CN204487583U - Software-driven radial opening and closing pneumatic clamping device - Google Patents

Abstract

The utility model discloses a software-driven radial opening and closing type pneumatic clamping device, which comprises a software driving unit and N tentacle units, N≥3, and the N tentacle units are symmetrically distributed on the software driving unit; because the driving unit and the tentacle The units are all made of high-air-tight special rubber. After being filled with compressed air, the software drive unit drives the tentacle unit to open or close. The tentacle unit is soft and bendable, and can fit a variety of geometric contours to achieve smooth clamping of objects of various shapes. purpose, and has the characteristics of adjustable clamping force and adjustable opening and closing angle of the tentacle unit. The utility model can conveniently realize the flexible clamping adapting to the geometric shape of the object. Because the soft drive unit is used and the expansion energy of compressed air is used, it is beneficial to environmental protection and energy saving. The utility model can be used in the fields of food clamping and packaging, a service robot end clamper, mixed-flow production line clamping parts of various shapes, etc., and has good popularization and use value.

Description

Software-driven radial opening and closing pneumatic clamping device

technical field

The utility model belongs to the field of pneumatic transmission, in particular to a software-driven radial opening and closing pneumatic clamping device.

Background technique

In automatic clamping and conveying operations, pneumatically driven grippers are more and more used in object clamping and conveying, such as fulcrum opening and closing type air grippers. However, the current pneumatic clamping devices are mostly aimed at specific types and specifications of objects, and there is no reliable and efficient clamping method for irregularly shaped objects. For example, in the automatic flexible production line focusing on the automatic conveying of workpieces, in order to realize the mixed flow production of various models, it is necessary to make workpieces of various specifications and sizes mixed flow conveyed on the same production line. This is the existing clamping device and clamping method can not be achieved. Since automatic gripping and conveying tasks rely on flexible and efficient compliant gripping devices, the development of new compliant gripping technologies to adapt to the shape of objects and improve gripping capacity is an urgent research topic and plays a very important role.

At present, there are many patent applications for pneumatic clamping equipment, such as: US patent US6685422B2, Chinese patent 201320578935.9, etc. There are many types of air claws on the market, but their working principles are based on the movement of the rigid cylinder piston to drive the clamp The workpiece is clamped by the movement of the end of the holder, basically adopting the basic structure of a rigid cylinder combined with a mechanical transmission mechanism. The disadvantages of this type of structure are obvious. On the one hand, the flexibility of the device is not good, the clamping force is not easy to adjust, and the adaptability to fragile objects is not good; Adaptive adjustment. With the development of technology, more flexible and adaptable compliant clamping equipment is required. The lack of such equipment has greatly affected the needs of advanced manufacturing mixed-flow processing, item conveying and modern logistics.

In order to solve the above-mentioned problems existing in traditional pneumatic clamping instruments, technicians have carried out related research, such as Chinese patent applications 201210562373.9 and 201310358580.7, etc. However, these studies still do not fully address the main issues of pneumatic actuator flexibility and gripper end flexibility. For example: Chinese patent application 201210562373.9 proposes an end effector for an automatic spherical fruit picker, which realizes the shape adaptation to some spherical fruits by designing a bowl-shaped holder, but it uses the cylinder piston shaft to drive the fork and The slider moves back and forth linearly in the horizontal chute without significantly enhancing the compliance; the clamping end uses a bowl-shaped structure combined with rubber elastic material to fit the fruit, but the structure of the bowl-shaped clamp is fixed, and the elasticity of the rubber material is limited. Environmental factors such as temperature and humidity have a great influence on the adaptability of the clamping object. However, the Chinese patent application 201310358580.7 proposes an adaptive pneumatic flexible grasping robot gripper based on a metamorphic mechanism, which uses a cylinder to drive a crank slider mechanism and a metamorphic hinge four-bar mechanism. However, its adaptation to the object depends on the mechanical motion pair of metamorphic structure. The drive of each joint of the gripper is driven by a rigid cylinder piston, which still belongs to the structure of a rigid cylinder combined with a mechanical transmission mechanism. The flexibility of the pneumatic actuator and the flexibility of the end of the gripper are still Room for improvement.

