CN208196803U - A kind of cloth gripping device and soft robot - Google Patents
A kind of cloth gripping device and soft robot Download PDFInfo
- Publication number
- CN208196803U CN208196803U CN201820458923.5U CN201820458923U CN208196803U CN 208196803 U CN208196803 U CN 208196803U CN 201820458923 U CN201820458923 U CN 201820458923U CN 208196803 U CN208196803 U CN 208196803U
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- cloth
- refer
- cavity
- crawl arm
- gripping device
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- 238000010586 diagram Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 208000002925 dental caries Diseases 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000000499 gel Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- -1 reliable and stable Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001568 sexual effect Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
Abstract
The utility model discloses a kind of cloth gripping device and soft robots, are related to robotic technology field.The cloth gripping device includes that crawl arm, pneumatic mechanism and multiple softwares refer to.Multiple softwares refer to the one end for being mounted on crawl arm, multiple softwares refer to that one end far from crawl arm is all set in preset plane, software is provided with finger cavity in referring to, pneumatic mechanism is installed on crawl arm, and it is connected to cavity is referred to, pneumatic mechanism can absorb the gas referred in cavity, so that multiple softwares refer to the cloth for closing up and grabbing in preset plane.Compared with prior art, the pneumatic mechanism that cloth gripping device provided by the utility model refers to and is connected to finger cavity due to using the multiple softwares being installed on crawl arm, so multiple softwares refer to close up in pneumatic mechanism air-breathing and grab cloth, it is reliable and stable, cloth is avoided to slide, the efficiency of processing transport is improved, practical, cost performance is high.
Description
Technical field
The utility model relates to robotic technology fields, in particular to a kind of cloth gripping device and software machine
Device people.
Background technique
Soft robot is a kind of Flexiable robot, can only be driven with air.Scientist's current research it is soft
Body robot is made of can be bent, reverse and pick up more than 100 times of own wt of object using papery and silicon rubber.Software
The design inspiration of robot is to imitate internal structure or shape framework of insect of the mankind etc., especially the latter.
Soft inflating robot model is advanced unlike mechanical robot, but does not include in their soft body
Any electronic device.Inflating flexible robot is considered as best tool, and this kind of robot can complete many tradition machineries
The function that robot cannot achieve.Traditional mainstream robot is to load connection electricity using metal and the manufacture of other hard materials
Sub- instrument and element, they can manufacture automobile, carry heavier object device, or even disassembly bomb.Inventor the study found that
Fabric processing during, since the surface of cloth is very smooth, traditional rigid mechanical clamping jaw when grabbing cloth very
It is easy to appear the unstable situation of crawl, causes cloth to slide, influences processing efficiency.
In view of this, the cloth gripping device and soft robot that design and manufacture a kind of grasping stability are especially in machine
Device life is particularly important in producing.
Utility model content
The purpose of this utility model is to provide a kind of cloth gripping devices, and structure is simple, can grab to cloth,
It is reliable and stable, it avoids cloth from sliding, improves the efficiency of processing transport, practical, cost performance is high.
The another object of the utility model is to provide a kind of soft robot, and structure is simple, can grab to cloth
It takes, it is reliable and stable, it avoids cloth from sliding, improves the efficiency of processing transport, practical, cost performance is high, and user experience is good.
The utility model is that it is realized by adopting the following technical scheme.
A kind of cloth gripping device, including crawl arm, pneumatic mechanism and multiple softwares refer to that multiple softwares, which refer to be mounted on, grabs
Take one end of arm, multiple softwares refer to that one end far from crawl arm is all set in preset plane, software refer in be provided with finger cavity,
Pneumatic mechanism is installed on crawl arm, and is connected to cavity is referred to, pneumatic mechanism can absorb the gas referred in cavity, so that multiple
Software refers to the cloth for closing up and grabbing in preset plane.
Further, software refers to that, including multiple finger units, multiple finger units are sequentially connected, refer to and be provided with unit air in unit
Chamber, multiple unit cavity connections, and combine to be formed and refer to cavity.
Further, software refers to further include multiple screwed pipes, refers to and is provided with threaded hole in unit, threaded hole and screwed pipe phase
Cooperation, two neighboring finger unit are detachably connected by a screwed pipe, and two neighboring unit cavity is connected by a screwed pipe
It is logical.
