CN205704256U - A kind of software three refers to robot - Google Patents
A kind of software three refers to robot Download PDFInfo
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- CN205704256U CN205704256U CN201620690558.1U CN201620690558U CN205704256U CN 205704256 U CN205704256 U CN 205704256U CN 201620690558 U CN201620690558 U CN 201620690558U CN 205704256 U CN205704256 U CN 205704256U
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Abstract
The utility model discloses a kind of software three and refer to robot, it includes a B support (3B), three dual pathwayss software finger (1C, 1D, 1E), four charging connectors (2C, 2D, 2E) and is used for connecting respectively the air-flow conducting valve of described finger and described inflation, and three support arms of B support (3B) are connected to air-flow conducting valve.Described dual pathways software finger is provided with finger tips (1), finger joint (2), flexible joint (3), finger fingerboard (4) and flexible joint shoulder (5).It is arranged at intervals with multiple flexible joint (3) and flexible joint shoulder (5) between finger tips (1) and finger joint (2), and the bottom of flexible joint (3) and flexible joint shoulder (5) is finger fingerboard (4).Finger interior is provided with two gas channels, and when being inflated in gas channels, the gas being filled with is imported in air bag by gas channels.
Description
Technical field
This utility model relates to a kind of soft robot, more particularly, refers to that one will have twin-channel software hands
Refer to that being combined into software three refers to robot.
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
The purpose of this utility model is that a kind of software three of design refers to robot, and this software three refers to that robot passes through at a support
Upper installation three has twin-channel software finger, and mixes air-flow conducting valve and constitute.This utility model software three refers to machine
People is a kind of based on soft material with the pneumatic software mechanism of pneumatic control, carries out efficiently to replace conventional robot to perform end
And the operation of safety.By being inflated or air-breathing to the passage of finger interior, thus realize finger and be bent outwardly or inwardly
The posture deforming of bending, reaches grasping or pickup object.
This utility model devises a kind of software three and refers to robot, and it includes C dual pathways software finger (1C), D bilateral
Road software finger (1D), E dual pathways software finger (1E), C air-flow conducting valve (4C), D air-flow conducting valve (4D), E air-flow turn on
Valve (4E), C charging connector (2C), D charging connector (2D), E charging connector (2E) and B support (3B)；
Wherein, C dual pathways software finger (1C), D dual pathways software finger (1D) and the knot of E dual pathways software finger (1E)
Structure is identical；
Wherein, C air-flow conducting valve (4C), D air-flow conducting valve (4D) and E air-flow conducting valve (4E) structure identical；
Wherein, C charging connector (2C), D charging connector (2D) are identical with the structure of E charging connector (2E)；
Dual pathways software finger (1C, 1D, 1E) is provided with finger tips (1), finger joint (2), flexible joint (3), hands
Refer to fingerboard (4) and flexible joint shoulder (5)；Multiple flexible joint (3) it is arranged at intervals with between finger tips (1) and finger joint (2)
(5) are takeed on flexible joint；Flexible joint (3) and flexible joint shoulder (5) are disposed on the top of finger fingerboard (4), finger fingerboard (4)
Bottom be provided with multiple projection (41)；The end of finger joint (2) is evagination annular solid (22), finger joint (2) end with
The changeover portion of flexible joint (3) is bullet (23)；The inside of dual pathways software finger (1C, 1D, 1E) is provided with A gas channels
(6) and B gas channels (7), when being inflated in A gas channels (6) and B gas channels (7), the gas being filled with passes through A
Gas channels (6) and B gas channels (7) import in air bag (31)；
B support (3B) is provided with installation panel (3B1), C support arm (3B2), D support arm (3B3), E support arm (3B4), installed surface
Plate (3B1) is fixed with external equipment for realization；C support arm (3B2) is used for connecting C air-flow conducting valve (4C), D support arm
(3B3) being used for connecting D air-flow conducting valve (4D), E support arm (3B4) is used for connecting E air-flow conducting valve (4E)；
C air-flow conducting valve (4C) is made up of valve head (4C2) under valve head on C (4C1) and C, and the upper valve head of C (4C1) is provided with C
Charging connector (2C), under C, valve head (4C2) lower section is provided with the finger joint of C dual pathways software finger (1C)；
