CN208428254U - Detachable Pneumatic flexible list refers to - Google Patents
Detachable Pneumatic flexible list refers to Download PDFInfo
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- CN208428254U CN208428254U CN201820944962.6U CN201820944962U CN208428254U CN 208428254 U CN208428254 U CN 208428254U CN 201820944962 U CN201820944962 U CN 201820944962U CN 208428254 U CN208428254 U CN 208428254U
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- connector
- buckle
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- soft finger
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Abstract
The utility model discloses a kind of detachable Pneumatic flexible lists to refer to, the Pneumatic flexible list refers to including connector, the soft finger being fixedly installed on connector, the pneumatic joint for being installed in connector and being connected with soft finger, the torsionspring being fixedly installed on connector and the connecting rod being installed on connector by torsionspring buckles and soft finger squeeze buckle.The utility model is provided with two kinds of buckle structures on connector, realizes the quick connection and the entire flexible Fast Installation singly referred to of soft finger；In soft finger squeeze buckle and connecting rod buckle and connector junction, it is provided with torsionspring, enhances the buckle ability of soft finger squeeze buckle and connecting rod buckle.
Description
Technical field
The utility model relates to soft robot technical fields, refer to more particularly to a kind of detachable Pneumatic flexible list,
It is easily installed, dismantles.
Background technique
Soft robot is emerging hot spot and the future development forward position of current robot technology, with conventional rigid robot phase
Than showing unprecedented adaptability, sensitivity and agility, and constantly expand the application field of robot, being
One of the main trend of robot future development.
The characteristics of researcher both domestic and external is according to soft material and driving devises many and is different from conventional rigid handgrip
Software handgrip.These software handgrips possess good environmental interaction and man-machine safety, and can be soft catch is many easy
Broken object, has a good application prospect.But at present this software handgrip due to pneumatic actuation when air-tightness limitation, it is past
Singly refer to toward the flexibility for being all integral type, is assembled by the tightenings part such as bolt, bring peace to the production of software handgrip
Difficulty in terms of assembly and disassembly.The software handgrip of this integral type simultaneously, cost is very high, is unfavorable for applying very much and promote.
Therefore, in view of the above technical problems, it is necessary to a kind of detachable Pneumatic flexible list be provided and referred to.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of detachable Pneumatic flexible lists to refer to, installation, disassembly
Convenient and efficient, assembling can be rapidly completed in low manufacture cost.
To achieve the goals above, the technical solution that an embodiment of the present invention provides is as follows:
A kind of detachable Pneumatic flexible list refers to that the Pneumatic flexible list refers to including connector, is fixedly installed in connector
On soft finger, be installed in connector and with it is soft refer to the pneumatic joint being connected, the torsionspring being fixedly installed on connector, with
And the buckle of the connecting rod on connector and soft finger squeeze buckle are installed on by torsionspring.
Soft refer to includes matrix and several air cavitys on matrix, institute as a further improvement of the utility model,
Air cavity cavity size is stated to be gradually reduced along the direction far from pneumatic joint.
The substrate of several protrusion settings, the base are equipped with below described matrix as a further improvement of the utility model,
Plate surface is equipped with dentalation.
Several channels for inflating or being evacuated, institute are equipped in the soft finger as a further improvement of the utility model,
The end for stating soft finger is equipped with the tracheae being connected with channel, and the pneumatic joint is fixedly connected with the tracheae.
The pneumatic joint is directly mounted in connector as a further improvement of the utility model, pneumatic joint and
There are compression distances between connector.
The connecting rod buckle and soft finger squeeze buckle are installed on the two of torsionspring as a further improvement of the utility model,
Side.
The first end of the connecting rod buckle is rotatably mounted on connector as a further improvement of the utility model,
Second end is equipped with the first sunk structure, and the connector is equipped with raised structures, the first sunk structure and company on connecting rod buckle
Raised structures on connector cooperate to be installed with the buckle for realizing connecting rod buckle and connector.
If the connector is equipped with for being limited to connecting rod buckle as a further improvement of the utility model,
Dry limiting section.
