CN105856264B - Software drives radial direction open-close type pneumatic gripping device - Google Patents
Software drives radial direction open-close type pneumatic gripping device Download PDFInfo
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- CN105856264B CN105856264B CN201510033977.8A CN201510033977A CN105856264B CN 105856264 B CN105856264 B CN 105856264B CN 201510033977 A CN201510033977 A CN 201510033977A CN 105856264 B CN105856264 B CN 105856264B
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Abstract
The invention discloses a kind of software to drive radial direction open-close type pneumatic gripping device, including software driver element and N number of tentacle unit, N >=3, N number of tentacle unit to be symmetrically distributed on software driver element；Because its driver element and tentacle unit are formed by high-air-tightness specific rubber, after being filled with compressed air, software driver element driving tentacle unit opens or closure, tentacle unit soft flexible, a variety of geometric profiles can be bonded, reach the purpose of the submissive clamping of various shapes object, and have the characteristics that chucking power is adjustable, tentacle unit folding adjustable angle.The present invention can conveniently realize the submissive clamping for adapting to geometry of objects.As a result of software driver element and compressed air expansion energy is make use of, is beneficial to environmental protection and energy-conservation.The present invention can be used for the field such as food clamping and packaging, the clamping of service type robot end clamper, mix flow various shapes part, have good popularizing value.
Description
Technical field
The invention belongs to Pneumatic Transmission field, and in particular to a kind of software drives radial direction open-close type pneumatic gripping device.
Background technology
In automation clamping and conveyance operation, the clamper of air pressure driving is increasingly being applied to article and clamped with removing
Send, such as opened or closed type jaw.However, current air pressure clamping device is directed to particular types and the article of specification more, for
Object in irregular shape is also without reliable efficient clamp method.For example, transporting the automation attached most importance to automatically with workpiece
On flexible production line, different types of machines mixes line production is realized it is necessary to make the workpiece of all size and size in same production line
Upper mixed flow conveyance, this is that existing clamping device and clamp method can not be realized.Because automatic clamping and conveyance task rely on
In flexible and efficient submissive clamping device, so the submissive clamping technique of Development of Novel is to adapt to contoured article and improve holding capability
It is the problem for needing research badly, there is very important effect.
Existing much patent applications on Pneumatic clamping apparatus at present, such as：United States Patent (USP) US6685422B2, China
Patent 201320578935.9 etc., jaw species on the market is also more, but their operation principle is all based on rigidity
Cylinder piston movement drives clamper end movement and clamps workpiece, is substantially all and employs rigid cylinder combination mechanical transmissioning machine
The basic structure of structure.The shortcomings that this class formation, is fairly obvious.On the one hand, device compliance is not good enough, and chucking power is not easy to adjust, right
It is bad in the adaptability of cracky object；On the other hand, clamper is insufficient to the adaptability for clamping thing shape, and clamper can not root
Automatic adjusument is carried out according to clamping thing shape.As the development of technology is, it is necessary to which flexible submissive clamping more preferable, that adaptability is stronger is set
It is standby, the shortage of this equipment, leverage the demands such as the processing of advanced manufacturing industry mixed flow, article transmission and modern logistics.
In order to solve above mentioned problem existing for traditional, pneumatic instrument, technical staff has carried out the research of correlation, as in
State's patent application 201210562373.9 and 201310358580.7 etc..But these researchs still solve gas without whole well
The subject matters such as dynamic actuator flexibility and clamper end flexibility.Such as：Itd is proposed in Chinese patent application 201210562373.9
A kind of end effector mechanism for seed ball automatic harvester, is realized to part spherical by designing bowl-shape clamper
The shape of fruit adapts to, but it drives fork and sliding block to do round linear motion in horizontal concrete chute using cylinder piston axle, does not have
Significantly increase compliance；Its clamping ends is bonded fruit, but bowl-shape clamping using bowl structure bound rubber elastomeric material
Device structure is fixed, and the elasticity of elastomeric material is very big by such environmental effects such as temperature humidities, influences to clamp the adaptability of thing.And
Chinese patent application 201310358580.7 proposes the adaptive Pneumatic flexible catching robot pawl based on metamorphic mechanisms, uses
Cylinder drives slider-crank mechanism and becomes born of the same parents' four-bar linkage.But its adaptation to object is moved dependent on born of the same parents' construction machine is become
Pair, each joint drive of paw drive using rigid cylinder piston, still belong to rigid cylinder combination mechanical transmission mechanism
Structure, pneumatic actuator is flexible and clamper end flexibility still has much room for improvement.
