CN208289883U - A kind of pneumatic software executive device - Google Patents
A kind of pneumatic software executive device Download PDFInfo
- Publication number
- CN208289883U CN208289883U CN201820493305.4U CN201820493305U CN208289883U CN 208289883 U CN208289883 U CN 208289883U CN 201820493305 U CN201820493305 U CN 201820493305U CN 208289883 U CN208289883 U CN 208289883U
- Authority
- CN
- China
- Prior art keywords
- external constraint
- constraint pipe
- executive device
- pipe
- pneumatic software
- 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.)
- Expired - Fee Related
Links
Abstract
The utility model provides a kind of pneumatic software executive device, it can be realized multidirectional bending and elongation function, freedom degree with higher and good flexibility, complicated deep chamber landform can be detected, it can also realize to irregularly shaped object or larger object or compared with the reliable crawl of wisp, including external constraint pipe, connecting tube is axially arranged with along the external constraint pipe in the external constraint pipe, in the external constraint pipe, at least three inflated hoses being axially arranged along the external constraint pipe are equipped with around the connecting tube, constraint circle is arranged at intervals on the periphery of the external constraint pipe, the both ends of the external constraint pipe are respectively equipped with end cap, one of them described end cap is equipped with the aeration aperture being connected to respectively with the inflated hose.
Description
Technical field
The utility model relates to universal machine field, specially a kind of pneumatic software executive device.
Background technique
Traditional rigid executive device needs the cooperation of multiple hinges to complete when realizing flexure operation, structure it is more complicated and
And freedom degree is limited, there is very big problem to irregular and fragile article crawl, security risk is also when operating rigid apparatus
Very important.
The prior art is practical such as Publication No. CN107718021A, CN106965868A there are also soft robot
The soft robot device disclosed in new patent, however its structure is all complex, although it can be to a certain extent
Realize bending, however its flexibility ratio is poor, can not achieve multi-direction bending, it is existing when being detected in face of complicated deep chamber landform
Software machine and also by its structure design influenced, freedom degree and flexibility are poor, it is difficult to realize elongation function；It is existing simultaneously
Some soft robots, control is inconvenient and form is single, when handling irregularly shaped object or larger or smaller object, it is difficult to real
The reliable crawl now envisioned.
Utility model content
It is poor for existing robot freedom degree in the prior art and flexibility, it is difficult to realize it is multidirectional bending,
It extends function and grabs the bad problem of effect, the utility model provides a kind of pneumatic software executive device, can be realized
Multidirectional bending and elongation function, freedom degree with higher and good flexibility, can to complicated deep chamber landform into
Row detection, can also realize to irregularly shaped object or larger object or compared with the reliable crawl of wisp.
Its technical solution is such that a kind of pneumatic software executive device, it is characterised in that: including external constraint pipe,
Connecting tube is axially arranged with along the external constraint pipe in the external constraint pipe, in the external constraint pipe, around described
Connecting tube is equipped at least three inflated hoses being axially arranged along the external constraint pipe, on the periphery of the external constraint pipe
It is arranged at intervals with constraint circle, the both ends of the external constraint pipe are respectively equipped with end cap, one of them described end cap is equipped with difference
The aeration aperture being connected to the inflated hose.
Further, the external constraint pipe, connecting tube, inflated hose, end cap are made of silicon rubber respectively.
Further, it is connected between the end cap and the external constraint pipe by fluid silicone rubber and realizes sealing.
Further, the aeration aperture of the end cap connects realization by fluid silicone rubber with the junction of the inflated hose
Sealing.
Further, the constraint circle is that the winding of PE line is made.
Further, the connecting tube is arranged along the central axis of the external constraint pipe.
Further, the connecting tube is solid tubes.