One end of the upper valve head of C (4C1) is provided with the AC screwed hole (4C1A) for installing C charging connector (2C), the upper valve head of C
(4C1) the other end is provided with upper valve face plate (4C1C) and the valve head under C of AC cone ellipse convex mouth (4C1B), the upper valve head of C (4C1)
(4C2) lower valve face plate (4C2C) connects by screw is fixing；The middle part of the upper valve head of C (4C1) is provided with AC gas channel (4C1D),
AC cone ellipse convex mouth (4C1B) patches in the air inlet of the finger joint of C dual pathways software finger (1C)；
Under C, one end of valve head (4C2) is lower valve face plate (4C2C), and under C, the other end of valve head (4C2) is AC conulite
(4C2B)；Under C, the middle part of valve head (4C2) is provided with AC cone elliptical hole (4C2D) and AC inner convex platform (4C2A), this AC inner convex platform
(4C2A) it is used for supporting the outer shroud body of the finger joint of C dual pathways software finger (1C)；AC cone elliptical hole (4C2D) uses
Finger joint in C dual pathways software finger (1C) passes；
D air-flow conducting valve (4D) is made up of valve head (4D2) under valve head on D (4D1) and D, and the upper valve head of D (4D1) is provided with D
Charging connector (2D), under D, valve head (4D2) lower section is provided with the finger joint of D dual pathways software finger (1D)；
One end of the upper valve head of D (4D1) is provided with the AD screwed hole (4D1A) for installing D charging connector (2D), the upper valve head of D
(4D1) the other end is provided with upper valve face plate (4D1C) and the valve head under D of AD cone ellipse convex mouth (4D1B), the upper valve head of D (4D1)
(4D2) lower valve face plate (4D2C) connects by screw is fixing；The middle part of the upper valve head of D (4D1) is provided with AD gas channel (4D1D),
AD cone ellipse convex mouth (4D1B) patches in the finger joint air inlet of D dual pathways software finger (1D)；
Under D, one end of valve head (4D2) is lower valve face plate (4D2C), and under D, the other end of valve head (4D2) is AD conulite
(4D2B)；Under D, the middle part of valve head (4D2) is provided with AD cone elliptical hole (4D2D) and AD inner convex platform (4D2A), this AD inner convex platform
(4D2A) it is used for supporting the outer shroud body of the finger joint of D dual pathways software finger (1D)；AD cone elliptical hole (4D2D) uses
Finger joint in D dual pathways software finger (1D) passes；
E air-flow conducting valve (4E) is made up of valve head (4E2) under valve head on E (4E1) and E, and the upper valve head of E (4E1) is provided with E
Charging connector (2E), under E, valve head (4E2) lower section is provided with the finger joint of E dual pathways software finger (1E)；
One end of the upper valve head of E (4E1) is provided with the AE screwed hole (4E1A) for installing E charging connector (2E), the upper valve head of E
(4E1) the other end is provided with upper valve face plate (4E1C) and the valve head under E of AE cone ellipse convex mouth (4E1B), the upper valve head of E (4E1)
(4E2) lower valve face plate (4E2C) connects by screw is fixing；The middle part of the upper valve head of E (4E1) is provided with AE gas channel (4E1D),
AE cone ellipse convex mouth (4E1B) patches in the finger joint air inlet of E dual pathways software finger (1E)；
Under E, one end of valve head (4E2) is lower valve face plate (4E2C), and under E, the other end of valve head (4E2) is AE conulite
(4E2B)；Under E, the middle part of valve head (4E2) is provided with AE cone elliptical hole (4E2D) and AE inner convex platform (4E2A), this AE inner convex platform
(4E2A) it is used for supporting the outer shroud body of the finger joint of E dual pathways software finger (1E)；AE cone elliptical hole (4E2D) uses
Finger joint in E dual pathways software finger (1E) passes；
Software three of the present utility model refers to that the advantage of robot is:
1. use air-flow conducting valve and the connection with twin-channel software finger, and be equipped with support, it is achieved that pick up side by side
Take object.
2. software finger uses double gas channel to carry out operation, is moved by fingerboard constraint flexible joint.
The most of the present utility model three refer to that robot breaches the restriction of Conventional mechanisms and control method, have employed soft material
(Young's modulus be less than 1Mpa), controls the motion of three finger robots by pneumatic control mode, it is achieved that manufacturing process and driving
The innovation of flowing mode.Finger uses soft material casting to form, and entirety presents enough flexibilities；Its profile, air cavity are through closing
The design of reason, possesses good performance, with people and workpiece mutual in have good practicality and safety.