Contents of the invention

The purpose of this utility model is to provide a software-driven radial opening and closing type pneumatic clamping device. Since the software drive unit and the tentacle unit are both composed of silicone rubber software, it can effectively fit a variety of clamping devices after the silicone rubber software is filled with compressed air. The geometric contour realizes the contact between the clamping finger and the surface of the object, fully fits the surface of the object, and achieves the purpose of supple clamping of various shapes of objects, and has the characteristics of adjustable clamping force and adjustable opening and closing angle of the clamping finger.

The technical solution to realize the purpose of the utility model is: a software-driven radially open-close pneumatic clamping device, including a software drive unit and N tentacle units, N≥3, and the N tentacle units are symmetrically distributed on the software drive unit; The software drive unit includes an upper end cover, a driving air bag, a lower end cover, an upper sealing ring, a lower sealing ring, a support rod, and a lower end cover connector; the support rod is a hollow rod, and the support rod is concentric with the upper end cover and the lower end cover. The upper end cover is fixedly connected, and the other end is fixedly connected with the lower end cover. The upper end cover, the lower end cover and the support rod are all located in the driving airbag. There is a circle of grooves on the top of the upper end cover. The sealing ring is used for sealing; there is a groove at the bottom of the lower end cover, and the other end of the driving air bag is set in the groove of the lower end cover, and the sealing is performed by the lower sealing ring; M lower end cover connectors are evenly distributed at the bottom of the lower end cover, M=N ; The driving air bag is respectively connected with the air valve of the air source and the vacuum pumping valve through the air pipe.

The tentacle unit includes a connecting rod, an end airbag, an inflation hose and a hinge. The end airbag is fixed on one end of the connecting rod, and the other end of the connecting rod is fixed on the driving airbag. It is connected with the end air bag, and the other end passes through the center of the support rod, and is respectively connected with the air valve of the air source and the vacuum valve.

The cross-sectional area of the upper end cap is not larger than the cross-sectional area of the lower end cap.

The above-mentioned driving air bag is made of special rubber with high airtightness.

The above-mentioned high airtight special rubber is preferably nitrile rubber, silicon rubber, polyurethane rubber.

The above-mentioned end airbags are made of special rubber with high airtightness.

The above-mentioned high airtight special rubber is preferably nitrile rubber, silicon rubber, polyurethane rubber.

Compared with the prior art, the utility model has significant advantages: (1) The utility model adopts a software drive unit and a tentacle unit, which can be supplely adapted to various shapes of objects, and fit the surface of the object better, and the opening angle of the tentacle unit is And the clamping posture can be adaptively adjusted with the change of the shape of the object; (2) Multiple tentacle units are evenly distributed along the circumferential direction of the software drive unit. When the tentacle units are folded, they can effectively envelop and clamp objects of different dimensions. The connecting rod design with the tentacle unit provides the necessary rigidity for clamping; (3) Due to the use of the soft drive unit and the tentacle unit, the expansion energy of compressed air is fully utilized, which is beneficial to environmental protection and energy saving, and is suitable for food clamping and Packaging, service robot end gripper, mixed-flow production line clamping of various shapes of parts, etc.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the utility model.

Fig. 2 is a schematic diagram of the software driving unit and the tentacle unit in Embodiment 1.

Fig. 3 is a schematic diagram of the uninflated state of the embodiment.

Fig. 4 is a schematic diagram of the inflation state of the embodiment.

Fig. 5 is a schematic diagram of the software driver unit in Embodiment 2.

Fig. 6 is a schematic diagram of the tentacle unit in Embodiment 2.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is described in further detail.

