CN209022098U - A kind of pneumatic software gripper of articulated type endoskeleton - Google Patents
A kind of pneumatic software gripper of articulated type endoskeleton Download PDFInfo
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- CN209022098U CN209022098U CN201821503086.XU CN201821503086U CN209022098U CN 209022098 U CN209022098 U CN 209022098U CN 201821503086 U CN201821503086 U CN 201821503086U CN 209022098 U CN209022098 U CN 209022098U
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Abstract
The utility model discloses a kind of pneumatic software grippers of articulated type endoskeleton, including central palm portion, are fixed on one week multiple software tentacles portion, central palm portion；Software tentacle portion includes multiple connected joint portions；Joint portion includes the support bone portion of elastic telescopic layer, cloth in elastic telescopic layer；The internal cavities for supporting bone portion support elastic telescopic layer, are connected with elastic telescopic layer, support hinged between bone portion；It supports and is equipped with stomata among bone portion；It is hinged that joint portion front end is equipped with finger tip bone portion and support bone portion；Joint portion rear end, which is equipped with, to be referred between root bone portion and support bone portion hingedly；It is internal between adjacent joint portion to be equipped between connection bone portion and support bone portion hingedly；Stomata is equipped in connection bone portion and finger root bone portion；And connection bone portion and finger root bone portion are singly connected with tracheae；Multi-turn fiber restraint layer is filled with inside elastic telescopic layer, restraint layer corresponds to the outside of gas chamber；The utility model improves handgrip rigidity and grasping ability.
Description
Technical field
The utility model belongs to software clamper field, especially a kind of pneumatic software gripper of articulated type endoskeleton.
Background technique
In modern industry automation clamping with carrying operating system, pneumatic clamps holder is paid attention to and is answered by more and more
With.However current air pressure clamping device spininess is to the target object of particular types and specification, for object in irregular shape
And different operation environment is generally difficult to meet demand.It is pneumatic soft in order to overcome its stringent limitation to clamping object material, shape
Body gripper has obtained research and development.Pneumatic software clamper is had high-flexibility, can be fitted using elastic materials such as silicon rubber
Answer the target object of different shape size, responding fast, light and not easy damaged gripped object, while to operator safety friend
It is good.Domestic and international researcher develops a plurality of software grippers using its advantage.
The patent of 201620690558.1 utility model of Chinese patent entitled " a kind of finger of software three robot ", it is base
In the structure of soft material air pressure drive control, by being inflated to the channel of finger interior or air-breathing, to realize finger
It being bent outwardly or aduncate posture deforming carrys out grabbing object, flexibility is high, however is limited to material nature,
Power output is lower, can not effectively grasp to heavy objects.
United States Patent (USP) US9464642B2, Harvard scholar have been put forward for the first time a pure software and have imitated starfish formula gripper, it has six
Pawl structure can grab the easy damageds objective body such as egg, laboratory mouse, flexibility in terms of being applied to bioscience with no damage
Very well, but it is radially expanded seriously, seriously reduces delivery efficiency.
Current all kinds of software grippers mainly use pure soft material, and flexibility depends greatly on soft material
Hardness.Soft material itself is both action drives device and end clamps actuator, although more rulers can be grabbed more deftly
Very little, Multiple Shape object, but due to the limitation of material itself, lack the biggish object of enough rigidity clamping quality and formation
Reliable constraint, therefore need to be improved in the selection of material and the research and development of new construction.
Summary of the invention
The purpose of this utility model is to provide a kind of pneumatic software grippers of articulated type endoskeleton, to realize to a variety of rulers
Very little, the submissive grasping of various shapes target object, especially its rigidity are improved with grasping ability, can to larger mass objects
To complete effectively grasping.
Realize the technical solution of the utility model aim are as follows:
A kind of pneumatic software gripper of articulated type endoskeleton including central palm portion, is fixed on the one week N (N in central palm portion
>=3) a software tentacle portion；
Software tentacle portion includes M (M >=3) joint portions being sequentially connected；The joint portion include elastic telescopic layer,
It is evenly arranged on multiple support bones portion in elastic telescopic layer；The inside that the support bone portion is used to support elastic telescopic layer is empty
Elastic telescopic layer internal cavities are separated into multiple gas chambers by chamber；Support bone portion be connected with elastic telescopic layer, support bone portion it
Between it is successively hinged；It supports and is equipped with stomata among bone portion, each gas chamber is connected；The joint portion front end of front end is equipped with finger tip bone
Bone portion, it is hinged to block the front end in software tentacle portion, and between finger tip bone portion and adjacent support bone portion；The pass of end
Section portion rear end, which is equipped with, refers to root bone portion, to block the rear end in software tentacle portion, and refers to root bone portion and adjacent support bone
It is hinged between portion；It is internal between adjacent joint portion to be equipped with connection bone portion, connection bone portion and adjacent support bone portion it
Between it is hinged；It is equipped with stomata in connection bone portion and finger root bone portion, to be connected to the gas chamber of corresponding joint portion；And connection bone
Bone portion and finger root bone portion are not singly connected with tracheae independent gas supply；Inside the elastic telescopic layer about filled with multi-turn fiber
Beam layer；The fiber restraint layer corresponds to the outside one week of gas chamber.
The utility model compared with prior art, remarkable advantage:
(1) the pneumatic software gripper of the articulated type endoskeleton of the utility model is embedded in articulated type bone in software tentacle portion
Structure, including be hinged support skeletal joint, connection bone portion, greatly improved while keeping high-flexibility rigid
Degree.
(2) the pneumatic software gripper of the articulated type endoskeleton of the utility model, elastic telescopic layer undertakes driving function, and grabs
The power generated in the process is then transferred to central palm portion by radial type endoskeleton, effectively improves the grasping energy of software gripper
Power.
(3) the pneumatic software gripper of the articulated type endoskeleton of the utility model, elastic telescopic layer have been embedded in fabric reinforcement,
The radial deformation of finger has been limited, finger shape is maintained and has improved bending efficiency.
(4) the pneumatic software gripper of the articulated type endoskeleton of the utility model, multistage joint portion independent control, increases finger
Freedom degree, allow finger to complete more to deform pose, gripper clamps various sexuality and improves.
(5) the pneumatic software gripper of the articulated type endoskeleton of the utility model, multistage joint portion can be inflated parallel, be significantly improved
The response speed of finger.
The utility model is described in further detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the pneumatic software gripper overall structure diagram of articulated type endoskeleton of the utility model.
Fig. 2 is central palm portion structural schematic diagram.
Fig. 3 is software tentacle portion structural schematic diagram.
Fig. 4 is support bone joint structure schematic diagram.
Fig. 5 (1-4) is respectively each joint gas supply fingers deformed schematic diagram in the software tentacle portion of three section joint portions.
Fig. 6 is the operation schematic diagram of the pneumatic software gripper envelope grasping of articulated type endoskeleton of the utility model.
Fig. 7 is the operation schematic diagram of the pneumatic software gripper finger tip crawl of articulated type endoskeleton of the utility model.
Specific embodiment
In order to illustrate the technical solution of the utility model and technical purpose, with reference to the accompanying drawing and specific embodiment is to this reality
It is described further with novel.
In conjunction with Fig. 1-Fig. 4, a kind of pneumatic software gripper of articulated type endoskeleton of the utility model, including central palm portion 2,
Uniformly it is fixed on central palm portion 2 one weeks N (N >=3) a software tentacle portion 3；Software tentacle portion 3 includes M, and (M is greater than
Equal to the joint portion 3) being sequentially connected；Multiple supports that the joint portion includes elastic telescopic layer 4, is evenly arranged in elastic telescopic layer
Bone portion 15；The support bone portion 15 is used to support the internal cavities of elastic telescopic layer 4, by 4 internal cavities of elastic telescopic layer
It is separated into multiple gas chambers；Support bone portion 15 be connected with elastic telescopic layer 4, support bone portion 15 between successively hingedly, it can be achieved that
Outside 45 °, downward 180 ° of rotating range；It supports and is equipped with stomata 14 among bone portion 15, each gas chamber is connected；Before being located at
The joint portion front end at end is equipped with finger tip bone portion 6, to block the front end in software tentacle portion 3, and finger tip bone portion 6 and adjacent
It supports hinged between bone portion 14；It is equipped with positioned at the joint portion rear end of end and refers to root bone portion 11, to block software tentacle portion 3
Rear end, and refer between root bone portion 11 and adjacent support bone portion 15 hinged；The internal company of being equipped between adjacent joint portion
Synthetism bone portion 12 is attached, and is connected hinged between bone portion 12 and adjacent support bone portion 14；Connect 12 He of bone portion
Refer to and be equipped with stomata in root bone portion 11, to be connected to the gas chamber of corresponding joint portion；And it connects bone portion 12 and refers to root bone
Portion 11 be individually connected with tracheae 16, it can be achieved that each joint portion independent gas supply；It is filled with inside the elastic telescopic layer 4
Multi-turn fiber restraint layer 7；The fiber restraint layer 7 corresponds to the outside one week of gas chamber, radially swollen to limit software tentacle portion 3
It is swollen, to improve the rigidity in software tentacle portion 3 and the ability of finger grip weight.
Further, the elastic telescopic layer 4 includes the plate positioned at the semicircular stretchable layer of upper end and positioned at lower end
The contact layer 5 of shape, stretchable layer and contact layer 5 constitute the elastic telescopic layer 4 of similar trunk structure together；Stretchable layer upper end is circumferentially
Equipped with multiple grooves, to increase the reclinate length of elastic telescopic layer 4,5 lower end of contact layer is equally spaced to be equipped with multiple lines,
Plate shaped to increase contact area, lines increases contact friction force.
Further, the elastic telescopic layer 4 and support bone portion 15, finger tip bone portion 6, connect bone portion 12, refer to root
It is bonded by strength flexible glue between bone portion 11；In order to increase bonded contact area, guarantee adhesion strength；The support bone
Portion 15, connection bone portion 12, refers to that 11 upper end of root bone portion is equipped with arc-shaped slot 24 at finger tip bone portion 6, in the stretchable layer etc.
Interval is equipped with multiple protrusions, and protrusion is caught in card slot 24, then bonds；It can be to support rib by the cooperation of card slot 24 and protrusion
The position of 15 relative telescopic layer of bone portion is positioned, meanwhile, increase contact area, guarantees bonding strength.Preferably, the connection
Card slot 24 there are two setting in bone portion 12, further increases the bonding strength between adjacent elastic telescopic layer 4.
Further, support ring 8 is additionally provided between the adjacent joint portion；The support ring 8 is arranged in elastic telescopic
In layer 4, and correspond to connection 12 position of bone portion, to support adjacent elastic telescopic layer 4, the length of the support ring 8 is small
Length (length direction is 3 telescopic direction of software tentacle portion) in connection bone portion 12, ensure that expansion process by support ring 8
It is middle elasticity stretchable layer 4 and connection bone portion 12 between will not degumming, so as to avoid between adjacent joint portion gas chamber connection
And lead to the failure of independent gas supply, while the length of support ring 8 is less than the length in connection bone portion 12, avoid too long support ring
The bending of changeover portion has an impact between 8 pairs of adjacent elastic telescopic layers 4.
Further, the elastic telescopic layer 4 is made of silicon rubber.Internal layer is prepared first, sets multi-turn in internal layer peripheral hardware
Fiber restraint layer 7, then prepares outer layer again, entire fiber restraint layer 7 is wrapped in interior.
Preferably, the selection soft, high resiliency, high stability, low shrink(LS) room temperature vulcanized silicone rubber.
Further, the central palm portion 2 is integrally formed using 3D printing technique, and the resins such as PLA or ABS can be selected
Material has enough rigidity.2 liters of central palm portion section is equipped with multiple threaded holes 1, can be used for the installation of connecting flange.
Further, at cylinder, cylindrical exterior is uniformly provided with multiple connecting columns 21 at 2 center of central palm portion, even
It connects and is equipped with connecting hole in column 21,3 end of software tentacle portion is equipped with connecting shaft, and connecting shaft is arranged in connecting hole, passes through spiral shell
Bolt is connected, and the angle pose of 3 opposite central palmar hand 2 of software tentacle portion can be realized by connecting shaft.By the way that connecting column 21 is arranged
The axial angle with 2 cylinder of central palm portion axial direction, can be adjusted the opening of 3 end opposite central palmar hand 2 of software tentacle portion
Angle.
The tracheae 16 uses flexible latex tracheae, by strength flexible glue with connect in bone portion 12 and finger root bone portion 11
Stomata adhesive seal.
Further, the bone portion is integrally formed using 3D printing technique, and the resin materials such as PLA or ABS can be selected,
Portability is kept while with enough rigidity.
Further, each tracheae 16 respectively controls input air pressure by a proportional pressure valve, is additionally provided in the stretchable layer
Flexible bending sensor, Real-time Feedback bending angle angle value, accurately to control the bending angle in each software tentacle portion 3.
Be illustrated by taking the software tentacle portion 3 of three section joint portions as an example: the articulated type endoskeleton of the utility model is pneumatically soft
Body gripper is independently controlled 3 three section segment of software tentacle portion by tracheae 16, and each tracheae 16 is respectively by a ratio pressure
Valve controls input air pressure, can obtain a variety of poses.When being passed through compressed gas, software tentacle portion 3 is generated stretching by gas pressure
Deformation obtains bending angular displacement so that endoskeleton joint be driven to rotate inward.In conjunction with Fig. 5, Fig. 5-1 is that front end is operated alone to refer to
The deformation schematic diagram of section software finger.Fig. 5-2 is the deformation schematic diagram that intermediate segment software finger is operated alone.Fig. 5-3 is single
The solely deformation schematic diagram of driving end segment software finger.Fig. 5-4 is while the deformation in entire software tentacle portion 3 being driven to illustrate
Figure.By the control respectively to three segments, gripper can obtain position abundant and posture, while three sections of parallel ventilation designs can
To improve smaller the response time, working efficiency is improved.
The pneumatic software gripper of the articulated type endoskeleton of the utility model is, it can be achieved that a variety of crawl work for catching posture:
Envelope grasp mode: in conjunction with Fig. 6, for the target object 23 of large scale, big quality, software gripper preferably selects packet
Network grasp mode.According to the geomery of target object 23, the input air pressure of three segments, input air pressure and bending are successively adjusted
Relationship between angle can be tested by experimental data to be obtained, and can be in flexible bending sensor, Real-time Feedback built in software finger
Bending angle angle value.Envelope is completed when three finger fitting target objects to grab, and is continued to increase input air pressure according to mass of object, it is complete
At stable crawl.The contact layer of lines formula has good adaptability, adaptation contour of object can be effectively bonded, to mention
High grasping ability.
Fingertip grasp mode: in conjunction with Fig. 7, for small size, small quality objective object 23, software gripper preferentially selects finger tip
Grasping mode.According to the geomery of target object 23, the input air pressure of two section segments compared with pinkie after adjusting initially to open
Angle.After software finger reaches desired location, front end segment input air pressure is adjusted, makes finger tip contacts object, continues to increase defeated
Enter air pressure to complete to grab stablizing for target object.
The pneumatic software gripper of the articulated type endoskeleton of the utility model is driven by air pressure and completes flexure operation, passes through branch
Support bone bone portion 15, connection bone portion 12 constitute endoskeleton limit software tentacle portion 3 axial elongation and be radially expanded, receiving
It grasps the power generated in the process and is transmitted to central palm portion 2, greatly improve grasping force.Endoskeleton and soft material are constituted
Internal air cavity, when compressed gas is passed through, bone limits the deformation of before and after chamber and bottom, is located in the middle software material
Material is then axially stretched in gas pressure lower edge and deforms, so that the skeletal joint around hinge axis rotation for driving bottom hinged, forms curved
Song movement.Expected gripper is obtained by controlling multiple finger joint chamber pressures of software finger grasps posture, software driving
Flexibility and endoskeleton provide rigidity, may be implemented to grab sizes, various shapes, a variety of weight target objects
It holds.
Claims (8)
1. a kind of pneumatic software gripper of articulated type endoskeleton, which is characterized in that including central palm portion (2), be fixed on central hand
Metacarpus (2) one weeks N number of software tentacle portions (3), N >=3；
Software tentacle portion (3) includes the M joint portions being sequentially connected, M >=3；The joint portion includes elastic telescopic layer
(4), it is evenly arranged on multiple support bones portion (15) in elastic telescopic layer；The support bone portion (15) is used to support elastic telescopic
Elastic telescopic layer (4) internal cavities are separated into multiple gas chambers by the internal cavities of layer (4)；Support bone portion (15) is stretched with elasticity
Contracting layer (4) is connected, successively hinged between support bone portion (15)；It supports and is equipped with stomata (14) among bone portion (15), it will be each
Gas chamber is connected；The joint portion front end of front end is equipped with finger tip bone portion (6), to block the front end in software tentacle portion (3), and refers to
It is hinged between sharp bone portion (6) and adjacent support bone portion (15)；The joint portion rear end of end, which is equipped with, refers to root bone portion (11),
To block the rear end in software tentacle portion (3), and refer to hinged between root bone portion (11) and adjacent support bone portion (15)；Phase
It is internal between adjacent joint portion to be equipped with connection bone portion (12), it connects between bone portion (12) and adjacent support bone portion (15)
Hingedly；It is equipped with stomata in connection bone portion (12) He Zhigen bone portion (11), to be connected to the gas chamber of corresponding joint portion；And
Connection bone portion (12) He Zhigen bone portion (11) is individually connected with tracheae (16) independent gas supply；The elastic telescopic layer
(4) internal to be filled with multi-turn fiber restraint layer (7)；The fiber restraint layer (7) corresponds to the outside one week of gas chamber.
2. the pneumatic software gripper of articulated type endoskeleton according to claim 1, which is characterized in that the elastic telescopic layer
It (4) include the semicircular stretchable layer for being located at upper end and the plate shaped contact layer (5) positioned at lower end, stretchable layer upper end is circumferentially
Equipped with multiple grooves；Contact layer (5) lower end is equally spaced to be equipped with multiple lines.
3. the pneumatic software gripper of articulated type endoskeleton according to claim 1, which is characterized in that the elastic telescopic layer
(4) with support bone portion (15), finger tip bone portion (6), connection bone portion (12), refer to that between root bone portion (11) be Nian Jie；
The support bone portion (15), connection bone portion (12), refers to that root bone portion (11) upper end is equipped with arc at finger tip bone portion (6)
Card slot (24), equally spaced in the stretchable layer to be equipped with multiple protrusions, protrusion is caught in card slot (24).
4. the pneumatic software gripper of articulated type endoskeleton according to claim 1, which is characterized in that between adjacent joint portion
It is additionally provided with support ring (8)；Support ring (8) setting corresponds to connection bone portion (12) position in elastic telescopic layer (4)
It sets；The length of the support ring (8) is less than the length of connection bone portion (12).
5. the pneumatic software gripper of articulated type endoskeleton according to claim 1, which is characterized in that elastic telescopic layer (4) is adopted
It is made of silicon rubber；The central palm portion (2), bone portion are all made of resin material and are made.
6. the pneumatic software gripper of articulated type endoskeleton according to claim 1, which is characterized in that the central palm portion
(2) at cylinder, cylindrical exterior is uniformly provided with multiple connecting columns (21) at center, and connecting hole is equipped in connecting column (21), described soft
Body tentacle portion (3) end is equipped with connecting shaft, and connecting shaft is arranged in connecting hole.
7. the pneumatic software gripper of articulated type endoskeleton according to claim 1, which is characterized in that each tracheae (16) respectively by
One proportional pressure valve controls input air pressure, is additionally provided with flexible bending sensor, Real-time Feedback bending angle in the stretchable layer
Value, to control the bending angle in each software tentacle portion (3).
8. the pneumatic software gripper of articulated type endoskeleton according to claim 1, which is characterized in that the tracheae (16) uses
Flexible latex tracheae.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821503086.XU CN209022098U (en) | 2018-09-14 | 2018-09-14 | A kind of pneumatic software gripper of articulated type endoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821503086.XU CN209022098U (en) | 2018-09-14 | 2018-09-14 | A kind of pneumatic software gripper of articulated type endoskeleton |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048980A (en) * | 2018-09-14 | 2018-12-21 | 南京理工大学 | A kind of pneumatic software gripper of articulated type endoskeleton |
| CN111618902A (en) * | 2020-05-29 | 2020-09-04 | 华中科技大学 | Rigid-flexible coupling double-drive pneumatic gripper |
| CN112976060A (en) * | 2021-02-04 | 2021-06-18 | 东南大学 | Automatic calibration system and calibration method for flexible robot driver |
| CN114454194A (en) * | 2022-03-21 | 2022-05-10 | 深圳市普渡科技有限公司 | Service robot, robot gripper control method, system and storage medium |
-
2018
- 2018-09-14 CN CN201821503086.XU patent/CN209022098U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048980A (en) * | 2018-09-14 | 2018-12-21 | 南京理工大学 | A kind of pneumatic software gripper of articulated type endoskeleton |
| CN111618902A (en) * | 2020-05-29 | 2020-09-04 | 华中科技大学 | Rigid-flexible coupling double-drive pneumatic gripper |
| CN111618902B (en) * | 2020-05-29 | 2021-10-15 | 华中科技大学 | Rigid-flexible coupling double-drive pneumatic gripper |
| CN112976060A (en) * | 2021-02-04 | 2021-06-18 | 东南大学 | Automatic calibration system and calibration method for flexible robot driver |
| CN114454194A (en) * | 2022-03-21 | 2022-05-10 | 深圳市普渡科技有限公司 | Service robot, robot gripper control method, system and storage medium |
| CN114454194B (en) * | 2022-03-21 | 2024-01-12 | 深圳市普渡科技有限公司 | Service robot, robot paw control method, system and storage medium |
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