CN207824905U - A kind of pneumatic software handgrip - Google Patents
A kind of pneumatic software handgrip Download PDFInfo
- Publication number
- CN207824905U CN207824905U CN201721398707.8U CN201721398707U CN207824905U CN 207824905 U CN207824905 U CN 207824905U CN 201721398707 U CN201721398707 U CN 201721398707U CN 207824905 U CN207824905 U CN 207824905U
- Authority
- CN
- China
- Prior art keywords
- pneumatic
- inner concave
- deformation
- hard rubber
- air guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of pneumatic software handgrips, including being provided with the central air guide block of several gas ports, being equably connected to several flexible pneumatic finger units being arranged in the central air guide block, inner concave when pneumatic-finger unit inflation deforms is provided with hard rubber layers.The utility model compared to pneumatic metal handgrip, pneumatic software handgrip it is easy to control it is reliable, simple in structure, cost is lower.The flexible characteristic of pneumatic software handgrip can not only be realized very well to frangible, easily rotten object lossless crawl, additionally it is possible to which the contour structures feature for adapting to a variety of crawl objects without the variation because of crawl to line contour structures, and substitutes handgrip repeatedly.In addition, one layer of vulcanie is arranged at the pneumatic-finger unit lower part of pneumatic software handgrip, can prevent handgrip lower part generate need not dilatancy, to obtain better digital flexion effect.
Description
Technical field
The utility model is related to a kind of pneumatic software handgrip, which can quickly capture frangible, easily rotten and irregular
Object, to which working efficiency be greatly improved.
Background technology
Currently, the pneumatic gripping device in industrial flow-line, is made of metal, egg is captured, fruits and vegetables etc. are frangible, easily rotten object
When, easily cause the damage of crawl object.Some accurate mechanical grippers, although can also realize nondestructively capture it is frangible, easily rotten
Object, but it is high to the required precision of manipulator control and sensing, so that its cost is high, it is universal to be unfavorable for industry.
This utility model is improved and has been innovated for this deficiency, is proposed the design of pneumatic software handgrip, is being protected
Demonstrate,prove it is lossless crawl it is frangible, easily rotten object while, significantly reduce manufacturing cost and maintenance cost.
Utility model content
The purpose of this utility model is that avoiding the deficiencies in the prior art and providing a kind of novel pneumatic gripping device, to protect
It is demonstrate,proved to work in high efficiency and low cost.
Technical solution adopted by the utility model to solve its technical problems is：
A kind of pneumatic software handgrip, including be provided with the central air guide block of several gas ports, be equably connected to setting in institute
Several flexible pneumatic finger units in central air guide block are stated, inner concave setting when pneumatic-finger unit inflation deforms
There are hard rubber layers, hard rubber layers that can prevent the spherodization of pneumatic-finger unit lower part, pneumatic-finger element number can
It adjusts according to actual needs, pneumatic-finger unit one end closing, the other end has opening along air guide room, connects external air source.To gas
Dilatancy after dynamic finger unit inflation, mutually squeezes with adjacent air cells, to make pneumatic-finger unit occur bending and deformation, gas
Several pneumatic-finger units of dynamic software handgrip can cooperate with flexural deformation, to complete corresponding grasping movement.
Preferably, the hard rubber layers include equably be arranged in parallel in along its length it is several on the inner concave
Vulcanie piece, the sheet rubber intersect certain angle with the width edge of inner concave.
Preferably, the hard rubber layers include equably be arranged in parallel in along its length it is several on the inner concave
Vulcanie piece, the vulcanie piece are vertical with the length sides of inner concave.
Preferably, the hard rubber layers include several vulcanies being equably arranged in parallel on the inner concave
Piece, the sheet rubber are parallel with the length sides of inner concave.
Preferably, the hard rubber layers include several several round hard rubbers along matrix distribution on the inner concave
Film.
Preferably, the pneumatic-finger unit includes rubbery outer cover, between uniform along its length in the rubbery outer cover
Ground is provided with several deformation gas chambers, the air guide room and the central air guide block that the lower end of each deformation gas chamber is sealed by one end
Corresponding gas port is connected, and the hard rubber layers are arranged inflates inner concave when deforming in rubbery outer cover.