Combined with Figure 1, a software-driven radial opening and closing pneumatic clamping device includes a software drive unit and N tentacle units, N≥3, and N tentacle units are symmetrically distributed on the software drive unit, and the software drive unit drives the tentacle unit to open Open or closed, the tentacle unit is soft and bendable, imitating the function of biological tentacles such as sea anemones, and fits the surface of the object better.

The software drive unit includes an upper end cover 1, a driving airbag 2, a lower end cover 3, an upper sealing ring 5, a lower sealing ring 7, a support rod 6, and a lower end cover connector 14; the support rod 6 is a hollow rod, and the support rod 6 and the upper end cover 1 is concentric with the lower end cover 3, one end of the support rod 6 is fixedly connected with the upper end cover 1, and the other end is fixedly connected with the lower end cover 3, the upper end cover 1, the lower end cover 3 and the support rod 6 are all located in the driving air bag 2, due to the support rod 6 The length is constant, so that the axial length of the software driver remains constant. The top of the upper end cover 1 is provided with a circle of grooves, and one end of the driving airbag 2 is set in the groove of the upper end cover 1, and is sealed by the upper sealing ring 5; the bottom of the lower end cover 3 is provided with a circle of grooves, and the other end of the driving airbag 2 is arranged at the lower end In the groove of the cover 3, the lower sealing ring 7 is used to seal to form a closed soft chamber. After filling with compressed air, the airbag 2 is driven to expand radially; M lower end cover connectors 14 are evenly distributed on the bottom of the lower end cover 3 , M=N; the driving air bag 2 is respectively connected with the air valve of the air source and the vacuum valve through the air pipe.

Tentacle unit comprises connecting rod 12, end air bag 13, inflation hose 20 and hinge 21, and end air bag 13 is fixed on one end of connecting rod 12, and the other end of connecting rod 12 is fixed on the driving air bag 2, and connecting rod 12 connects with The lower end cover connector 14 is connected so that when the airbag 2 is radially expanded, the connecting rods 12 that drive the N tentacle units rotate around the hinge 21 to drive the N tentacle units to close. One end of the inflation hose 20 is connected to the terminal air bag 13, and the other end passes through the center of the support rod 6, and is respectively connected with the air valve of the air source and the vacuum valve.

The cross-sectional area of the upper end cover 1 is not larger than that of the lower end cover 3, so that the tentacles have a certain enveloping area when they are opened, so that the clamped object 27 can be accommodated in the enveloping area of the tentacle units.

The above-mentioned driving airbag 2 is made of high-air-tight special rubber, which is soft and elastic, and has anti-sticking properties, preferably nitrile rubber, silicon rubber, and polyurethane rubber.

The material of the above-mentioned terminal airbag 13 is special rubber with high air-tightness, which is soft and elastic, and has anti-sticking properties, preferably nitrile rubber, silicon rubber, and polyurethane rubber.

Example 1

Referring to Figures 1-4, in this embodiment, the software-driven radial opening and closing pneumatic clamping device includes 1 software drive unit and 3 tentacle units, and the 3 tentacles are symmetrically distributed on the software drive unit to drive the airbag 2 and The end airbags 13 are all made of silicon rubber. Both the software drive unit and the tentacle unit are inflated by the first air source 8 and evacuated by the first vacuum source 25 to complete the clamping action process.