The pneumatic software executive device of the utility model, by being inflated to inflated hose, inflated hose is in pressure
Expansion can be generated under effect, and external constraint pipe and constraint circle are limited and be radially expanded, at the same time, in external confinement tube
Other inflated hoses and connecting tube synergy, the axial tension on inflated hose one side is limited, thus realization device
Flexure operation, by the way that multi-direction bending may be implemented to different hose inflations, freedom degree is high, and executive device is whole by silicon rubber system
At flexibility is good, when restarting to inflated hose, due to the super elastic characteristics of silastic material, can generate the swollen of all directions
Swollen, under the limitation of external confinement tube and constraint circle, being radially expanded for device suffers restraints, can only be suffered along axially releasing
Pressure can detect complicated deep chamber landform to realize the movement of elongation, pass through matching for two or more executive devices
The crawl that can be very good to realize to breakables and irregularly shaped object is closed, the utility model uses the silicon rubber system of full soft material
It is standby, it is absolutely not destructive to breakables, and as the size change bending degree for adjusting air pressure can be to irregularity
Body realizes crawl, possesses higher safety, and multiple device cooperations can be real to certain special larger or lesser objects
Now reliable crawl.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 be the utility model K-K to postrotational schematic cross-sectional view；
Fig. 3 be the utility model I-I to distortion after schematic cross-sectional view.
Specific embodiment
Fig. 1, Fig. 2, Fig. 3, a kind of pneumatic software executive device of the utility model, including external constraint pipe 1 are seen, in outside
Externally the central axis of confinement tube 1 is equipped with connecting tube 2 in confinement tube 1, is equipped with four in external confinement tube 1, around connecting tube 2
The externally inflated hose 3 of confinement tube 1 being axially arranged is arranged at intervals with constraint circle 4, constraint on the periphery of external constraint pipe 1
Circle 4 is made for the winding of PE line, and the both ends of external constraint pipe 1 are respectively equipped with end cap 5, one of end cap 5 be equipped with respectively with fill
The aeration aperture (not providing in figure) of gas hose connection, external constraint pipe 1, connecting tube 2, inflated hose 3, end cap 5 are respectively by silicon rubber
Glue is made, and connecting tube 2 is solid tubes, is connected between end cap 5 and external constraint pipe 1 by fluid silicone rubber and realizes sealing, end cap
Aeration aperture and the junction of inflated hose 3 realization sealing is connected by fluid silicone rubber.
The realization of the multi-direction bending of the pneumatic software executive device of above-described embodiment is specifically described below: when external
When one of inflated hose 3 inside portion's confinement tube 1 is inflated, inflated hose 3 can generate expansion under the action of pressure,
And external constraint pipe 1 and constraint circle 4 limit being radially expanded for inflated hose 3 to a certain extent, at the same time, it is external about
The synergy of other inflated hoses 3 and connecting tube 2 in beam tube 1, limits the axial tension on inflated hose one side, thus real
45 ° of direction flexure operations of existing device, while 90 ° of direction bendings may be implemented to two inflated hose inflations and move, therefore this reality
Applying the pneumatic software executive device in example may be implemented the bending in 8 directions, in the case where there is more bending direction demands, increase
Curved direction can more be increased by adding the number of inflated hose.
While inflating to inflated hose, due to the super elastic characteristics of silastic material, the swollen of all directions can be generated
Swollen, under the limitation of external confinement tube 1 and constraint circle 4, being radially expanded for device suffers restraints, can only be suffered along axially releasing
Pressure, to realize the movement of elongation.
The pneumatic software executive device of the utility model, can be realized it is multidirectional bending and elongation function, with compared with
High freedom degree and good flexibility executes dress by two or more so as to detect to complicated deep chamber landform
The cooperation set can be very good to realize the crawl to breakables and irregularly shaped object, and possess higher safety.Right
When the crawl of breakables and irregularly shaped object, the utility model is prepared using the silicon rubber of full soft material, complete to breakables
It is complete to be grabbed without destructiveness, and as the size change bending degree for adjusting air pressure realize irregularly shaped object, it can
It is bonded well with irregularly shaped object, grabs that reliable surname is good, multiple devices cooperations can be to certain special larger or smaller
Object realize crawl.
The processing of the utility model is also very convenient, the method being mainly poured by mold, first to structure is drafted
Its corresponding mold design is come out, mold is prepared by 3D printing, it is then suitable according to the requirement selection to working environment
Silicon rubber stoste, pour into mold, room temperature or be heating and curing can be completed, convenient for production quick, at low cost.
More than, the only preferable specific embodiment of the utility model, but the protection scope of the utility model is not limited to
In this, any people for being familiar with the technology is in the technical scope disclosed by the utility model, and any changes or substitutions that can be easily thought of,
It should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with claim
Subject to protection scope.