The most of the present utility model three refer to that robots have simple in construction, high flexibility, high power to weight ratio, light weight and with low cost
Etc. advantage.Three refer to robot and rigid machine palmistry ratio, and three refer to that robot is not similar to the connecting rod of rigid machine hands, hinge and electricity
Restriction in the structures such as machine, does not has the control system of complexity；Have irreplaceable when grasping frangible, complex-shaped workpiece
Advantage.
The most of the present utility model three refer to that robot realizes the attitudes vibration of finger, Ke Yishi by the source of the gas that outside provides
Now pick up and discharge spherical, lamellar, cubic, bore spine surface and the entity of various complex appearance.
Accompanying drawing explanation
Fig. 1 is that this utility model software three refers to that the structure chart of state is grabbed by robot.
Figure 1A is the structure chart that this utility model software three refers to robot support state.
Fig. 2 is the structure chart that this utility model software three refers to robot medium-height trestle.
Fig. 3 is the external structure of a kind of dual pathways software finger of this utility model design.
Fig. 3 A is another visual angle external structure of a kind of dual pathways software finger of this utility model design.
Fig. 3 B is the axial section structure chart of a kind of dual pathways software finger of this utility model design.
Fig. 3 C is the flexible joint longitudinal profile structure chart of a kind of dual pathways software finger of this utility model design.
Fig. 3 D is the flexible joint shoulder longitudinal profile structure chart of a kind of dual pathways software finger of this utility model design.
Fig. 4 is the sectional arrangement drawing of this utility model dual pathways software finger and air-flow conducting valve.
Fig. 4 A is the sectional view of this utility model air-flow conducting valve.
Fig. 5 is the structure chart of upper valve head different visual angles in this utility model AC air-flow conducting valve.
Fig. 5 A is the structure chart of lower valve head different visual angles in this utility model AC air-flow conducting valve.
Fig. 6 is the structure chart of upper valve head different visual angles in this utility model AD air-flow conducting valve.
Fig. 6 A is the structure chart of lower valve head different visual angles in this utility model AD air-flow conducting valve.
Fig. 7 is the structure chart of upper valve head different visual angles in this utility model AE air-flow conducting valve.
Fig. 7 A is the structure chart of lower valve head different visual angles in this utility model AE air-flow conducting valve.
| 1. finger tips | 2. finger joint | 21. air inlets |
| 22. evagination annular solids | 23. bullets | 3. flexible joint |
| 31. air bags | 32. arcuate segment | 33. joint support |
| 4. finger fingerboard | 41. is protruding | 5. flexible joint shoulder |
| 6.A gas channels | 7.B gas channels | 1C.C dual pathways software finger |
| 1D.D dual pathways software finger | 1E.E dual pathways software finger | 2C.C charging connector |
| 2D.D charging connector | 2E.E charging connector | 3B.C support |
| 3B1. installs panel | 3B2.C support arm | 3B3.D support arm |
| 3B4.E support arm | 4C.C air-flow conducting valve | The upper valve head of 4C1.C |
| 4C1A.AC screwed hole | 4C1B.AC cone ellipse convex mouth | 4C1C. upper valve face plate |
| 4C1D.AC gas channel | Valve head under 4C2.C | 4C2A.AC inner convex platform |
| 4C2B.AC conulite | Valve face plate under 4C2C. | 4C2D.AC cone elliptical hole |
| 4D.D air-flow conducting valve | The upper valve head of 4D1.D | 4D1A.AD screwed hole |
| 4D1B.AD cone ellipse convex mouth | 4D1C. upper valve face plate | 4D1D.AD gas channel |
| Valve head under 4D2.D | 4D2A.AD inner convex platform | 4D2B.AD conulite |
| Valve face plate under 4D2C. | 4D2D.AD cone elliptical hole | 4E.E air-flow conducting valve |
| The upper valve head of 4E1.E | 4E1A.AE screwed hole | 4E1B.AE cone ellipse convex mouth |
| 4E1C. upper valve face plate | 4E1D.AE gas channel | Valve head under 4E2.E |
| 4E2A.AE inner convex platform | 4E2B.AE conulite | Valve face plate under 4E2C. |
| 4E2D.AE cone elliptical hole |
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model is described in further detail.