The content of the invention
It is an object of the invention to provide a kind of software to drive radial direction open-close type pneumatic gripping device, because its software drives
Unit and tentacle unit are formed by silicon rubber software, and a variety of geometry can be effectively bonded after silicon rubber software is filled with compressed air
Profile, realize that holding finger contacts with object plane, be fully bonded body surface, reach the mesh of the submissive clamping of various shapes object
, and have the characteristics that chucking power is adjustable, holding finger folding adjustable angle.
The technical solution for realizing the object of the invention is：A kind of software drives radial direction open-close type pneumatic gripping device, bag
Software driver element and N number of tentacle unit, N >=3 are included, N number of tentacle unit is symmetrically distributed on software driver element；Software drives
Unit includes upper end cover, driving air bag, bottom end cover, upper sealing ring, lower seal, support bar, lower end lid attachments；Support bar is
Hollow rods, support bar and upper end cover and bottom end cover are concentric, and support bar one end is fixedly connected with upper end cover, the other end and bottom end cover
It is fixedly connected, it is intracapsular that upper end cover, bottom end cover and support bar are respectively positioned on driving gas, and a circle groove, driving gas are provided with the top of upper end cover
Capsule one end is arranged in the groove of upper end cover, is sealed by upper sealing ring；Bottom end cover bottom is provided with a circle groove, driving gas
The capsule other end is arranged in the groove of bottom end cover, is sealed by lower seal；M lower end lid attachments are evenly distributed on down
End cap bottom, M=N；Driving air bag is connected with the air valve and vacuum-pumping valve of source of the gas respectively by tracheae.
Tentacle unit includes connecting rod, end air bag, inflated hose and leaf hinge, and end air bag is fixed on connecting rod one end,
The connecting rod other end be fixed on driving air bag on, connecting rod is connected by leaf hinge with lower end lid attachments, inflated hose one end and
End air bag connection, the other end pass through support bar center, are connected respectively with the air valve and vacuum-pumping valve of source of the gas.
The cross-sectional area of above-mentioned upper end cover is not more than the cross-sectional area of bottom end cover.
The material of above-mentioned driving air bag is high-air-tightness specific rubber.
The preferred nitrile rubber of above-mentioned high-air-tightness specific rubber, silicon rubber, polyurethane rubber.
The material of above-mentioned end air bag is high-air-tightness specific rubber.
The preferred nitrile rubber of above-mentioned high-air-tightness specific rubber, silicon rubber, polyurethane rubber.
The present invention compared with prior art, its remarkable advantage：（1）The present invention uses software driver element and tentacle unit,
Submissive various shapes object can be adapted to, and preferably be bonded body surface, tentacle unit opening angle and clamping posture can be with things
The change of shape and automatic adjusument；（2）Multiple tentacle units are uniform along software driver element circumferencial direction, and tentacle unit is received
When holding together can effectively envelope and the different appearance and sizes of clamping article, the link design of support bar and tentacle unit provides clamping institute
Need necessary rigidity；（3）As a result of software driver element and tentacle unit, compressed air expansion energy is taken full advantage of, is had
Beneficial to environmental protection and energy-conservation, it is suitable for food clamping and packaging, service type robot end clamper, mix flow various shapes
The fields such as part clamping.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the software driver element of embodiment 1 and tentacle cell schematics.
Fig. 3 is embodiment unaerated view.
Fig. 4 is embodiment inflated condition schematic diagram.
Fig. 5 is the software driver element schematic diagram of embodiment 2.
Fig. 6 is the tentacle cell schematics of embodiment 2.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
With reference to Fig. 1, a kind of software drives radial direction open-close type pneumatic gripping device, including software driver element and N number of tentacle
Unit, N >=3, N number of tentacle unit are symmetrically distributed on software driver element, software driver element driving tentacle unit open or
Closure, tentacle unit soft flexible, copies the function of the biological tentacle such as sea anemone, is preferably bonded body surface.