The support rod 6 is concentric with the upper end cover 1 and the lower end cover 3. One end of the support rod 6 is threaded with the upper end cover 1 and sealed and fixed by adding a sealant, and the other end is threaded with the lower end cover 3 and sealed and fixed by adding a sealant. The top of the upper end cover 1 is provided with a circle of grooves, and one end of the driving airbag 2 is set in the groove of the upper end cover 1. After being compacted by the upper sealing ring 5, it is sealed with glue, that is, the driving airbag 2, the sealing ring 5 and the sealing ring are filled with glue. The contact surface and the gap of the upper end cover 1 make the above-mentioned three completely sealed. The bottom of the lower end cover 3 is provided with a circle of grooves, the other end of the driving airbag 2 is set in the groove of the lower end cover 3, and the lower sealing ring 7 is compacted and then sealed with glue, that is, the driving airbag 2 and the lower sealing ring 7 are filled with glue And the contact surface and the gap of the lower end cover 3, so that the above-mentioned three are completely sealed. The three lower end cover connectors 14 are evenly distributed on the bottom of the lower end cover 3 and fixed by bolts. The driving airbag 2 is respectively connected with the first air valve 9 of the first air source 8 and the first vacuum valve 10 of the first vacuum source 25 through the trachea; one end of the connecting rod 12 is fixed on the driving airbag 2 by glue, and its bonding position is A point, which is connection point 24. The end airbag 13 is fixed on the other end of the connecting rod 12, and the connecting rod 12 is connected with the lower end cover connector 14 through a hinge 21, so that when the airbag 2 is driven to expand radially, the connecting rod 12 that drives the three tentacle units all winds around the hinge 21 The rotating shaft rotates to drive the three tentacle units to close. One end of the inflation hose 20 is stretched into the terminal air bag 13 and sealed, and the other end passes through the center of the support rod 6 to connect with the second air valve 17 of the first air source 8 and the second vacuum valve of the first vacuum source 25 respectively. 18 connections.

Both the driving airbag 2 and the end airbag 13 are inflated by the first air source 8, and the compressed air enters the driving airbag 2 from the first air source 8 through the first air valve 9 to make it expand radially. Since the length of the support rod 6 remains unchanged, The axial length L of the driving airbag 2 remains unchanged, while the distance between the connecting point 24 and the central axis of the driving airbag 2 increases from R1 to R2, and the driving connecting rod 12 and the terminal airbag 13 are closed. The compressed air enters the end airbag 13 from the first air source 8 through the second air valve 17, deforms the end airbag 13, and completes the clamping operation. The end airbag 13 is equipped with a soft and flexible film pressure sensor 28 to detect whether the clamping action is completed; if the clamping action has not been completed, the driving airbag 2 and the end airbag 13 continue to inflate, and the pressure of the driving airbag 2 and the end airbag 13 rises. The tentacle unit is further closed, and the end airbag 13 is further attached to the clamped object; if the thin film pressure sensor 28 detects an effective clamping signal, the air supply pressure at this moment is maintained, the shape of the driving airbag 2 and the closed posture of the tentacle unit are maintained, and the end airbag is maintained. 13 bending angle and fitting posture until the clamping action is completed. After the clamping action is completed, when the clamping state needs to be released, both the driving airbag 2 and the end airbag 13 are pumped by the first vacuum source 25, and the second vacuum valve 18 is opened to suck the air in the end airbag 13 of the tentacle unit. The air pressure drops, and the tentacle unit is released; then, the first vacuum valve 10 is opened to suck the air in the airbag 2 driven by the software driver, and the air pressure in the airbag 2 drops, so that the software driver radially shrinks, driving the connecting rod 12 and the tentacle unit to expand. Open, remove the object to be clamped, and the clamping operation is over.

The action process is described as follows:

(1) Uninflated stage

When preparing to clamp an object, the driving airbag 2 and the terminal airbag 13 are not inflated, and the driving airbag 2 is always in the non-inflated maximum contraction state, the connecting rod 12 is opened, and the distance between the connecting point 24 and the central axis of the driving airbag 2 is R1. The clamped object 27 is placed in the enveloping range of the tentacle unit of the clamping device.

(2) Drive airbag 2 inflation stage

The first air valve 9 is turned on, the first vacuum valve 10 is closed, the air bag 2 is driven to inhale, and the air bag 2 is radially expanded. The distance between the connection point 24 and the central axis of the air bag 2 is R2, and R2 is greater than R1, driving the connecting rod 12 rotates around the rotating shaft of the hinge 21, and the three tentacle units are all closed, and the object is enveloped in the tentacle unit. In this process, by controlling the air supply pressure and flow rate of the air bag 2, the closing angle and closing speed of the tentacle unit can be controlled.