Seeing shown in Fig. 1, Figure 1A, this utility model devises a kind of software three and refers to robot, and it is soft that it includes the C dual pathways
Body finger 1C, D dual pathways software finger 1D, E dual pathways software finger 1E, C air-flow conducting valve 4C, D air-flow conducting valve 4D, E gas
Stream conducting valve 4E, C charging connector 2C, D charging connector 2D, E charging connector 2EE charging connector 2E and B support 3B.Wherein, C dual pathways software hands
Refer to that the structure of 1C, D dual pathways software finger 1D and E dual pathways software finger 1E is identical；C air-flow conducting valve 4C, D air-flow conducting valve
The structure of 4D with E air-flow conducting valve 4E is identical；The structure of C charging connector 2C, D charging connector 2D and E charging connector 2E is identical.
Dual pathways software finger
Seeing shown in Fig. 3, Fig. 3 A, Fig. 3 B, Fig. 3 C, Fig. 3 D, dual pathways software finger is formed in one structural member.The dual pathways
Software finger uses silicon rubber raw material (i.e. silicone rubber) processing, therefore is software speciality.
This utility model devises a kind of dual pathways software finger, and this dual pathways software finger is provided with finger tips 1, hands
Finger head 2, flexible joint 3, finger fingerboard 4 and flexible joint shoulder 5.
Multiple flexible joint 3 and flexible joint shoulder 5 it is arranged at intervals with between finger tips 1 and finger joint 2.
Flexible joint 3 and flexible joint shoulder 5 are disposed on the top of finger fingerboard 4, and the bottom of finger fingerboard 4 is provided with many
Individual protruding 41.Described protruding 41 are used for increasing frictional force when picking up object and between object.
Seeing shown in Fig. 1, Fig. 4, the end of finger joint 2 is evagination annular solid 22, and this evagination annular solid 22 is fastened under C
On the inner convex platform of valve head 4C2；Finger joint 2 end is bullet 23 with the changeover portion of flexible joint 3, and this bullet 23 is inserted in
Under C in the AC cone elliptical hole 4C2D in valve head 4C2, the AC cone ellipse convex mouth 4C1B of C upper valve head 4C1 is inserted in finger and connects
The air inlet 21 of 2.
In this utility model, dual pathways software finger selects the M4641 model silicone rubber of waker company to make.
As shown in Fig. 3 B, Fig. 3 C, Fig. 3 D, the inside of a kind of dual pathways software finger of this utility model design is provided with A gas
Paths 6 and B gas channels 7, when being inflated in A gas channels 6 and B gas channels 7, the gas being filled with passes through A gas
Paths 6 and B gas channels 7 imports in air bag 31.
As shown in Fig. 3, Fig. 3 A, Fig. 3 B, Fig. 3 C, Fig. 3 D, flexible joint 3 is provided with arcuate segment 32 and joint support 33；Soft
The inside in property joint 3 is air bag 31 structure, and this air bag 31 turns on A gas channels 6 and B gas channels 7.
In this utility model, the multiple flexible joints 3 on dual pathways software finger are arranged according to lamination, constitute Wrinkled
Structure.The compressed gas provided at outside air pump is inflated or air-breathing to described gas channels (6,7) and described air bag 31,
Thus realize dual pathways software finger outwardly or inwardly flexural deformation, reach to pick up the purpose of object.
B support 3B
Seeing shown in Fig. 1, Figure 1A, Fig. 2, B support 3B is provided with installation panel 3B1, C support arm 3B2, D support arm 3B3, E support arm
3B4, installation panel 3B1 are used for realizing (dual pathways three is referred to soft robot) and are fixed with external equipment；C support arm 3B2 uses
It is used for connecting D air-flow conducting valve 4D, E support arm 3B4 in connection C air-flow conducting valve 4C, D support arm 3B3 to be used for connecting E air-flow conducting valve
4E。
C air-flow conducting valve 4C
Seeing shown in Fig. 1, Figure 1A, Fig. 4, Fig. 4 A, Fig. 5, Fig. 5 A, C air-flow conducting valve 4C is by valve head under valve head 4C1 and C on C
4C2 forms, and C upper valve head 4C1 is provided with C charging connector 2C, is provided with the hands of C dual pathways software finger 1C under C below valve head 4C2
Finger head.