The soft first end for referring to squeeze buckle is rotatably mounted to connector as a further improvement of the utility model,
On, second end is equipped with the second sunk structure, and the connector is equipped with rod structure, soft the second sunk structure referred on squeeze buckle
It cooperates with the rod structure on connector and is installed with the buckle for realizing soft finger squeeze buckle and connector.
Hangnail is equipped with towards one side surface of connector on the soft finger squeeze buckle as a further improvement of the utility model,
Structure squeezes soft finger for clamping soft finger is fixed on connector.
The beneficial effects of the utility model are:
Two kinds of buckle structures are provided on connector, the quick connection and entire flexibility for realizing soft finger singly refer to fast
Speed installation；
In soft finger squeeze buckle and connecting rod buckle and connector junction, it is provided with torsionspring, soft finger is enhanced and squeezes
The buckle ability of button and connecting rod buckle.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments recorded in the utility model, for those of ordinary skill in the art, is not making the creative labor
Under the premise of, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic perspective view that Pneumatic flexible list refers in one specific embodiment of the utility model；
Fig. 2 is the schematic perspective view of connector in one specific embodiment of the utility model；
Fig. 3 a is the side structure schematic view of connector in one specific embodiment of the utility model；
Fig. 3 b is the schematic diagram of the section structure in Fig. 3 a at A-A；
Fig. 4 is the schematic perspective view of connecting rod buckle in one specific embodiment of the utility model；
Fig. 5 is the soft schematic perspective view for referring to squeeze buckle in one specific embodiment of the utility model；
Fig. 6 is the schematic perspective view of pneumatic joint in one specific embodiment of the utility model.
Specific embodiment
In order to make those skilled in the art more fully understand the technical solution in the utility model, below in conjunction with this reality
With the attached drawing in new embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that
The described embodiments are only a part of the embodiments of the utility model, instead of all the embodiments.Based on the utility model
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
The range of the utility model protection all should belong in example.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Join shown in Fig. 1, the detachable Pneumatic flexible list in one specific embodiment of the utility model refers to, including connector
12, the soft finger 11 that is fixedly installed on connector is installed in connector and refers to the pneumatic joint 14 being connected, fixed installation with soft
The buckle of the connecting rod on connector 13 and soft finger squeeze buckle are installed in the torsionspring 16 on connector and by torsionspring
15。
Soft finger 11 and connector 12 are connected to form a flexibility and singly refer to that pneumatic joint 14 is mounted on connector 12, soft finger
Squeeze buckle 15 is connected on connector 12 by torsionspring 16, and connecting rod buckle 13 is connected to connector 12 by torsionspring 16
On.On connector 12 in present embodiment be provided with two kinds of buckle structures, realize soft finger it is quick connection and entirely it is soft
The Fast Installation that property list refers to.
Join Fig. 1 and combines shown in Fig. 3 a, it is soft to refer to that 11 include matrix 111 and several air cavitys 112 on matrix, this implementation
8 air cavitys are equipped in mode, and 112 cavity size of air cavity is gradually reduced along the direction far from pneumatic joint, can so be made
When inflating or be evacuated under certain air pressure bigger bending deformation can occur for soft finger.
In addition, being equipped with the substrate 113 of several protrusion settings below matrix 111,113 surface of substrate is equipped with dentalation
114.Thickness at substrate 113 is greater than the thickness of remaining position matrix 111, when dentalation 114 contacts soft finger with object
There is higher frictional force, enhances the grasping body ability of soft finger.
In conjunction with shown in Fig. 3 b, soft refer to is equipped with several channels 115 for inflating or being evacuated in 11.Preferably, this embodiment party
Soft in formula to refer to that 11 inside is equipped with three identical channels 115 for inflating or being evacuated, guaranteeing soft finger, posture is flat at work
Stability simultaneously, enhances the amount of bow of soft finger.
Join Fig. 1, Fig. 3 a, shown in Fig. 6, it is soft to refer to that 11 end is equipped with the tracheae 116 being connected with channel, pneumatic joint 14 with
Tracheae 116 is fixedly connected.Tracheae 116 can allow soft finger to be quickly fixed on connector, and ensure the gas of soft finger
Close property.