Software driver element includes upper end cover 1, driving air bag 2, bottom end cover 3, upper sealing ring 5, lower seal 7, support bar
6th, lower end lid attachments 14；Support bar 6 is hollow rods, and support bar 6 and upper end cover 1 and bottom end cover 3 are concentric, the one end of support bar 6
It is fixedly connected with upper end cover 1, the other end is fixedly connected with bottom end cover 3, and upper end cover 1, bottom end cover 3 and support bar 6 are respectively positioned on driving
In air bag 2, because the length of support bar 6 is constant so that the axial length of software driver keeps constant.The top of upper end cover 1 is set
There is a circle groove, driving air bag 2 one end is arranged in the groove of upper end cover 1, sealed by upper sealing ring 5；The bottom of bottom end cover 3
Portion is provided with a circle groove, and the driving other end of air bag 2 is arranged in the groove of bottom end cover 3, sealed by lower seal 7, shape
Into closed software chamber, after being filled with compressed air, driving air bag 2 is radially expanded；M lower end lid attachments 14 uniformly divide
Cloth is in the bottom of bottom end cover 3, M=N；Driving air bag 2 is connected with the air valve and vacuum-pumping valve of source of the gas respectively by tracheae.
Tentacle unit includes connecting rod 12, end air bag 13, inflated hose 20 and leaf hinge 21, and end air bag 13 is fixed on
The one end of connecting rod 12, the other end of connecting rod 12 are fixed on driving air bag 2, and connecting rod 12 passes through leaf hinge 21 and lower end lid attachments 14
Connection so that driving air bag 2 is when being radially expanded, and drives the connecting rod 12 of N number of tentacle unit around the axis of rotation of leaf hinge 21,
N number of tentacle unit is driven to close up.The one end of inflated hose 20 is connected with end air bag 13, and the other end passes through the center of support bar 6, respectively
It is connected with the air valve and vacuum-pumping valve of source of the gas.
The cross-sectional area of upper end cover 1 is not more than the cross-sectional area of bottom end cover 3 so that tentacle unit has certain bag when opening
Network area, gripped object 27 is set to be contained in tentacle unit envelope size.
The material of above-mentioned driving air bag 2 is high-air-tightness specific rubber, and high-air-tightness specific rubber softness is flexible, has
Anti-adhesion performance, preferably nitrile rubber, silicon rubber, polyurethane rubber.
The material of above-mentioned end air bag 13 is high-air-tightness specific rubber, and high-air-tightness specific rubber softness is flexible, tool
There are anti-adhesion performance, preferably nitrile rubber, silicon rubber, polyurethane rubber.
Embodiment 1
With reference to Fig. 1-Fig. 4, in the present embodiment, software driving radial direction open-close type pneumatic gripping device includes 1 software and driven
Unit and 3 tentacle units, 3 tentacle units are symmetrically distributed on software driver element, drive air bag 2 and end air bag 13 equal
It is made up of silicon rubber.Software driver element and tentacle unit are completed using the first source of the gas 8 is inflated, first vacuum source 25 is evacuated
Holding action process.
Support bar 6 and upper end cover 1 and bottom end cover 3 are concentric, and the one end of support bar 6 is threadedly coupled with upper end cover 1 and adds sealing
Glue carries out sealing fixation, and the other end, which is threadedly coupled with bottom end cover 3 and adds fluid sealant, carries out sealing fixation.The top of upper end cover 1 is set
There is a circle groove, driving air bag 2 one end is arranged in the groove of upper end cover 1, after being compacted by upper sealing ring 5, sealant pouring and sealing, i.e.,
Contact surface and the gap of driving air bag 2, sealing ring 5 and upper end cover 1 are filled in glue, makes to be fully sealed between above-mentioned three.