One end of C upper valve head 4C1 is provided with the AC screwed hole 4C1A for installing C charging connector 2C, and this AC screw thread 4C1A hole sets
On AC gas channel 4C1D, the other end of C upper valve head 4C1 is provided with AC cone ellipse convex mouth 4C1B, the upper valve of C upper valve head 4C1
Under panel 4C1C with C, the lower valve face plate 4C2C of valve head 4C2 is connected by screw is fixing.Energy on the cross-section structure of valve head 4C1 from C
Enough finding out, the middle part of C upper valve head 4C1 is provided with AC gas channel 4C1D, and (this AC gas channel 4C1D is for the gas through C charging connector 2C
Body passes through), one end of this AC gas channel 4C1D is AC screwed hole 4C1A, and the other end of this AC gas channel 4C1D is AC cone
Oval convex mouth 4C1B.AC cone ellipse convex mouth 4C1B patches in the air inlet of the finger joint of C dual pathways software finger 1C.
Under C, one end of valve head 4C2 is lower valve face plate 4C2C, the upper valve face plate of valve head 4C1 on this lower valve face plate 4C2C Yu C
4C1C connects by screw is fixing；Under C, the other end of valve head 4C2 is AC conulite 4C2B；The section knot of valve head 4C2 from C
On structure it can be seen that under C the middle part of valve head 4C2 be provided with AC cone elliptical hole 4C2D and AC inner convex platform 4C2A, this AC inner convex platform
4C2A is for supporting the outer shroud body of the finger joint of C dual pathways software finger 1C.AC cone elliptical hole 4C2D is used for C bilateral
The finger joint of road software finger 1C passes.
D air-flow conducting valve 4D
Seeing shown in Fig. 6, Fig. 6 A, D air-flow conducting valve 4D is made up of valve head 4D2 under valve head 4D1 and D on D, D upper valve head 4D1
On D charging connector 2D is installed, the finger joint of D dual pathways software finger 1D is installed below valve head 4D2 under D.
Owing on valve head 4D1 with C on D, the structure of valve head 4C1 is identical, Fig. 4 A being referred to valve head 4C1 on C says
Bright.One end of D upper valve head 4D1 is provided with the AD screwed hole 4D1A for installing D charging connector 2D, this AD screwed hole 4D1A and is located at AD gas
On circulation road 4D1D, the other end of D upper valve head 4D1 is provided with AD cone ellipse convex mouth 4D1B, the upper valve face plate of D upper valve head 4D1
Under 4D1C with D, the lower valve face plate 4D2C of valve head 4D2 is connected by screw is fixing.Can on the cross-section structure of valve head 4D1 from D
Going out, the middle part of D upper valve head 4D1 is provided with AD gas channel 4D1D, and (this AD gas channel 4D1D leads to for the gas through D charging connector 2D
Cross), one end of this AD gas channel 4D1D is AD screwed hole 4D1A, and the other end of this AD gas channel 4D1D is that AD cone is oval
Convex mouth 4D1B.AD cone ellipse convex mouth 4D1B patches in the finger joint air inlet of D dual pathways software finger 1D.
Owing under valve head 4D2 with C under D, the structure of valve head 4C2 is identical, Fig. 4 A being referred to valve head 4C2 under C says
Bright.Under D, one end of valve head 4D2 is lower valve face plate 4D2C, and on this lower valve face plate 4D2C Yu D, the upper valve face plate 4D1C of valve head 4D1 leads to
Cross the fixing connection of screw；Under D, the other end of valve head 4D2 is AD conulite 4D2B；Energy on the cross-section structure of valve head 4D2 from D
Enough finding out, under D, the middle part of valve head 4D2 is provided with AD cone elliptical hole 4D2D and AD inner convex platform 4D2A, and this AD inner convex platform 4D2A uses
Outer shroud body in the finger joint supporting D dual pathways software finger 1D.AD cone elliptical hole 4D2D is used for D dual pathways software
The finger joint of finger 1D passes.
E air-flow conducting valve 4E
Seeing shown in Fig. 7, Fig. 7 A, E air-flow conducting valve 4E is made up of valve head 4E2 under valve head 4E1 and E on E, E upper valve head 4E1
On E charging connector 2EE charging connector 2E is installed, the finger joint of E dual pathways software finger 1E is installed below valve head 4E2 under E.