Further, connector 12 is set as trench structure in present embodiment, and such pneumatic joint will not be connected by outside
Bar squeezes, while what outer link can be stable is stuck on connector.Pneumatic joint 14 is directly mounted in connector 12, pneumatically
There are enough compression distances between connector 14 and connector 12, such pneumatic joint can be easily adjusted.
Connecting rod buckle 13 and the soft two sides for referring to squeeze buckle 15 and being installed on torsionspring 16 in present embodiment, below to even
Bar buckle 13 and soft finger squeeze buckle 15 and the mounting means of torsionspring 16 are described in detail.
Join shown in Fig. 1, Fig. 2, Fig. 4, the first end 131 of connecting rod buckle 13 is rotatably mounted on connector, second end 132
Equipped with the first sunk structure 1301, connector 12 is equipped with raised structures 121, the first sunk structure 1301 on connecting rod buckle 13
It is cooperated with the raised structures 121 on connector 12 to realize the buckle installation of connecting rod buckle 13 and connector 12.It is buckling
While structure formation, connecting rod snaps fit attachment head, and entire flexibility is singly referred to and is fixed on connector.
Further, connector 12 is equipped with for buckling several limiting sections 122 limited to connecting rod.
To join shown in Fig. 1, Fig. 2, Fig. 5, the soft first end 151 for referring to squeeze buckle 15 is rotatably mounted on connector 12, and second
End 152 is equipped with the second sunk structure 1501, and connector 12 is equipped with rod structure 123, soft the second recess referred on squeeze buckle 15
Rod structure 123 in structure 1501 and connector 12 cooperates is pacified with the buckle for realizing soft finger squeeze buckle 15 and connector 12
Dress.In addition, on soft finger squeeze buckle 15 towards one side surface of connector be equipped with barb structure 1502, for clamping squeeze it is soft finger with will
Soft finger is fixed on connector.While buckle structure formation, the soft barb structure 1502 for referring to squeeze buckle 15 starts to squeeze soft
Refer to, soft finger is fixed on connector.
As can be seen from the above technical solutions, the utility model has the following beneficial effects:
1, two kinds of buckle structures are provided on connector, what the quick connection and entire flexibility for realizing soft finger singly referred to
Fast Installation；
2, in soft finger squeeze buckle and connecting rod buckle and connector junction, it is provided with torsionspring, soft refer to is enhanced and squeezes
The buckle ability of clinching and connecting rod buckle；
3, it is provided with trench structure on connector, both ensure that the safety that pneumatic joint is not squeezed by outer link,
Also ensure that outer link can be stable is stuck on connector；
4, pneumatic joint is provided on connector, it is ensured that the air-tightness of junction between external air source and soft finger, together
When realize quickly connection gas source ability；
5, it is provided with connecting rod to buckle, so that flexible singly refer to and can quickly be mounted on the hard connecting rod of soft hand, realize
The Fast Installation that flexibility singly refers to；
6, it is provided with soft finger squeeze buckle, soft finger is quickly fixed on connector, realizes what flexibility singly referred to
Quickly assembling function, while also facilitating disassembling and maintaining for soft finger；
7, it is provided with three air cavity channels inside soft finger, guarantees that posture stationarity simultaneously, enhances soft finger at work
The amount of bow of soft finger；
8, multiple airbag structures successively shortened from top to bottom are provided in soft finger side, so that soft finger is under certain air pressure
Bigger bending deformation can occur when inflation or pumping；
9, the substrate of three sections of dentalations is provided in the other side of soft finger so that soft finger have when being contacted with object it is higher
Frictional force enhances the grasping body ability of soft finger；
10, it is provided with connection tracheae in the upper end of soft finger, soft finger is quickly fixed on connector, and ensure
The air-tightness of soft finger.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting
Related claim.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of detachable Pneumatic flexible list refers to, which is characterized in that the Pneumatic flexible list refers to including connector, is fixedly mounted
In on connector soft finger, be installed in connector and refer to the pneumatic joint being connected, the torsion that is fixedly installed on connector with soft
Connecting rod buckle and the soft finger squeeze buckle for turning spring and being installed on by torsionspring on connector.