The bottom of bottom end cover 3 is provided with a circle groove, and the driving other end of air bag 2 is arranged in the groove of bottom end cover 3, pressed by lower seal 7
Sealant pouring and sealing after reality, i.e., contact surface and the gap of driving air bag 2, lower seal 7 and bottom end cover 3 are filled in glue, is made above-mentioned
It is fully sealed between three.3 lower end lid attachments 14 are evenly distributed on the bottom of bottom end cover 3, and are bolted.Driving gas
Capsule 2 is connected with the first air valve 9 of the first source of the gas 8 and the first vacuum valve 10 of first vacuum source 25 respectively by tracheae；Connecting rod
12 one end are fixed on driving air bag 2 by glue, and its bond locations is a point, i.e. tie point 24.End air bag 13 is fixed
In the other end of connecting rod 12, connecting rod 12 is connected by leaf hinge 21 with lower end lid attachments 14 so that driving air bag 2 is radially swollen
When swollen, the connecting rod 12 of 3 tentacle units is driven to close up around the axis of rotation of leaf hinge 21,3 tentacle units of driving.It will fill
The one end of gas flexible pipe 20 stretches into end air bag 13 and it is sealed, and the other end passes through the center of support bar 6, respectively with the first source of the gas
8 the second air valve 17 and the second vacuum valve 18 of first vacuum source 25 connect.
Driving air bag 2 and end air bag 13 are inflated by the first source of the gas 8, and compressed air is by the first source of the gas 8 through the first air valve 9
Into driving air bag 2, bring it about and be radially expanded, because the length of support bar 6 is constant, drive the axial length L of air bag 2 constant,
And tie point 24 and the distance of driving air bag 2 axis increase to R2 by R1, drive link 12 and end air bag 13 close up.Compression
Air enters end air bag 13 by the first source of the gas 8 through the second air valve 17, deforms end air bag 13, completes clipping operation.End
The thin-film pressure sensor 28 of soft flexible is installed, whether detection holding action is completed on air bag 13；If not yet complete
Holding action, drive air bag 2 and end air bag 13 to continue to inflate, drive air bag 2 and the pressure of end air bag 13 to rise, tentacle unit
Further close up, end air bag 13 is further bonded gripped object；If thin-film pressure sensor 28 detects effectively clamping letter
Number, then supply gas pressure this moment is kept, the shape and tentacle unit for keeping driving air bag 2 close up posture, keep end air bag 13
Angle of bend and fitting posture, until holding action is completed.After the completion of holding action, it is necessary to when releasing clamp position, driving gas
Capsule 2 and end air bag 13 are evacuated using first vacuum source 25, open the second vacuum valve 18 suction tentacle cell end air bag 13
Middle air, the inner air pressure of end air bag 13 decline, and tentacle unit unclamps；Then, the first vacuum valve 10 suction software is opened to drive
Air in dynamic device driving air bag 2, driving air bag 2 inner air pressure decline, and make software driver radial contraction, the He of drivening rod 12
Tentacle unit opens, and removal gripped object, clipping operation terminates.
Action process is described as follows：
（1）The unaerated stage
When preparing clamping object, drive air bag 2 and end air bag 13 non-aerating, driving air bag 2 is constantly in on-inflatable
Maximum collapse state, connecting rod 12 open, and tie point 24 and the distance of driving air bag 2 axis are R1.Held object 27 is placed in
In clamping device tentacle unit envelope scope.
（2）Drive the aeration phase of air bag 2
First air valve 9 is connected, and the first vacuum valve 10 is closed, and drives the air inlet of air bag 2, and driving air bag 2 is radially expanded, even
The distance of contact 24 and driving air bag 2 axis is R2, and R2 is more than R1, drivening rod 12 around leaf hinge 21 axis of rotation, 3
Individual tentacle unit closes up, by object envelope in tentacle unit.In this course, the supply of air bag 2 is driven by controlling
Pressure and gas supply flow, closing up for tentacle unit can be controlled angle and to close up speed.
