air bag (1B31) turns on B gas channels (1B6)；B flexible joint shoulder (1B5) is positioned at adjacent described hang down Between straight section (1B33)；

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

3rd software finger module (1C) is provided with C finger tips (1C1), C finger joint (1C2), C flexible joint (1C3), C Finger fingerboard (1C4) and C flexible joint shoulder (1C5)；It is arranged at intervals with many between C finger tips (1C1) and C finger joint (1C2) Individual C flexible joint (1C3) and C flexible joint shoulder (1C5)；C flexible joint (1C3) and C flexible joint shoulder (1C5) are disposed on C hands Referring to the top of fingerboard (1C4), it is protruding (1C41) that the bottom of C finger fingerboard (1C4) is provided with multiple C；

C flexible joint (1C3) is provided with arcuate segment (1C32) and vertical section (1C33)；The inside of C flexible joint (1C3) is C gas Capsule (1C31) structure, this C air bag (1C31) turns on C gas channels (1C6)；C flexible joint shoulder (1C5) is positioned at adjacent described hang down Between straight section (1C33)；

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

4th software finger module (1D) is provided with D finger tips (1D1), D finger joint (1D2), D flexible joint (1D3), D Finger fingerboard (1D4) and D flexible joint shoulder (1D5)；It is arranged at intervals with many between D finger tips (1D1) and D finger joint (1D2) Individual D flexible joint (1D3) and D flexible joint shoulder (1D5)；D flexible joint (1D3) and D flexible joint shoulder (1D5) are disposed on D hands Referring to the top of fingerboard (1D4), it is protruding (1D41) that the bottom of D finger fingerboard (1D4) is provided with multiple D；

D flexible joint (1D3) is provided with arcuate segment (1D32) and vertical section (1D33)；The inside of D flexible joint (1D3) is D gas Capsule (1D31) structure, this D air bag (1D31) turns on D gas channels (1D6)；D flexible joint shoulder (1D5) is positioned at adjacent described hang down Between straight section (1D33)；

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

A kind of pneumatic software gripping device the most according to claim 1, it is characterised in that: pneumatic software mechanical hand (1) Employing silicone rubber processes.

A kind of pneumatic software gripping device the most according to claim 1, it is characterised in that: A air bag (1A31), B air bag (1B31), C air bag (1C31) and D air bag (1D31) structure are arched door shape or convex shape.

A kind of pneumatic software gripping device the most according to claim 3, it is characterised in that: A air bag (1A31), B air bag (1B31), C air bag (1C31) and D air bag (1D31) structure are taper arched door shapes.

A kind of pneumatic software gripping device the most according to claim 1, it is characterised in that: inducing QI is propped up in support component (2) Arrange four conducting gas circuits, i.e. A source of the gas conduction pipe (2A), A soft pawl erecting bed (21A) and A air valve connect that to cover (22A) be first to lead Vent passage；It is the second conducting gas circuit that B source of the gas conduction pipe (2B), B soft pawl erecting bed (21B) and B air valve connect lid (22B)；C source of the gas It is the 3rd conducting gas circuit that conduction pipe (2C), C soft pawl erecting bed (21C) and C air valve connect lid (22C)；D source of the gas conduction pipe (2D), D It is the 4th conducting gas circuit that soft pawl erecting bed (21D) and D air valve connect lid (22D).