Further, screwed pipe is made of flexible material.
Further, refer to that unit includes the first halfbody and the second halfbody, the first halfbody and the second half body by integral forming, and group
Conjunction forms unit cavity, and the first halfbody is set in preset plane, and the first halfbody is for supporting cloth.
Further, the hardness of the first halfbody is greater than the hardness of the second halfbody.
Further, the quantity that software refers to is three, and three softwares refer to be distributed by center circular array of crawl arm, phase
Adjacent two softwares refer between angle be 120 degree.
Further, pneumatic mechanism includes air pump, snorkel and connector, and air pump is installed on crawl arm, connector peace
On referring to loaded on software, one end of snorkel is connect with air pump, and the other end is connected to by connector with finger cavity.
Further, software refers to that one end far from crawl arm is provided with non-slip mat.
A kind of soft robot, including robot body and cloth gripping device, cloth gripping device include crawl arm, gas
Motivation structure and multiple softwares refer to that multiple softwares refer to the one end for being mounted on crawl arm, and the other end of crawl arm is installed on robot
On ontology, multiple softwares refer to that one end far from crawl arm is all set in preset plane, software refer in be provided with finger cavity, pneumatically
Mechanism is installed on crawl arm, and is connected to cavity is referred to, pneumatic mechanism can absorb the gas referred in cavity, so that multiple softwares
Finger closes up and grabs the cloth in preset plane.
Cloth gripping device and soft robot provided by the utility model have the advantages that
Cloth gripping device provided by the utility model, multiple softwares refer to the one end for being mounted on crawl arm, multiple softwares
Refer to and be all set in preset plane far from one end of crawl arm, software refer in be provided with finger cavity, pneumatic mechanism is installed on crawl
On arm, and with refer to cavity be connected to, pneumatic mechanism can absorb the gas referred in cavity so that multiple softwares refer to close up and grab it is pre-
If the cloth in plane.Compared with prior art, cloth gripping device provided by the utility model is grabbed due to using to be installed on
The pneumatic mechanism for taking multiple softwares on arm to refer to and be connected to finger cavity, so multiple softwares are referred in pneumatic mechanism air-breathing
When close up and cloth grabbed, it is reliable and stable, avoid cloth from sliding, improve processing transport efficiency, practical, sexual valence
Than high.
Soft robot provided by the utility model, including cloth gripping device, structure is simple, and multiple softwares refer to
Close up when pneumatic mechanism air-breathing and cloth is grabbed, it is reliable and stable, it avoids cloth from sliding, improves the efficiency of processing transport,
Practical, cost performance is high, and user experience is good.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the structural schematic diagram for the cloth gripping device that the utility model first embodiment provides；
The structural schematic diagram that software refers in the cloth gripping device that Fig. 2 provides for the utility model first embodiment；
The configuration schematic diagram that software refers in the cloth gripping device that Fig. 3 provides for the utility model first embodiment；
Fig. 4 is the structural schematic diagram of Fig. 3 middle finger unit；
Fig. 5 is the structural schematic diagram for the soft robot that the utility model second embodiment provides.
Icon: 10- soft robot；100- cloth gripping device；110- crawl arm；130- pneumatic mechanism；131- air
Pump；133- snorkel；135- connector；150- software refers to；151- refers to cavity；152- refers to unit；1521- unit cavity；1522-
One halfbody；The second halfbody of 1524-；153- screwed pipe；160- non-slip mat；200- robot body.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here in attached drawing description and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the range of the utility model protection.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term "inner", "outside", "upper", "lower", "horizontal" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings or when utility model product uses is used
The orientation or positional relationship often put, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of utility model.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and should not be understood as indicating
Or imply relative importance.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " connected ", " installation ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection,
Or it is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, it can be managed with concrete condition
Solve the concrete meaning of above-mentioned term in the present invention.
With reference to the accompanying drawing, it elaborates to some embodiments of the utility model.In the absence of conflict, under
The feature in embodiment stated can be combined with each other.
First embodiment
Fig. 1 is please referred to, the utility model embodiment provides a kind of cloth gripping device 100, for grabbing to cloth
It takes.Its structure is simple, can grab to cloth, reliable and stable, and cloth is avoided to slide, and improves the efficiency of processing transport, real
Strong with property, cost performance is high.