（3）The aeration phase of end air bag 13
Second air valve 17 is connected, and the second vacuum valve 18 is closed, the air inlet of end air bag 13, via the inside stream of end air bag 13
Road, compressed air enter end air bag 13.End air bag 13 is made up of the different silicon rubber of hardness, and outside silicon rubber is softer, interior
Side silicon rubber is harder, and is machined with groove in the silicon rubber of outside；During inflation, the air cavity volume increase in groove, end air bag 13
Expand, but the outside silicon rubber part of end air bag 13 is different with inner side silicon rubber demi-inflation amplitude, the softer silicon in outside
Elastomeric material expansion amplitude is larger, and the harder silastic material expansion amplitude in inner side is smaller, makes the inside lateral bend of tentacle unit, patch
Close body surface, grip objects.By controlling the supply gas pressure of end air bag 13, can control tentacle unit bending amplitude and
It is bonded the angle of object, and the size of controllable chucking power.
（4）Reception step
After grip objects, air bag 2 and end air bag 13 is driven to keep inflated condition.Now only need to consume a small amount of compressed air
Flow compensates issuable leakage.
（5）Release reception step
After the completion of holding action, it is necessary to when releasing clamp position, it is evacuated using first vacuum source 25, aspirates tentacle unit
Air in end air bag 13 and driving air bag 2, the second air valve 17 are closed, and the second vacuum valve 18 is connected, the sky in end air bag 13
Gas is extracted, and the inner air pressure of end air bag 13 declines, and tentacle unit unclamps；Then, the first air valve 9 is closed, the first vacuum valve
10 connect, and drive the air in air bag 2 to be extracted, and driving air bag 2 inner air pressure declines, and makes software driver radial contraction,
Drivening rod 12 and tentacle unit open, and removal gripped object, clipping operation terminates.
Embodiment 2
With reference to Fig. 1, Fig. 3-Fig. 6, in the present embodiment, software driving radial direction open-close type pneumatic gripping device includes 1 software
Driver element and 6 tentacle units, 6 tentacle units are symmetrically distributed on software driver element, software driver element and tentacle
The first source of the gas 8 is respectively adopted in unit, the second source of the gas 16 is inflated, and first vacuum source 25, second vacuum source 26 are evacuated, and it is dynamic to complete clamping
Make process.
Support bar 6 and upper end cover 1 and bottom end cover 3 are concentric, and the one end of support bar 6 is threadedly coupled with upper end cover 1 and adds sealing
Glue carries out sealing fixation, and the other end, which is threadedly coupled with bottom end cover 3 and adds fluid sealant, carries out sealing fixation.The top of upper end cover 1 is set
There is a circle groove, driving air bag 2 one end is arranged in the groove of upper end cover 1, sealed by upper sealing ring 5, in upper sealing
The top of circle 5 has been bolted compressing member 29, and it is even closer that upper compressing member 29 make it that upper sealing ring 5 seals.The bottom of bottom end cover 3
Portion is provided with a circle groove, and the driving other end of air bag 2 is arranged in the groove of bottom end cover 3, sealed by lower seal 7,
The top of lower seal 7 has been bolted lower compressing member 30, and it is even closer that lower compressing member 30 make it that lower seal 7 seals.6
Lower end lid attachments 14 are uniformly fixed on the bottom of bottom end cover 3 by bolt, driving air bag 2 by tracheae respectively with the first source of the gas 8
The first air valve 9 and the first vacuum valve 10 of first vacuum source 25 connect；The one end of connecting rod 12 is fixed on driving gas by glue
On capsule 2, its bond locations is a point, i.e. tie point 24.End air bag 13 is fixed on the other end of connecting rod 12；Connecting rod 12 is provided with end
One end of end air bag 13 is connected by leaf hinge 21 with lower end lid attachments 14 so that when driving air bag 2 is radially expanded, is driven
The connecting rod 12 of 6 tentacle units is around the axis of rotation of leaf hinge 21, so as to drive 6 tentacle units to close up.The bottom of connecting rod 12
Portion communicates provided with passage 19 with end air bag 13, the one end of inflated hose 20 is connected into the bottom of connecting rod 12, and do at air-tightness
Reason, the other end of inflated hose 20 passes through the center of support bar 6, respectively with the second air valve 17 and second vacuum source of the second source of the gas 16
26 the second vacuum valve 18 connects.
Driving air bag 2 and end air bag 13 are inflated by the first source of the gas 8 and the second source of the gas 16 respectively, and compressed air is by the first gas
Source 8 enters driving air bag 2 through the first air valve 9, brings it about and is radially expanded, drive link 12 and end air bag 13 close up；Compression
Air enters end air bag 13 by the second source of the gas 16 through the second air valve 17, deforms end air bag 13, completes clipping operation.End
The thin-film pressure sensor 28 of soft flexible is installed, whether detection holding action is completed on air bag 13；If not yet complete
Holding action, air bag 2 and end air bag 13 is driven to continue to inflate, tentacle unit further closes up, and end air bag 13 further pastes
Close gripped object；If thin-film pressure sensor 28 detects effective clamping signal, supply gas pressure this moment is kept, keeps driving
The shape and tentacle unit of air bag 2 close up posture, the angle of bend and fitting posture of end air bag 13 are kept, until holding action
Complete.After the completion of holding action, it is necessary to when releasing clamp position, drive air bag 2 and end air bag 13 that the first vacuum is respectively adopted
Source 25 and second vacuum source 26 are evacuated, and open air in the second vacuum valve 18 suction tentacle cell end air bag 13, tentacle unit
Unclamp；Then, air in the first vacuum valve 10 suction software driver driving air bag 2, software driver radial contraction, band are opened
Dynamic connecting rod 12 and tentacle unit open, and removal gripped object, clipping operation terminates.
Driving air bag 2 uses nitrile rubber, and end air bag 13 uses polyurethane rubber.
Action process is described as follows：
（1）The unaerated stage
When preparing clamping object, drive air bag 2 and end air bag 13 non-aerating, driving air bag 2 is constantly in on-inflatable
Maximum collapse state, connecting rod 12 open, and tie point 24 and the distance of driving air bag 2 axis are R1.Held object 27 is placed in
In clamping device tentacle unit envelope scope.
（2）Drive the aeration phase of air bag 2
First source of the gas 8 is supplied, and the first air valve 9 is connected, and the first vacuum valve 10 is closed, and drives the air inlet of air bag 2, drives air bag 2
It is radially expanded, the distance of tie point 24 and driving air bag 2 axis is R2, and R2 is more than R1, and drivening rod 12 is cut with scissors around loose-leaf
The axis of rotation of chain 21,6 tentacle units close up, by object envelope in tentacle unit.In this course, control is passed through
The supply gas pressure and gas supply flow of air bag 2 are driven, closing up for tentacle unit can be controlled angle and to close up speed.
（3）The aeration phase of end air bag 13
Second source of the gas 16 is supplied, and the second air valve 17 is connected, and the second vacuum valve 18 is closed, the air inlet of end air bag 13, via end
The inner flow passage of air bag 13 is held, compressed air enters end air bag 13.End air bag 13 is made up of the different polyurethane rubber of hardness,
Outside polyurethane rubber is softer, and inner side polyurethane rubber is harder, and is machined with groove in the polyurethane rubber of outside；During inflation, ditch
Air cavity volume increase in groove, end air bag 13 is expanded, but the outside polyurethane rubber part of end air bag 13 and inner side are gathered
Urethane rubber part expansion amplitude is different, and the softer urethane rubber materials expansion amplitude in outside is larger, the harder poly- ammonia in inner side
Ester elastomeric material expansion amplitude is smaller, makes the inside lateral bend of tentacle unit, is bonded body surface, grip objects.By controlling end
The supply gas pressure of air bag 13 is held, the bending amplitude of tentacle unit and the angle of fitting object, and controllable chucking power can be controlled
Size.
（4）Reception step
After grip objects, air bag 2 and end air bag 13 is driven to keep inflated condition.Now only need to consume a small amount of compressed air
Flow compensates issuable leakage.
（5）Release reception step
After the completion of holding action, it is necessary to when releasing clamp position, first vacuum source 25 and second vacuum source 26 is respectively adopted,
Aspirate air in tentacle cell end air bag 13 and driving air bag 2.Second vacuum source 26 is worked, and the second air valve 17 is closed, and second
Vacuum valve 18 is connected, and the air in end air bag 13 is extracted, and the inner air pressure of end air bag 13 declines, and tentacle unit unclamps；
Then, first vacuum source 25 is worked, and the first air valve 9 is closed, and the first vacuum valve 10 is connected, and drives the air in air bag 2 to be extracted,
Drive the inner air pressure of air bag 2 to decline, make software driver radial contraction, drivening rod and tentacle unit are opened, and removal is pressed from both sides
Thing is held, clipping operation terminates.
Claims (6)
1. a kind of software drives radial direction open-close type pneumatic gripping device, it is characterised in that：Including software driver element and N number of tentacle
Unit, N >=3, N number of tentacle unit are evenly distributed on software driver element；Software driver element includes upper end cover（1）, driving
Air bag（2）, bottom end cover（3）, upper sealing ring（5）, lower seal（7）, support bar（6）, lower end lid attachments（14）；Support bar
（6）For hollow rods, support bar（6）With upper end cover（1）And bottom end cover（3）With one heart, support bar（6）One end and upper end cover（1）Gu
Fixed connection, the other end and bottom end cover（3）It is fixedly connected, upper end cover（1）, bottom end cover（3）And support bar（6）It is respectively positioned on driving air bag
（2）It is interior, upper end cover（1）Top is provided with a circle groove, drives air bag（2）One end is arranged on upper end cover（1）Groove in, by upper
Sealing ring（5）Sealed；Bottom end cover（3）Bottom is provided with a circle groove, drives air bag（2）The other end is arranged on bottom end cover（3）
Groove in, pass through lower seal（7）Sealed；M lower end lid attachments（14）It is evenly distributed on bottom end cover（3）Bottom, M
=N；Drive air bag（2）It is connected respectively with the air valve and vacuum-pumping valve of source of the gas by tracheae；
Tentacle unit includes connecting rod（12）, end air bag（13）, inflated hose（20）And leaf hinge（21）, end air bag（13）
It is fixed on connecting rod（12）One end, connecting rod（12）The other end is fixed on driving air bag（2）On, connecting rod（12）Pass through leaf hinge（21）
With lower end lid attachments（14）Connection, inflated hose（20）One end and end air bag（13）Connection, the other end pass through support bar（6）
Center, it is connected respectively with the air valve and vacuum-pumping valve of source of the gas.
2. software according to claim 1 drives radial direction open-close type pneumatic gripping device, it is characterised in that：Above-mentioned upper end cover
（1）Cross-sectional area be not more than bottom end cover（3）Cross-sectional area.
3. software according to claim 1 drives radial direction open-close type pneumatic gripping device, it is characterised in that：Above-mentioned driving gas
Capsule（2）Material be high-air-tightness specific rubber.
4. software according to claim 3 drives radial direction open-close type pneumatic gripping device, it is characterised in that：Above-mentioned height is airtight
The preferred nitrile rubber of property specific rubber, silicon rubber or polyurethane rubber.
5. software according to claim 1 drives radial direction open-close type pneumatic gripping device, it is characterised in that：Above-mentioned end gas
Capsule（13）Material be high-air-tightness specific rubber.
6. software according to claim 5 drives radial direction open-close type pneumatic gripping device, it is characterised in that：Above-mentioned height is airtight
The preferred nitrile rubber of property specific rubber, silicon rubber or polyurethane rubber.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510033977.8A CN105856264B (en) | 2015-01-22 | 2015-01-22 | Software drives radial direction open-close type pneumatic gripping device |
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| CN201510033977.8A CN105856264B (en) | 2015-01-22 | 2015-01-22 | Software drives radial direction open-close type pneumatic gripping device |
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| CN105856264B true CN105856264B (en) | 2018-01-05 |
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| CN203665545U (en) * | 2013-12-30 | 2014-06-25 | 重庆交通大学 | Self-adaptation and self-balancing manipulator finger |
| CN203792353U (en) * | 2014-04-25 | 2014-08-27 | 中国计量学院 | Bionic manipulator based on pneumatic muscle |
| CN104260104A (en) * | 2014-09-12 | 2015-01-07 | 深圳市创冠智能网络技术有限公司 | Flexible robot inflatable finger |
| CN204487583U (en) * | 2015-01-22 | 2015-07-22 | 南京理工大学 | Software drives radial open-close type pneumatic gripping device |
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