(3) End airbag 13 inflation stage

The second air valve 17 is turned on, the second vacuum valve 18 is closed, the end air bag 13 is inhaled, and the compressed air enters the end air bag 13 through the internal flow channel of the end air bag 13 . The end airbag 13 is made of silicone rubber with different hardness, the outer silicone rubber is softer, the inner silicone rubber is harder, and grooves are processed in the outer silicon rubber; when inflated, the volume of the air cavity in the groove increases, and the end airbag 13 Inflation occurs, but the expansion range of the outer silicone rubber part and the inner silicone rubber part of the terminal airbag 13 is different. The softer silicone rubber material expands larger, and the harder silicone rubber material expands smaller, so that the tentacle unit bends inward. , fit the surface of the object and clamp the object. By controlling the air supply pressure of the terminal airbag 13, the bending range of the tentacle unit and the angle of the attached object can be controlled, and the magnitude of the clamping force can be controlled.

(4) Clamping stage

After the object is clamped, the driving airbag 2 and the terminal airbag 13 remain inflated. At this point only a small amount of compressed air flow is required to compensate for possible leaks.

(5) Unclamping stage

After the clamping action is completed, when the clamping state needs to be released, the first vacuum source 25 is used to pump air, and the air in the air bag 13 at the end of the tentacle unit and the air bag 2 in the driving air bag are sucked, the second air valve 17 is closed, and the second vacuum valve 18 is connected. The air in the end airbag 13 is drawn out, the air pressure in the end airbag 13 drops, and the tentacle unit is released; then, the first air valve 9 is closed, the first vacuum valve 10 is connected, and the air in the driving airbag 2 is drawn out. The air pressure in the driving airbag 2 drops, causing the software driver to shrink radially, driving the connecting rod 12 and the tentacle unit to open, removing the clamped object, and the clamping operation ends.

Example 2

With reference to Fig. 1, Fig. 3-Fig. 6, in this embodiment, the software-driven radial opening and closing pneumatic clamping device includes 1 software driving unit and 6 tentacle units, and the 6 tentacle units are symmetrically distributed on the software driving unit. The drive unit and the tentacle unit are respectively inflated by the first air source 8 and the second air source 16, and the first vacuum source 25 and the second vacuum source 26 are used to pump air to complete the clamping action process.

The support rod 6 is concentric with the upper end cover 1 and the lower end cover 3. One end of the support rod 6 is threaded with the upper end cover 1 and sealed and fixed by adding a sealant, and the other end is threaded with the lower end cover 3 and sealed and fixed by adding a sealant. The top of the upper end cover 1 is provided with a circle of grooves, and one end of the driving air bag 2 is arranged in the groove of the upper end cover 1, and is sealed by the upper sealing ring 5, and an upper pressing member 29 is fixed on the top of the upper sealing ring 5 by bolts, and the upper pressing The tightening part 29 makes the sealing of the upper sealing ring 5 tighter. The bottom of the lower end cover 3 is provided with a circle of grooves, and the other end of the driving airbag 2 is arranged in the groove of the lower end cover 3, and is sealed by the lower sealing ring 7, and the lower pressing member 30 is fixed on the top of the lower sealing ring 7 by bolts, and the pressing part 30 is pressed down. The tightening member 30 makes the sealing of the lower sealing ring 7 tighter. The six lower end cover connectors 14 are evenly fixed on the bottom of the lower end cover 3 by bolts, and the driving air bag 2 is respectively connected with the first air valve 9 of the first air source 8 and the first vacuum valve 10 of the first vacuum source 25 through the air pipe; One end of the rod 12 is fixed on the driving airbag 2 by glue, and its bonding position is a point, that is, the connection point 24 . The end airbag 13 is fixed on the other end of the connecting rod 12; the end of the connecting rod 12 provided with the end airbag 13 is connected to the lower end cover connector 14 through a hinge 21, so that when the driving airbag 2 radially expands, it drives the connecting rod of the six tentacle units 12 all rotate around the rotating shaft of hinge 21, thereby drive 6 tentacle units to close up. The bottom of the connecting rod 12 is provided with a vent hole 19 which communicates with the end airbag 13, and one end of the inflation hose 20 is connected to the bottom of the connecting rod 12, and the air-tight treatment is performed. The second air valve 17 of the second air source 16 is connected to the second vacuum valve 18 of the second vacuum source 26 .