The cloth gripping device 100 includes that crawl arm 110, pneumatic mechanism 130 and multiple softwares refer to 150.Multiple softwares refer to
150 are mounted on one end of crawl arm 110, and can close up or separate relative to crawl arm 110, to grab to cloth
It takes.Multiple softwares refer to that 150 one end far from crawl arm 110 are all set in preset plane (not shown), in the present embodiment, preset
Plane is to place the surface of the platform of cloth, and cloth is laid on a surface.Pneumatic mechanism 130 is installed on crawl arm 110, and
Refer to 150 connections with multiple softwares respectively, refers to that 150 move to control multiple softwares, to be grabbed or be put to cloth
The movement opened.
In the present embodiment, software refer to 150 quantity be three, three softwares refer to 150 centered on crawl arm 110 in a ring
Array distribution, two neighboring software refer to that the angle between 150 is 120 degree.It is not limited to this, software refers to 150 quantity
It can be two, two softwares refer to 150 two sides for being relatively arranged on crawl arm 110, and software refers to that 150 quantity may be four
A, two neighboring software refers to that the angle between 150 is 90 degree, refers to that 150 quantity is not especially limited to software, as long as can be real
Now the software of stable crawl cloth refers to that 150 quantity both is within the protection scope of the present invention.
Referring to figure 2., software, which refers to be provided in 150, refers to cavity 151, and pneumatic mechanism 130 connects with multiple finger cavitys 151 respectively
It is logical.Pneumatic mechanism 130 can absorb the gas referred in cavity 151, so that software refers to 150 bending deformations, so that multiple soft
Body refers to that 150 close up and grab the cloth in preset plane.Pneumatic mechanism 130 can also be inflated to referring in cavity 151, so that software
Refer to that 150 stretch deformation, so that multiple softwares refer to that 150 separate and put down the cloth being crawled.
Referring to figure 3., software refers to that 150 include multiple finger units 152 and multiple screwed pipes 153.Multiple finger units 152 are successively
Connection, refers to 150, and the movement that can be bent or stretch to form software.Refer to and is provided with threaded hole (figure in unit 152
Do not show), threaded hole is matched with screwed pipe 153, and two neighboring finger unit 152 is detachably connected by a screwed pipe 153, is had
There are better stress performance, convenient for safeguarding and maintenance.In the present embodiment, each quantity for referring to the threaded hole in unit 152 is two
A, two threaded holes are oppositely arranged, and one of threaded hole and screwed pipe 153 cooperate, another threaded hole and another
Screwed pipe 153 cooperates, so that multiple finger units 152 be connected.
It should be noted that screwed pipe 153 is made of flexible material, to deform with the deformation for referring to unit 152.
In the present embodiment, screwed pipe 153 is made of rubber material, has preferable elasticity, it is not limited to this, to screwed pipe 153
Making material be not especially limited.
Referring to figure 4., it is notable that refer to and be provided with unit cavity 1521 in unit 152, multiple finger units 152 connect
Multiple unit cavitys 1521 are connected to when connecing, and are combined to be formed and referred to cavity 151.Wherein, the hollow setting of screwed pipe 153, it is two neighboring
Unit cavity 1521 is connected to by a screwed pipe 153, reliable and stable.
Refer to that unit 152 includes the first halfbody 1522 and the second halfbody 1524.First halfbody 1522 and the second halfbody 1,524 1
It is body formed, and combination forms unit cavity 1521, when pneumatic mechanism 130 is inflated into unit cavity 1521, the first halfbody
1522 and second halfbody 1524 stretch deformation；When the gas in 130 absorptive unit cavity 1521 of pneumatic mechanism, first
Halfbody 1522 and the second halfbody 1524 occur bending and deformation.First halfbody 1522 is set in preset plane, the first halfbody
1522 for supporting cloth.When the gas in 130 absorptive unit cavity 1521 of pneumatic mechanism, multiple first halfbodies 1522 are closed
Hold together, cloth is clamped crawl under the action of multiple first halfbody 1522 and gets up.