Claims (7)
1. a kind of pneumatic software executive device, it is characterised in that: including external constraint pipe, along described in the external constraint pipe
The central axis of external constraint pipe is equipped with connecting tube, is equipped at least three edges in the external constraint pipe, around the connecting tube
The inflated hose of the external constraint pipe being axially arranged is arranged at intervals with constraint circle, institute on the periphery of the external constraint pipe
The both ends for stating external constraint pipe are respectively equipped with end cap, one of them described end cap is equipped with and is respectively connected to the inflated hose
Aeration aperture.
2. a kind of pneumatic software executive device according to claim 1, it is characterised in that: the external constraint pipe, connection
Pipe, inflated hose are made of silicon rubber respectively.
3. a kind of pneumatic software executive device according to claim 2, it is characterised in that: the end cap and the outside are about
It is connected between beam tube by fluid silicone rubber and realizes sealing.
4. a kind of pneumatic software executive device according to claim 2, it is characterised in that: the aeration aperture of the end cap and institute
The junction for stating inflated hose is connected by fluid silicone rubber realizes sealing.
5. a kind of pneumatic software executive device according to claim 1, it is characterised in that: the constraint circle is that PE line is wound
It is made.
6. a kind of pneumatic software executive device according to claim 1, it is characterised in that: the connecting tube is along the outside
The central axis of confinement tube is arranged.
7. a kind of pneumatic software executive device according to claim 1, it is characterised in that: the connecting tube is solid tubes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820493305.4U CN208289883U (en) | 2018-04-09 | 2018-04-09 | A kind of pneumatic software executive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820493305.4U CN208289883U (en) | 2018-04-09 | 2018-04-09 | A kind of pneumatic software executive device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208289883U true CN208289883U (en) | 2018-12-28 |
Family
ID=64725135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820493305.4U Expired - Fee Related CN208289883U (en) | 2018-04-09 | 2018-04-09 | A kind of pneumatic software executive device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208289883U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274455A (en) * | 2018-04-09 | 2018-07-13 | 江南大学 | A kind of pneumatic software executive device |
| CN109732587A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of pneumatic transport robot |
-
2018
- 2018-04-09 CN CN201820493305.4U patent/CN208289883U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274455A (en) * | 2018-04-09 | 2018-07-13 | 江南大学 | A kind of pneumatic software executive device |
| CN109732587A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of pneumatic transport robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108274455A (en) | A kind of pneumatic software executive device | |
| CN208289883U (en) | A kind of pneumatic software executive device | |
| CN105666484B (en) | Two-tube suit type Pneumatic artificial muscle | |
| CN111055299B (en) | Variable-rigidity omnidirectional movement soft driver based on line interference technology | |
| CN105583821A (en) | Fluid drive type multi-dimensional self-adaptive robot hand device | |
| CN104608140B (en) | A kind of pneumatic softness finger | |
| CN108972527A (en) | A kind of snakelike arm robot of variable rigidity based on phase-change material | |
| CN107234621A (en) | A kind of pneumatic soft robot of imitative looper climbing | |
| CN104369191A (en) | Mechanical hand used for automatic single-point leakage detection | |
| CN110509266B (en) | Four-cavity variable-rigidity pneumatic muscle gripper device | |
| CN106182053B (en) | Four refer to flexible manipulator | |
| CN207058581U (en) | A kind of pneumatic soft robot of imitative looper climbing | |
| CN206416167U (en) | Closed housing, software muscle, soft robot drive system and robot system | |
| CN103629445B (en) | A kind of composite pipe Hydraulic expansion method and producing device and the composite pipe obtained thereof | |
| CN204403669U (en) | A kind of pipeline plugging air bag | |
| CN105965537B (en) | A kind of dual openings fibers straight type connecting hose artificial-muscle | |
| CN106113023B (en) | A kind of dual openings weave net type connecting hose artificial-muscle | |
| CN209755262U (en) | Self-adaptive variable-rigidity soft hand grab | |
| CN109732587A (en) | A kind of pneumatic transport robot | |
| CN204671596U (en) | A kind of material pipe disinfection system for aseptic movement system | |
| CN205444357U (en) | Take vapour -pressure type pipeline dredging device of gasbag | |
| CN219666684U (en) | Soft manipulator for manufacturing eccentric hose | |
| Zhang et al. | Static analysis of novel continuum robot driven by PAMs | |
| CN111390876A (en) | Intelligent soft manipulator | |
| CN105819675B (en) | Glass tube butt-joint process and its device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181228 Termination date: 20190409 |