Preferably, the air room height of leading of the pneumatic-finger unit is a, and deformation air room height is b, air guide room and deformation
Gas chamber width is c, and the deformation air chamber length is d；Vulcanie layer thickness is e, and rubbery outer cover both sides and upper lower wall thickness are f,
The deformation wall thickness of deformation gas chamber is g；The spacing of deformation gas chamber is h, meets following relationship：B=18a, c=16a, d=4a, e=a, f
=2a, g=1.5a, h=a.
Preferably, the Young's modulus of the hard rubber layers is 2-3 times of rubbery outer cover.
Preferably, the quantity of the pneumatic-finger unit is two, three or three or more, can be carried out as the case may be
Selection.
Compared with prior art, the protrusion effect of the utility model is：Compared to pneumatic metal handgrip, pneumatic software handgrip control
Make convenient and reliable, simple in structure, cost is lower.The flexible characteristic of pneumatic software handgrip, can not only realize very well to frangible, easily rotten
The lossless crawl of object, additionally it is possible to the contour structures feature for adapting to a variety of crawl objects, without because capturing to line contour structures
Variation, and substitute handgrip repeatedly.It, can be to prevent in addition, one layer of vulcanie is arranged at the pneumatic-finger unit lower part of pneumatic software handgrip
Only handgrip lower part generate need not dilatancy, to obtain better digital flexion effect.
Description of the drawings
Fig. 1 is the configuration schematic diagram of the utility model embodiment.
Fig. 2 is the pneumatic-finger unit schematic cross-sectional view of the utility model embodiment.
Fig. 3 is the pneumatic-finger unit front view scale diagrams of the utility model embodiment.
Fig. 4 is the pneumatic-finger cell side view dimensions schematic diagram of the utility model embodiment.
Fig. 5 is spherodization schematic diagram when hard rubber layers are not arranged for pneumatic-finger unit.
Fig. 6 is that inflation when hard rubber layers are arranged in pneumatic-finger unit is bent schematic diagram.
Fig. 7 is that the pneumatic software handgrip of the utility model embodiment captures mango schematic diagram.
As shown in the figure：1- pneumatic-finger units；The centers 2- air guide block；3- rubbery outer covers；4- hard rubber layers；5- deformation gas
Room；6- air guides room.
Specific implementation mode
The purpose of this utility model is described in further detail below by specific embodiment, other embodiment cannot
It repeats one by one herein, but therefore the embodiment of the utility model is not defined in following embodiment.
As shown in Figure 1, a kind of pneumatic software handgrip, including be provided with the central air guide block 2 of several gas ports, equably connect
Logical three pneumatic-finger units 1 being arranged in the central air guide block 2, when the pneumatic-finger unit 1 inflation deforms
Inner concave is provided with hard rubber layers 4.
As shown in Fig. 2, the pneumatic-finger unit 1 includes rubbery outer cover 3, in the rubbery outer cover 3 along its length
Be evenly spaced apart to be provided with several deformation gas chambers 5, the air guide room 6 that the lower end of each deformation gas chamber 5 is sealed by one end with it is described
2 corresponding gas port of central air guide block is connected, and the hard rubber layers 4 are arranged inflates indent when deforming in rubbery outer cover 3
Face, wherein the Young's modulus of rubbery outer cover 3 is 2.0*105The Young's modulus of MPa, hard rubber layers 4 are 4.0*105MPa。
As shown in Figure 3 and Figure 4,6 height of air guide room of the pneumatic-finger unit 1 is a, and 5 height of deformation gas chamber is b, is led
Gas chamber 6 and 5 width of deformation gas chamber are c, and the deformation air chamber length is d；Vulcanie layer thickness is e, 3 liang of rubbery outer cover
Side and upper lower wall thickness are f, and the deformation wall thickness of deformation gas chamber 5 is g；The spacing of deformation gas chamber 5 is h, meets following relationship：b=
18a, c=16a, d=4a, e=a, f=2a, g=1.5a, h=a, in this embodiment, a=1mm.
The hard rubber layers 4 include several hard rubbers being equably arranged in parallel in along its length on the inner concave
Film, the sheet rubber intersect certain angle with the width edge of inner concave.