2. detachable Pneumatic flexible list according to claim 1 refers to, which is characterized in that the soft finger includes matrix and sets
In several air cavitys on matrix, the air cavity cavity size is gradually reduced along the direction far from pneumatic joint.
3. detachable Pneumatic flexible list according to claim 2 refers to, which is characterized in that be equipped with below described matrix several
The substrate of setting is protruded, the substrate surface is equipped with dentalation.
4. detachable Pneumatic flexible list according to claim 1 refers to, which is characterized in that be equipped with several use in the soft finger
In the channel of inflation or pumping, the end of the soft finger is equipped with the tracheae being connected with channel, the pneumatic joint and the gas
Pipe is fixedly connected.
5. detachable Pneumatic flexible list according to claim 1 refers to, which is characterized in that the pneumatic joint is mounted directly
In in connector, there are compression distances between pneumatic joint and connector.
6. detachable Pneumatic flexible list according to claim 1 refers to, which is characterized in that the connecting rod buckle and soft refer to squeeze
Clinching is installed on the two sides of torsionspring.
7. detachable Pneumatic flexible list according to claim 1 or 6 refers to, which is characterized in that the of connecting rod buckle
One end is rotatably mounted on connector, and second end is equipped with the first sunk structure, and the connector is equipped with raised structures, connecting rod
The first sunk structure on buckle and the raised structures on connector cooperate to realize the buckle of connecting rod buckle and connector
Installation.
8. detachable Pneumatic flexible list according to claim 7 refers to, which is characterized in that the connector is equipped with and is used for
Several limiting sections limited are buckled to connecting rod.
9. detachable Pneumatic flexible list according to claim 1 or 6 refers to, which is characterized in that the soft finger squeeze buckle
First end is rotatably mounted on connector, and second end is equipped with the second sunk structure, and the connector is equipped with rod structure, soft
Refer to that the rod structure on the second sunk structure and connector on squeeze buckle cooperates to realize soft finger squeeze buckle and connector
Buckle installation.
10. detachable Pneumatic flexible list according to claim 9 refers to, which is characterized in that court on the soft finger squeeze buckle
It is equipped with barb structure to one side surface of connector, squeezes soft finger for clamping soft finger is fixed on connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820944962.6U CN208428254U (en) | 2018-06-19 | 2018-06-19 | Detachable Pneumatic flexible list refers to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820944962.6U CN208428254U (en) | 2018-06-19 | 2018-06-19 | Detachable Pneumatic flexible list refers to |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208428254U true CN208428254U (en) | 2019-01-25 |
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ID=65101563
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820944962.6U Active CN208428254U (en) | 2018-06-19 | 2018-06-19 | Detachable Pneumatic flexible list refers to |
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| Country | Link |
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| CN (1) | CN208428254U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466281A (en) * | 2018-06-19 | 2018-08-31 | 苏州大学 | Detachable Pneumatic flexible list refers to |
| CN113069313A (en) * | 2021-03-19 | 2021-07-06 | 重庆医科大学附属第三医院(捷尔医院） | Auxiliary fistula strengthening instrument |
-
2018
- 2018-06-19 CN CN201820944962.6U patent/CN208428254U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466281A (en) * | 2018-06-19 | 2018-08-31 | 苏州大学 | Detachable Pneumatic flexible list refers to |
| CN108466281B (en) * | 2018-06-19 | 2024-01-05 | 苏州大学 | Detachable pneumatic flexible single finger |
| CN113069313A (en) * | 2021-03-19 | 2021-07-06 | 重庆医科大学附属第三医院(捷尔医院） | Auxiliary fistula strengthening instrument |
| CN113069313B (en) * | 2021-03-19 | 2024-01-23 | 重庆医科大学附属第三医院(捷尔医院） | Auxiliary fistula building instrument |
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