Owing on valve head 4E1 with C on E, the structure of valve head 4C1 is identical, Fig. 4 A being referred to valve head 4C1 on C says
Bright.One end of E upper valve head 4E1 is provided with the AE screwed hole 4E1A for installing E charging connector 2EE charging connector 2E, this AE screwed hole
4E1A is located on AE gas channel 4E1D, and the other end of E upper valve head 4E1 is provided with AE cone ellipse convex mouth 4E1B, E upper valve head 4E1
Upper valve face plate 4E1C with E under the lower valve face plate 4E2C of valve head 4E2 be connected by screw is fixing.The section knot of valve head 4E1 from E
On structure it can be seen that on E the middle part of valve head 4E1 be provided with AE gas channel 4E1D (this AE gas channel 4E1D be for through E charging connector
The gas of 2EE charging connector 2E passes through), one end of this AE gas channel 4E1D is AE screwed hole 4E1A, this AE gas channel 4E1D
The other end be AE cone ellipse convex mouth 4E1B.AE cone ellipse convex mouth 4E1B patches the finger at E dual pathways software finger 1E
In joint air inlet.
Owing under valve head 4E2 with C under E, the structure of valve head 4C2 is identical, Fig. 4 A being referred to valve head 4C2 under C says
Bright.Under E, one end of valve head 4E2 is lower valve face plate 4E2C, and on this lower valve face plate 4E2C Yu E, the upper valve face plate 4E1C of valve head 4E1 leads to
Cross the fixing connection of screw；Under E, the other end of valve head 4E2 is AE conulite 4E2B；Energy on the cross-section structure of valve head 4E2 from E
Enough finding out, under E, the middle part of valve head 4E2 is provided with AE cone elliptical hole 4E2D and AE inner convex platform 4E2A, and this AE inner convex platform 4E2A uses
Outer shroud body in the finger joint supporting E dual pathways software finger 1E.AE cone elliptical hole 4E2D is used for E dual pathways software
The finger joint of finger 1E passes.
Claims (2)
1. a software three refers to robot, it is characterised in that: software three refers to that robot includes C dual pathways software finger (1C), D
Dual pathways software finger (1D), E dual pathways software finger (1E), C air-flow conducting valve (4C), D air-flow conducting valve (4D), E air-flow
Conducting valve (4E), C charging connector (2C), D charging connector (2D), E charging connector (2E) and B support (3B)；
Wherein, C dual pathways software finger (1C), D dual pathways software finger (1D) and the structure phase of E dual pathways software finger (1E)
With；
Wherein, C air-flow conducting valve (4C), D air-flow conducting valve (4D) and E air-flow conducting valve (4E) structure identical；
Wherein, C charging connector (2C), D charging connector (2D) are identical with the structure of E charging connector (2E)；
Dual pathways software finger (1C, 1D, 1E) is provided with finger tips (1), finger joint (2), flexible joint (3), Fingers
Plate (4) and flexible joint shoulder (5)；Multiple flexible joint (3) and soft it is arranged at intervals with between finger tips (1) and finger joint (2)
Property joint shoulder (5)；Flexible joint (3) and flexible joint shoulder (5) are disposed on the top of finger fingerboard (4), under finger fingerboard (4)
Portion is provided with multiple projection (41)；The end of finger joint (2) is evagination annular solid (22), and finger joint (2) end is with flexible
The changeover portion in joint (3) is bullet (23)；The inside of dual pathways software finger (1C, 1D, 1E) is provided with A gas channels (6) and B
Gas channels (7), when being inflated in A gas channels (6) and B gas channels (7), the gas being filled with is led to by A gas circuit
Road (6) and B gas channels (7) import in air bag (31)；
B support (3B) is provided with installation panel (3B1), C support arm (3B2), D support arm (3B3), E support arm (3B4), installs panel
(3B1) it is fixed with external equipment for realization；C support arm (3B2) is used for connecting C air-flow conducting valve (4C), D support arm (3B3)
For connecting D air-flow conducting valve (4D), E support arm (3B4) is used for connecting E air-flow conducting valve (4E)；
C air-flow conducting valve (4C) is made up of valve head (4C2) under valve head on C (4C1) and C, and the upper valve head of C (4C1) is provided with C inflation
Mouth (2C), under C, valve head (4C2) lower section is provided with the finger joint of C dual pathways software finger (1C)；