In a feasible embodiment of the utility model, the hard rubber layers 4 include along its length equably
Several vulcanie pieces being arranged in parallel on the inner concave, the vulcanie piece are vertical with the length sides of inner concave.
In another feasible embodiment of the utility model, the hard rubber layers 4 include equably being arranged in parallel
Several vulcanie pieces on the inner concave, the sheet rubber are parallel with the length sides of inner concave.
In another feasible embodiment of the utility model, the hard rubber layers 4 include several along matrix distribution
Several round vulcanie pieces on the inner concave.
Hard rubber layers 4 it is pneumatic can also can to play limitation there are many form other than initial sheet and circle
The effect of 1 lower expansion of finger unit.
As shown in figure 5, in the prior art, after gas is filled with the pneumatic-finger unit 1 for not being bonded hard gel layer 4, hand
Finger top, lower part expand together, and pneumatic-finger unit 1 cannot occur bending and deformation, but " spherodization " occur so that pneumatic
Finger unit loses crawl function.
As shown in fig. 6, for " spherodization " in Fig. 4, the pneumatic-finger lists of hard rubber layers 4 is posted when gas is filled with
After member 1, top deformation gas chamber 5 expands, and adjacent air cells mutually squeeze；Hard rubber layers 4 can effectively prevent pneumatic-finger unit 1
Lower expansion realizes the crawl to object to make pneumatic-finger unit 1 occur bending and deformation.
As shown in fig. 7, gas supplies to three pneumatic-finger units 1 by central air guide block 2, makes three pneumatic-fingers
It occurs bending and deformation, to pick up mango.
When the utility model is used, work step is as follows：
The first step：According to target is picked up, the pneumatic-finger unit 1 of appropriate length is selected, and determine 1 quantity of finger unit；
Second step：Pneumatic software handgrip is moved to above crawl target；
Third walks：It is inflated to pneumatic software handgrip, makes its 1 flexural deformation of pneumatic-finger unit, thus by grasping body；
4th step：Pneumatic software handgrip is moved to designated position；
5th step：It extracts the gas in pneumatic software handgrip out, its pneumatic-finger unit 1 is made to restPose.
The utility model can flexibly select the length sum number of pneumatic-finger unit 1 according to the size shape for being grabbed object
Amount, to ensure effectively reliable crawl and will not be damaged to target object, meanwhile, control is simple, easy to operate, technology
It is required that it is low, it is at low cost, it is universal to be conducive to industry.
Above-described embodiment of the utility model is only intended to clearly illustrate the utility model example, and is not
Restriction to the embodiment of the utility model.For those of ordinary skill in the art, on the basis of above description
On can also make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.
All any modification, equivalent and improvement made within the spirit and principle of the present invention etc., should be included in this reality
Within novel scope of the claims.
Claims (9)
1. a kind of pneumatic software handgrip, which is characterized in that the central air guide block (2), equably including being provided with several gas ports
Several flexible pneumatic finger units (1) of the connection setting on the central air guide block (2), the pneumatic-finger unit (1)
Inner concave when inflation deformation is provided with hard rubber layers (4).
2. a kind of pneumatic software handgrip according to claim 1, which is characterized in that the hard rubber layers (4) include edge
Length direction is equably arranged in parallel in several vulcanie pieces on the inner concave, the width of the sheet rubber and inner concave
It spends side and intersects certain angle.
3. a kind of pneumatic software handgrip according to claim 1, which is characterized in that the hard rubber layers (4) include edge
Length direction is equably arranged in parallel in several vulcanie pieces on the inner concave, the vulcanie piece and inner concave
Length sides it is vertical.
4. a kind of pneumatic software handgrip according to claim 1, which is characterized in that the hard rubber layers (4) include equal
Several vulcanie pieces being arranged in parallel in evenly on the inner concave, the sheet rubber are parallel with the length sides of inner concave.
5. a kind of pneumatic software handgrip according to claim 1, which is characterized in that the hard rubber layers (4) are if include
Dry several round vulcanie pieces along matrix distribution on the inner concave.