It is worth noting that, the hardness of the first halfbody 1522 is greater than the hardness of the second halfbody 1524.When pneumatic mechanism 130 is inhaled
When receiving the gas in unit cavity 1521, the first halfbody 1522 and the second halfbody 1524 are curved under the action of external atmospheric pressure
Song deformation, the pressure that the first halfbody 1522 and the second halfbody 1524 are born at this time is identical, but due to the hardness of the first halfbody 1522
Greater than the hardness of the second halfbody 1524, the bending degree of the first halfbody 1522 causes less than the bending degree of the second halfbody 1524
Entire software refers to that 150 curve inwardly, until multiple softwares refer to that 150 close up, and grabs to cloth；When pneumatic mechanism 130 to
In unit cavity 1521 when inflation, the first halfbody 1522 and the second halfbody 1524 stretch deform back to original under the influence of air pressure
Position, causes entire software to refer to that 150 stretch, and multiple softwares refer to that 150 separate, and the cloth being crawled is put down.
In the present embodiment, the first halfbody 1522 is made of hard gel material, and the second halfbody 1524 is by soft silica gel material
It is made, it is not limited to this, is not especially limited the making material of the first halfbody 1522 and the second halfbody 1524.
Please continue to refer to Fig. 1, pneumatic mechanism 130 includes air pump 131, snorkel 133 and connector 135.Air pump 131 is pacified
Loaded on crawl arm 110, connector 135 is installed on software and refers on 150, and one end of snorkel 133 is connect with air pump 131, another
End is connected to by connector 135 with cavity 151 is referred to, the gas referred in cavity 151 is inflated or absorbed into finger cavity 151.
It is worth noting that, software refers to that 150 one end far from crawl arm 110 are provided with non-slip mat 160, software refers to that 150 is logical
It crosses non-slip mat 160 to contact with cloth, refers to frictional force between 150 and cloth to improve software, prevent cloth from sliding.The present embodiment
In, non-slip mat 160 is made of rubber material, it is not limited to this, is not especially limited the making material of non-slip mat 160.
Cloth gripping device 100 provided by the embodiment of the utility model, multiple softwares refer to that 150 are mounted on crawl arm 110
One end, multiple softwares refer to that 150 one end far from crawl arm 110 are all set in preset plane, and software, which refers to, is provided with finger in 150
Cavity 151, pneumatic mechanism 130 are installed on crawl arm 110, and are connected to cavity 151 is referred to, pneumatic mechanism 130, which can absorb, to be referred to
Gas in cavity 151, so that multiple softwares refer to that 150 close up and grab the cloth in preset plane.Compared with prior art, originally
The cloth gripping device 100 that utility model provides due to use multiple softwares for being installed on crawl arm 110 refer to 150 and with
Refer to the pneumatic mechanism 130 that cavity 151 is connected to, so multiple softwares refer to that 150 can close up and in 130 air-breathing of pneumatic mechanism to cloth
Material is grabbed, reliable and stable, and cloth is avoided to slide, and improves the efficiency of processing transport, and practical, cost performance is high.
Second embodiment
Referring to figure 5., the utility model embodiment provides a kind of soft robot 10, including 200 He of robot body
Cloth gripping device 100.Wherein, the basic structure and principle of cloth gripping device 100 and the technical effect of generation and the first reality
It is identical to apply example, to briefly describe, the present embodiment part does not refer to place, can refer to corresponding contents in first embodiment.
In the present embodiment, one end of crawl arm 110 and multiple softwares refer to 150 connections, and the other end is installed on robot body
On 200, and can be relative to 200 activity of robot body, so that software refers to that 150 can grab cloth from multiple angles
It takes, improves the accuracy of crawl, flexibly and easily.
The beneficial effect of soft robot 10 provided by the embodiment of the utility model is identical with the first embodiment, herein no longer
It repeats.
The above is only the preferred embodiments of the utility model, are not intended to limit the utility model, for this field
Technical staff for, various modifications and changes may be made to the present invention.Within the spirit and principle of the utility model,
Any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of cloth gripping device, which is characterized in that refer to including crawl arm, pneumatic mechanism and multiple softwares, it is multiple described soft
Body refers to the one end for being mounted on the crawl arm, and it is default flat that multiple softwares refer to that one end far from the crawl arm is all set in
On face, the software refer in be provided with finger cavity, the pneumatic mechanism is installed on the crawl arm, and with the fingers cavity company
Logical, the pneumatic mechanism can absorb the gas in the finger cavity so that multiple softwares refer to close up and grab it is described pre-
If the cloth in plane.