One end of the upper valve head of C (4C1) is provided with the AC screwed hole (4C1A) for installing C charging connector (2C), the upper valve head of C's (4C1)
The other end be provided with the upper valve face plate (4C1C) of AC cone ellipse convex mouth (4C1B), the upper valve head of C (4C1) with under valve head (4C2) under C
Valve face plate (4C2C) connects by screw is fixing；The middle part of the upper valve head of C (4C1) is provided with AC gas channel (4C1D), and AC cone is ellipse
Boss mouth (4C1B) patches in the air inlet of the finger joint of C dual pathways software finger (1C)；
Under C, one end of valve head (4C2) is lower valve face plate (4C2C), and under C, the other end of valve head (4C2) is AC conulite
(4C2B)；Under C, the middle part of valve head (4C2) is provided with AC cone elliptical hole (4C2D) and AC inner convex platform (4C2A), this AC inner convex platform
(4C2A) it is used for supporting the outer shroud body of the finger joint of C dual pathways software finger (1C)；AC cone elliptical hole (4C2D) uses
Finger joint in C dual pathways software finger (1C) passes；
D air-flow conducting valve (4D) is made up of valve head (4D2) under valve head on D (4D1) and D, and the upper valve head of D (4D1) is provided with D inflation
Mouth (2D), under D, valve head (4D2) lower section is provided with the finger joint of D dual pathways software finger (1D)；
One end of the upper valve head of D (4D1) is provided with the AD screwed hole (4D1A) for installing D charging connector (2D), the upper valve head of D's (4D1)
The other end be provided with the upper valve face plate (4D1C) of AD cone ellipse convex mouth (4D1B), the upper valve head of D (4D1) with under valve head (4D2) under D
Valve face plate (4D2C) connects by screw is fixing；The middle part of the upper valve head of D (4D1) is provided with AD gas channel (4D1D), and AD cone is ellipse
Boss mouth (4D1B) patches in the finger joint air inlet of D dual pathways software finger (1D)；
Under D, one end of valve head (4D2) is lower valve face plate (4D2C), and under D, the other end of valve head (4D2) is AD conulite
(4D2B)；Under D, the middle part of valve head (4D2) is provided with AD cone elliptical hole (4D2D) and AD inner convex platform (4D2A), this AD inner convex platform
(4D2A) it is used for supporting the outer shroud body of the finger joint of D dual pathways software finger (1D)；AD cone elliptical hole (4D2D) uses
Finger joint in D dual pathways software finger (1D) passes；
E air-flow conducting valve (4E) is made up of valve head (4E2) under valve head on E (4E1) and E, and the upper valve head of E (4E1) is provided with E inflation
Mouth (2E), under E, valve head (4E2) lower section is provided with the finger joint of E dual pathways software finger (1E)；
One end of the upper valve head of E (4E1) is provided with the AE screwed hole (4E1A) for installing E charging connector (2E), the upper valve head of E's (4E1)
The other end be provided with the upper valve face plate (4E1C) of AE cone ellipse convex mouth (4E1B), the upper valve head of E (4E1) with under valve head (4E2) under E
Valve face plate (4E2C) connects by screw is fixing；The middle part of the upper valve head of E (4E1) is provided with AE gas channel (4E1D), and AE cone is ellipse
Boss mouth (4E1B) patches in the finger joint air inlet of E dual pathways software finger (1E)；
Under E, one end of valve head (4E2) is lower valve face plate (4E2C), and under E, the other end of valve head (4E2) is AE conulite
(4E2B)；Under E, the middle part of valve head (4E2) is provided with AE cone elliptical hole (4E2D) and AE inner convex platform (4E2A), this AE inner convex platform
(4E2A) it is used for supporting the outer shroud body of the finger joint of E dual pathways software finger (1E)；AE cone elliptical hole (4E2D) uses
Finger joint in E dual pathways software finger (1E) passes.
Software three the most according to claim 1 refers to robot, it is characterised in that: dual pathways software finger is silicone rubber material
Matter.
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Address after: 100176 building 12, yard 109, jinghaisan Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing (Yizhuang group, high end industrial area, Beijing Pilot Free Trade Zone) Patentee after: Beijing Software Robot Technology Co.,Ltd. Address before: 100191 No. 3 Haidian Street, Haidian District, Beijing Patentee before: BEIJING SOFT ROBOT TECH Co.,Ltd. |