The driving airbag 2 and the end airbag 13 are respectively inflated by the first air source 8 and the second air source 16, and the compressed air enters the driving airbag 2 from the first air source 8 through the first air valve 9, causing it to radially expand, and the driving chain The rod 12 and the end airbag 13 are closed; the compressed air enters the end airbag 13 from the second air source 16 through the second air valve 17, deforms the end airbag 13, and completes the clamping operation. The end airbag 13 is equipped with a soft and bendable thin-film pressure sensor 28 to detect whether the clamping action is completed; if the clamping action has not been completed, the airbag 2 and the end airbag 13 are driven to continue to inflate, the tentacle unit is further closed, and the end airbag 13 is further attached. Close the clamped object; if the thin film pressure sensor 28 detects an effective clamping signal, then maintain the air supply pressure at this moment, keep the shape of the driving airbag 2 and the closed posture of the tentacle unit, keep the bending angle and the bonding posture of the end airbag 13, until The clamping action is completed. After the clamping action is completed, when the clamping state needs to be released, the airbag 2 and the end airbag 13 are respectively pumped by the first vacuum source 25 and the second vacuum source 26, and the second vacuum valve 18 is opened to suck air in the end airbag 13 of the tentacle unit. Air, the tentacle unit is released; then, open the first vacuum valve 10 to suck the air in the soft driver to drive the air bag 2, and the soft driver radially shrinks, driving the connecting rod 12 and the tentacle unit to open, removing the clamped object, and clamping operation Finish.

The driving airbag 2 adopts nitrile rubber, and the end airbag 13 adopts polyurethane rubber.

The action process is described as follows:

(1) Uninflated stage

When preparing to clamp an object, the driving airbag 2 and the terminal airbag 13 are not inflated, and the driving airbag 2 is always in the non-inflated maximum contraction state, the connecting rod 12 is opened, and the distance between the connecting point 24 and the central axis of the driving airbag 2 is R1. The clamped object 27 is placed in the enveloping range of the tentacle unit of the clamping device.

(2) Drive airbag 2 inflation stage

The first air source 8 supplies air, the first air valve 9 is connected, the first vacuum valve 10 is closed, the air bag 2 is driven to inhale, and the air bag 2 is radially expanded. The distance between the connection point 24 and the central axis of the air bag 2 is R2 , R2 is greater than R1, drives the connecting rod 12 to rotate around the rotating shaft of the hinge 21, and the 6 tentacles are all closed to envelop the object in the tentacles. In this process, by controlling the air supply pressure and flow rate of the air bag 2, the closing angle and closing speed of the tentacle unit can be controlled.

(3) End airbag 13 inflation stage

The second air source 16 supplies air, the second air valve 17 is connected, the second vacuum valve 18 is closed, the end air bag 13 is fed with air, and the compressed air enters the end air bag 13 through the internal passage of the end air bag 13 . The end airbag 13 is made of polyurethane rubber with different hardness, the outer polyurethane rubber is softer, the inner polyurethane rubber is harder, and grooves are processed in the outer polyurethane rubber; when inflated, the volume of the air cavity in the groove increases, and the end airbag 13 Expansion occurs, but the expansion range of the outer polyurethane rubber part and the inner polyurethane rubber part of the terminal airbag 13 is different. The outer softer polyurethane rubber material expands larger, and the inner hard polyurethane rubber material expands smaller, so that the tentacle unit bends inward. , fit the surface of the object and clamp the object. By controlling the air supply pressure of the terminal airbag 13, the bending range of the tentacle unit and the angle of the attached object can be controlled, and the magnitude of the clamping force can be controlled.

(4) Clamping stage

After the object is clamped, the driving airbag 2 and the terminal airbag 13 remain inflated. At this point only a small amount of compressed air flow is required to compensate for possible leaks.

(5) Unclamping stage

After the clamping action is completed, when the clamping state needs to be released, the first vacuum source 25 and the second vacuum source 26 are respectively used to suck the air in the end airbag 13 of the tentacle unit and the driving airbag 2 . The second vacuum source 26 works, the second air valve 17 is closed, the second vacuum valve 18 is connected, the air in the end air bag 13 is drawn out, the air pressure in the end air bag 13 drops, and the tentacle unit is released; subsequently, the first vacuum source 25 work, the first air valve 9 is closed, the first vacuum valve 10 is connected, the air in the driving airbag 2 is drawn out, the air pressure in the driving airbag 2 drops, and the software driver is radially contracted, driving the connecting rod and the tentacle unit to open , remove the clamped object, and the clamping operation ends.

Claims (6)

1. A software-driven radial opening and closing pneumatic clamping device, characterized in that: it includes a software drive unit and N tentacle units, N≥3, and the N tentacle units are symmetrically distributed on the software drive unit; the software drive unit includes an upper end Cover (1), driving airbag (2), lower end cover (3), upper seal ring (5), lower seal ring (7), support rod (6), lower end cover connector (14); support rod (6) It is a hollow rod, the support rod (6) is concentric with the upper end cover (1) and the lower end cover (3), one end of the support rod (6) is fixedly connected with the upper end cover (1), and the other end is fixedly connected with the lower end cover (3), The upper end cover (1), the lower end cover (3) and the support rod (6) are all located inside the driving airbag (2), the top of the upper end cover (1) is provided with a circle of grooves, and one end of the driving airbag (2) is set on the upper end cover (1 ) in the groove of the upper end cover (5) for sealing; the bottom of the lower end cover (3) is provided with a ring of grooves, and the other end of the driving airbag (2) is set in the groove of the lower end cover (3), through the lower seal The ring (7) is sealed; M lower end cover connectors (14) are evenly distributed on the bottom of the lower end cover (3), M=N; the driving air bag (2) is respectively connected to the air valve of the air source and the vacuum valve through the air pipe; The tentacle unit includes a connecting rod (12), an end air bag (13), an inflation hose (20) and a hinge (21), the end air bag (13) is fixed at one end of the connecting rod (12), and the other end of the connecting rod (12) is fixed On the driving airbag (2), the connecting rod (12) is connected to the lower end cover connector (14) through a hinge (21), one end of the inflation hose (20) is connected to the end airbag (13), and the other end passes through the support rod (6) The center is respectively connected with the air valve of the air source and the vacuum valve. 2. The software-driven radial opening and closing pneumatic clamping device according to claim 1, characterized in that the cross-sectional area of the upper end cover (1) is not larger than the cross-sectional area of the lower end cover (3). 3. The software-driven radial opening-closing pneumatic clamping device according to claim 1, characterized in that: the above-mentioned driving airbag (2) is made of special rubber with high airtightness. 4. The software-driven radial opening and closing pneumatic clamping device according to claim 3, characterized in that the above-mentioned high-air-tight special rubber is preferably nitrile rubber, silicon rubber, and polyurethane rubber. 5. The software-driven radial opening and closing pneumatic clamping device according to claim 1, characterized in that: the above-mentioned terminal airbag (13) is made of special rubber with high airtightness. 6. The software-driven radial opening and closing pneumatic clamping device according to claim 5, characterized in that the above-mentioned high-air-tight special rubber is preferably nitrile rubber, silicon rubber, and polyurethane rubber.