2. cloth gripping device according to claim 1, which is characterized in that the software refers to including multiple finger units, more
A finger unit is sequentially connected, and unit cavity, multiple unit cavity connections is provided in the finger unit, and combination forms institute
State finger cavity.
3. cloth gripping device according to claim 2, which is characterized in that the software refers to further include multiple screwed pipes,
Threaded hole is provided in the finger unit, the threaded hole is matched with the screwed pipe, and the two neighboring finger unit passes through
One screwed pipe is detachably connected, and the two neighboring unit cavity passes through a screwed pipe connection.
4. cloth gripping device according to claim 3, which is characterized in that the screwed pipe is made of flexible material.
5. cloth gripping device according to claim 2, which is characterized in that the finger unit includes the first halfbody and second
Halfbody, first halfbody and the second half body by integral forming, and combination forms the unit cavity, first halfbody is set
It is placed in the preset plane, first halfbody is for supporting cloth.
6. cloth gripping device according to claim 5, which is characterized in that the hardness of first halfbody is greater than described the
The hardness of two halfbodies.
7. cloth gripping device according to claim 1, which is characterized in that the quantity that the software refers to is three, three
The software refer to using the crawl arm as center circular array be distributed, the two neighboring software refer between angle be 120
Degree.
8. cloth gripping device according to claim 1, which is characterized in that the pneumatic mechanism includes air pump, supplies gas
Pipe and connector, the air pump are installed on the crawl arm, and the connector is installed on the software refers to, the snorkel
One end is connect with the air pump, and the other end is connected to by the connector with the finger cavity.
9. cloth gripping device according to claim 1, which is characterized in that the software refers to one far from the crawl arm
End is provided with non-slip mat.
10. a kind of soft robot, which is characterized in that including robot body and cloth gripping device, the cloth gripping dress
It sets and refers to including crawl arm, pneumatic mechanism and multiple softwares, multiple softwares refer to the one end for being mounted on the crawl arm, described
The other end of crawl arm is installed on the robot body, and multiple softwares refer to that one end far from the crawl arm is respectively provided with
In in preset plane, the software refer in be provided with finger cavity, the pneumatic mechanism is installed on the crawl arm, and with it is described
Refer to cavity connection, the pneumatic mechanism can absorb the gas in the finger cavity, close up and grab so that multiple softwares refer to
Take the cloth in the preset plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820458923.5U CN208196803U (en) | 2018-04-02 | 2018-04-02 | A kind of cloth gripping device and soft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820458923.5U CN208196803U (en) | 2018-04-02 | 2018-04-02 | A kind of cloth gripping device and soft robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208196803U true CN208196803U (en) | 2018-12-07 |
Family
ID=64525319
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820458923.5U Expired - Fee Related CN208196803U (en) | 2018-04-02 | 2018-04-02 | A kind of cloth gripping device and soft robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208196803U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673493A (en) * | 2018-04-02 | 2018-10-19 | 佛山伊贝尔科技有限公司 | A kind of cloth gripping device and soft robot |
-
2018
- 2018-04-02 CN CN201820458923.5U patent/CN208196803U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673493A (en) * | 2018-04-02 | 2018-10-19 | 佛山伊贝尔科技有限公司 | A kind of cloth gripping device and soft robot |
| CN108673493B (en) * | 2018-04-02 | 2023-08-04 | 广东智能体科技有限公司 | Cloth grabbing device and software robot |
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Effective date of registration: 20200528 Address after: 528400 e205, Block E, No.8, East Jinshan Avenue, Sanjiao Town, Zhongshan City, Guangdong Province Patentee after: Guangdong intelligent manufacturing equipment Technology Co.,Ltd. Address before: 528000, No. 1, block 133, 501 Hua Hua Xi Road, Chancheng District, Guangdong, Foshan Patentee before: FOSHAN YIBEIER TECHNOLOGY Co.,Ltd. |
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Granted publication date: 20181207 |
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