CN107175677B

CN107175677B - Pneumatic soft gripping device with high adaptability

Info

Publication number: CN107175677B
Application number: CN201710390985.7A
Authority: CN
Inventors: 鲍磊; 王可可; 高少龙
Original assignee: Suzhou Ruanti Robot Technology Co ltd
Current assignee: Beijing Software Robot Technology Co ltd
Priority date: 2017-05-27
Filing date: 2017-05-27
Publication date: 2020-07-10
Anticipated expiration: 2037-05-27
Also published as: CN107175677A

Abstract

The invention relates to a pneumatic soft body gripping device with high adaptability. Its purpose is in order to provide a flexible, safe and reliable's grasping tool. The air bag actuator comprises a base and a plurality of actuator modules, wherein each actuator module comprises a spring, an air bag inner support, an air bag outer support and an air bag, a plurality of springs are arranged in the base, the air bag inner support is arranged below the springs, the air bag outer support is sleeved on the outer side of the air bag inner support, a plurality of air bag outer wall through holes are formed in the side wall of the air bag outer support, and the air bag is embedded between the air bag outer wall through holes and the air bag inner support. When the article is not in contact with the actuator module, the air bags on the actuator module are all in a contraction state; when the actuator module pushes down and touches article, the actuator module located directly over the article is in the contraction state, the actuator module located on the periphery of the outer side of the article wraps the outer wall of the article, the air bag on the actuator module is in the expansion state, and the air bag located on the outer side of the article tightly pushes up the outer wall of the article.

Description

Pneumatic soft gripping device with high adaptability

Technical Field

The invention relates to the field of clamping tools, in particular to a pneumatic soft gripping device with high adaptability.

Background

Mechanical grasping devices such as robots have been widely used in various fields such as industry, food, and military. Traditional robot has work efficiency height, advantages such as location accuracy, but because its rigid structure makes its adaptability to the environment relatively poor, especially make meticulous parts such as some secret manufacturing or light industrial product and make the fish tail harm to the part very easily when snatching, in addition, the structure of robot is fixed, consequently, it is single to cause to snatch object article kind, snatch to special-shaped object and have very big limitation, often need snatch an article and need produce a robot specially because of need, not only the suitability is narrow, and the research and development cost is higher.

Disclosure of Invention

The invention aims to provide a pneumatic soft grasping device which is simple in structure, flexible in grasping, safe, reliable and high in adaptability.

The invention relates to a high-adaptability pneumatic soft body gripping device, which comprises a base and a plurality of actuator modules, wherein each actuator module comprises a spring, an inner air bag support, an outer air bag support and a plurality of air bags, a plurality of positioning pipes are tightly arranged in the base along the vertical direction, the springs are arranged in the positioning pipes, a cylindrical inner air bag support is arranged below the springs along the vertical direction, the top of the inner air bag support extends into the positioning pipes, the springs are tightly pressed between the base and the inner air bag support, the base is hermetically connected with the inner air bag support, the outer air bag support is sleeved outside the inner air bag support, a plurality of outer air bag wall through holes are uniformly arranged on the side wall of the outer air bag support, the air bags are respectively embedded between the inner side of each outer air bag wall through hole and the inner air bag, when the article is not in contact with the actuator module, the air bags on the actuator module are all in a contraction state; when the actuator module pushes down and touches article, the actuator module located directly over the article is in the contraction state, the actuator module located on the periphery of the outer side of the article wraps the outer wall of the article, the air bag on the actuator module is in the expansion state, and the air bag located on the outer side of the article tightly pushes up the outer wall of the article.

The invention relates to a high-adaptability pneumatic soft body gripping device, wherein the base comprises a spring base and an actuator base, the spring base is of a plate-shaped structure arranged along the horizontal direction, the top end of a positioning pipe is fixedly connected with the bottom end of the spring base, the actuator base is sleeved at the outer side position below the spring base, a plurality of base through holes are formed in the bottom end of the actuator base, the positions of the base through holes are opposite to the positions of the positioning pipes respectively, and the base through holes are communicated with the inside of the positioning pipe.

The invention relates to a high-adaptability pneumatic soft body gripping device, wherein a sealing ring is arranged among an actuator base, a positioning tube and an air bag inner support, the sealing ring is sleeved on the outer side of the air bag inner support and is in sealing contact with the outer wall of the air bag inner support, the bottom end of the sealing ring is in sealing contact with the inner wall of the actuator base, and the top end of the sealing ring is in sealing contact with the bottom end of the positioning tube.

The invention relates to a high-adaptability pneumatic soft body gripping device, wherein an outer bracket of an air bag is of a cylindrical structure.

The invention relates to a high-adaptability pneumatic soft gripping device, wherein an air bag is made of silica gel.

The invention discloses a high-adaptability pneumatic soft body gripping device, which is different from the prior art in that: according to the invention, a plurality of actuator modules which are tightly arranged are used as main bodies for grabbing articles, springs are arranged in the actuator modules, a plurality of air bags are embedded at the end parts of the actuator modules, when the articles are extruded with the actuator modules, the actuator modules which are positioned right above the articles shrink, the actuator modules which are positioned at the periphery of the outer sides of the articles can wrap the outer walls of the articles, and the air bags are extruded outwards by air, so that the air bags can tightly push the outer walls of the articles, various special-shaped articles can be grabbed, and the grabbing stability and firmness of the articles can be ensured. The density and arrangement of the actuator modules can be adjusted according to the requirements of the gripping stability, so that the gripping requirements of different articles can be met. The material that the gasbag adopted is silica gel, mainly extrudes the application of force to article by the gasbag when grabbing article, reaches the effect that the flexibility was grabbed and is grabbed, can not cause fish tail and harm to the surface of article, is suitable for using widely on a large scale.

The pneumatic soft gripping device with high adaptability of the invention is further described in the following with reference to the attached drawings.

Drawings

FIG. 1 is a perspective view of a high compliance pneumatic soft body gripping device of the present invention;

FIG. 2 is a front cross-sectional view of an actuator module of a high compliance pneumatic soft body gripping device of the present invention.

Detailed Description

Referring to FIG. 1, there is shown a perspective view of a highly adaptable pneumatic soft grip device of the present invention, comprising a base 10 and a plurality of actuator modules 11. As shown in fig. 2, base 10 includes spring base 2 and actuator base 1 again, every actuator module 11 includes spring 3 again, gasbag inner support 4, gasbag outer support 5 and a plurality of gasbag 8, spring base 2 is the disc-shaped structure that sets up along the horizontal direction, 2 bottom of spring base closely are provided with a plurality of registration arms 12 along vertical direction, the top of registration arm 12 and spring base 2's bottom fixed connection, the outside cover below spring base 2 is equipped with cylindrical actuator base 1, a plurality of base through-holes have been seted up to actuator base 1 bottom, the position of seting up of each base through-hole is relative with the position of each registration arm 12 respectively, the base through-hole communicates with the inside of registration arm 12. Inside vertical direction of following of registration arm 12 is provided with spring 3, the top of spring 3 compresses tightly the bottom of spring base 2, the below of spring 3 is provided with cylinder gasbag inner support 4 along vertical direction, inside the registration arm 12 was stretched into at the top of gasbag inner support 4, the top of gasbag inner support 4 compresses tightly the bottom of spring 3, at actuator base 1, be provided with sealing washer 9 between registration arm 12 and the gasbag inner support 4, sealing washer 9 cover is established in the outside of gasbag inner support 4, and with the outer wall sealing contact of gasbag inner support 4, the bottom of sealing washer 9 and actuator base 1 inner wall sealing contact, the top of sealing washer 9 and the bottom sealing contact of registration arm 12. The outer side of the inner airbag support 4 is sleeved with an outer cylindrical airbag support 5, a plurality of airbag outer wall through holes 6 are uniformly formed in the upper position of the side wall of the outer airbag support 5 along the circumferential direction, airbags 8 are respectively embedded in the airbag outer wall through holes 6 and the inner airbag support 4, and the airbags 8 can be in various shapes such as spheres, ellipsoids or long strips.

In one embodiment of the present invention, the air bag 8 is made of silicone.

When the article is not in contact with the actuator modules 11 in the using process of the invention, the air bags 8 on the actuator modules 11 are all in a contraction state (negative pressure state), and when a user holds the article and presses down to touch the article, the actuator modules 11 positioned right above the article contract due to extrusion, so that the outer shape of the special-shaped article is suitable for, and the article is sunk into each actuator module 11. The actuator module 11 located on the periphery of the outer side of the article wraps the outer wall of the article, the air bag 8 on the actuator module 11 is in an expansion state (positive pressure state) due to the extrusion of the article and the action of the internal gas pressure, and the air bag 8 located on the outer side of the article can tightly push the outer wall of the article under the action of the gas pressure, so that the article can be firmly grabbed.

The invention relates to a high-adaptability pneumatic soft gripping device, which adopts a plurality of actuator modules 11 which are tightly arranged as a main body for gripping an article, wherein a spring 3 is arranged in each actuator module 11, a plurality of air bags 8 are embedded in the end parts of the actuator modules 11, when the article is extruded with the actuator modules 11, the actuator modules 11 which are positioned right above the article shrink, the actuator modules 11 which are positioned at the periphery of the outer side of the article can wrap the outer wall of the article, and the air bags 8 are extruded outwards by air, so that the air bags 8 can tightly support the outer wall of the article, various special-shaped articles can be gripped, and the stability and the firmness of gripping the article can be ensured. The density and arrangement of the actuator modules 11 can be adjusted according to the gripping stability, so as to meet the gripping requirements of different articles. The material that gasbag 8 adopted is silica gel, mainly extrudes the application of force to article by gasbag 8 when grabbing article, reaches the effect that the flexibility was grabbed and is grabbed, can not cause fish tail and harm to the surface of article, is suitable for and uses widely on a large scale. The invention has simple structure, flexible grabbing, safety and reliability, and has obvious advantages compared with the prior art.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims

1. A pneumatic soft body gripping device of high adaptability which characterized in that: the air bag actuator comprises a base (10) and a plurality of actuator modules (11), each actuator module (11) comprises a spring (3), an air bag inner support (4), an air bag outer support (5) and a plurality of air bags (8), a plurality of positioning pipes (12) are tightly arranged in the base (10) along the vertical direction, the springs (3) are arranged in the positioning pipes (12), a cylindrical air bag inner support (4) is arranged below the springs (3) along the vertical direction, the top of the air bag inner support (4) extends into the positioning pipes (12), the springs (3) are tightly pressed between the base (10) and the air bag inner support (4), the base (10) and the air bag inner support (4) are in sealing connection, the air bag outer support (5) is sleeved on the outer side of the air bag inner support (4), a plurality of air bag outer wall through holes (6) are uniformly formed in the side wall of the air bag outer support (5) along the circumferential direction of the air bag outer support (, an air bag (8) is respectively embedded between the inner side of each air bag outer wall through hole (6) and the air bag inner support (4), and when an article is not contacted with the actuator module (11), the air bag (8) on the actuator module (11) is in a contraction state; when the actuator module (11) is pressed down and touches an article, the actuator module (11) positioned right above the article is in a contraction state, the actuator module (11) positioned on the periphery of the outer side of the article wraps the outer wall of the article, the air bag (8) on the actuator module (11) is in an expansion state, and the air bag (8) positioned on the outer side of the article tightly props against the outer wall of the article.

2. The high compliance pneumatic soft grip device of claim 1, wherein: base (10) include spring base (2) and actuator base (1) again, and spring base (2) are the plate-shaped structure that sets up along the horizontal direction, the top of registration arm (12) and the bottom fixed connection of spring base (2), and actuator base (1) cover is established in the outside position of spring base (2) below, and a plurality of base through-holes have been seted up to actuator base (1) bottom, and the position of seting up of each base through-hole is relative with the position of each registration arm (12) respectively, and the base through-hole communicates with registration arm (12) inside.

3. The high compliance pneumatic soft grip device of claim 2, wherein: a sealing ring (9) is arranged between the actuator base (1), the positioning tube (12) and the air bag inner support (4), the sealing ring (9) is sleeved on the outer side of the air bag inner support (4) and is in sealing contact with the outer wall of the air bag inner support (4), the bottom end of the sealing ring (9) is in sealing contact with the inner wall of the actuator base (1), and the top end of the sealing ring (9) is in sealing contact with the bottom end of the positioning tube (12).

4. The high compliance pneumatic soft grip device of claim 1, wherein: the outer bracket (5) of the air bag is of a cylindrical structure.

5. The high compliance pneumatic soft grip device of claim 1, wherein: the material of gasbag (8) is silica gel.