6. a kind of pneumatic software handgrip according to claim 1, which is characterized in that pneumatic-finger unit (1) packet
Rubbery outer cover (3) is included, is evenly spaced apart to be provided with several deformation gas chambers (5) along its length in the rubbery outer cover (3), it is each
The air guide room (6) that the lower end of deformation gas chamber (5) is sealed by one end gas port corresponding with central air guide block (2) is connected
Logical, hard rubber layers (4) setting inflates inner concave when deforming in rubbery outer cover (3).
7. a kind of pneumatic software handgrip according to claim 6, which is characterized in that
The air guide room (6) of the pneumatic-finger unit (1) is highly a, and deformation gas chamber (5) is highly b, air guide room (6) and shape
Become gas chamber (5) width as c, the deformation air chamber length is d；Vulcanie layer thickness be e, rubbery outer cover (3) both sides and up and down
Wall thickness is f, and the deformation wall thickness of deformation gas chamber (5) is g；The spacing of deformation gas chamber (5) is h, meets following relationship：B=18a, c=
16a, d=4a, e=a, f=2a, g=1.5a, h=a.
8. a kind of pneumatic software handgrip according to claim 6, which is characterized in that the Young of the hard rubber layers (4)
Modulus is 2-3 times of rubbery outer cover (3).
9. a kind of pneumatic software handgrip according to claim 1, which is characterized in that the number of the pneumatic-finger unit (1)
Amount is two, three or three or more.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721398707.8U CN207824905U (en) | 2017-10-27 | 2017-10-27 | A kind of pneumatic software handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721398707.8U CN207824905U (en) | 2017-10-27 | 2017-10-27 | A kind of pneumatic software handgrip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207824905U true CN207824905U (en) | 2018-09-07 |
Family
ID=63385414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721398707.8U Active CN207824905U (en) | 2017-10-27 | 2017-10-27 | A kind of pneumatic software handgrip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207824905U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692848A (en) * | 2020-12-28 | 2021-04-23 | 深圳市人工智能与机器人研究院 | Flexible pneumatic arm and tail end control system |
-
2017
- 2017-10-27 CN CN201721398707.8U patent/CN207824905U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692848A (en) * | 2020-12-28 | 2021-04-23 | 深圳市人工智能与机器人研究院 | Flexible pneumatic arm and tail end control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107718021A (en) | A kind of pneumatic software handgrip | |
| TWM570222U (en) | A new type of soft finger | |
| Tawk et al. | A 3D-printed omni-purpose soft gripper | |
| CN104608140B (en) | A kind of pneumatic softness finger | |
| CN108044640A (en) | A kind of air pressure drives soft soft mixing bionic mechanical hand | |
| CN207824905U (en) | A kind of pneumatic software handgrip | |
| CN108858269A (en) | A kind of finger of variation rigidity three soft robot | |
| CN106881725A (en) | A kind of flexible grips structure | |
| JP2014151371A (en) | Robot hand | |
| CN109168605A (en) | A kind of apery hand flexible pneumatic grabbing device | |
| CN109968386A (en) | A kind of flexible gripper with surface micro-structure | |
| CN107253210A (en) | Apply the manipulator in industrial robot | |
| CN106956288A (en) | Multiple degrees of freedom software grabbing device | |
| CN113771069B (en) | Soft gripping device with adjustable gripping range and controllable rigidity and manufacturing method | |
| CN107414841B (en) | Bionic flexible grabbing manipulator based on multistage metamorphic mechanism | |
| ATE292076T1 (en) | GRIPPER DEVICE FOR PICKING UP PIECE GOODS | |
| CN107225586A (en) | A kind of software holding finger of microchannel | |
| CN108673493A (en) | A kind of cloth gripping device and soft robot | |
| CN103223675B (en) | Based on the robot delicate curved surface tracking method of array of pressure sensors | |
| CN110561469B (en) | Pneumatic finger of software of embedded skeleton | |
| CN110936396A (en) | Stable form machinery snatchs hand | |
| CN107309893A (en) | The magnechuck extracting portion part of robot | |
| GB2357274A (en) | Gripper finger tips | |
| CN206519962U (en) | A kind of gloves suitable for ferromagnetism manipulator | |
| CN204505280U (en) | A kind of pneumatic softness finger |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |