CN209999217U - Matrix type air bag soft gripper - Google Patents
Matrix type air bag soft gripper Download PDFInfo
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- CN209999217U CN209999217U CN201920838799.XU CN201920838799U CN209999217U CN 209999217 U CN209999217 U CN 209999217U CN 201920838799 U CN201920838799 U CN 201920838799U CN 209999217 U CN209999217 U CN 209999217U
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Abstract
The matrix type air bag soft gripper is characterized by comprising at least two air cavities, the air cavities are fixedly connected with a cover plate in a sealing mode, mounting holes are arranged on the cover plate in a matrix mode, air bags are mounted corresponding to each mounting hole in a sealing mode, the sides of the cover plate for mounting the air cavities are opposite, vent holes are formed in the air cavities, corresponding air bags on the two air cavities clamp objects when positive pressure gas is introduced into the air cavities, and corresponding air bags on the two air cavities release the objects when negative pressure gas is introduced into the air cavities.
Description
Technical Field
The utility model relates to a mechanical tongs technical field, in particular to soft tongs of matrix gasbag.
Background
The field of mechanical grippers is needed, most of the grippers simply suck objects or pieces clamp the objects when gripping the objects, and the action list is that if the gripped objects are irregular block-shaped non-magnetic objects with sizes less than , the volume difference is too large, the surfaces of the objects are irregular, and the like, the existing grippers basically cannot meet gripping requirements or the grippers with sizes less than need to be repeatedly replaced in the gripping process, if the surfaces of the gripped objects are very fragile and cannot bear the touch of a hard gripper, the existing grippers cannot meet the requirements easily, the deformation of the existing grippers needs to grip objects with the whole surfaces uniformly stressed or the bearing capacity of other surfaces limited in the gripping process, and the existing grippers cannot meet the requirements easily.
SUMMERY OF THE UTILITY MODEL
For overcoming the problem that exists among the prior art, the utility model provides a soft tongs of matrix gasbag.
The utility model provides a technical scheme that its technical problem was taken is that this soft tongs of matrix gasbag, tongs and robot arm are connected, including two at least air cavities, air cavity and the sealed fixed connection of apron, have the mounting hole that the matrix was arranged on the apron, correspond the equal seal installation of every mounting hole and have gasbags, the side of air cavity installation apron is relative, has the air vent on the air cavity, and the air cavity gets the object by the gasbag clamp that corresponds on two air cavities when letting in malleation gas, and the gasbag that corresponds on two air cavities when the air cavity lets in negative pressure gas releases the object.
Further , the air bags are arranged uniformly in an N by N rectangular array.
, the air bags are uniformly arranged in a circular array.
, the air bags are identical in size and shape.
, the air bag is made of flexible rubber capsule.
, the air bag is in long tube shape, end is open, another end is closed, and the closed end is hemispherical after ventilation.
, the outer surface of the air bag is provided with anti-skid lines.
To sum up, the utility model discloses an above-mentioned technical scheme's beneficial effect as follows:
matrix gasbag soft tongs use intensive dot matrix flexible gasbag as the medium, the surface is soft, and adopt the drive of gas pressure mode, can make the contact surface of whole tongs very gentle, secondly what the soft tongs of matrix gasbag popped up is bed formula gasbag plane, the plane atress is even, big with the contact surface of object, the atress dispersion that will be grabbed the object simultaneously reaches dozens of even hundreds of little gasbags at most, the atress of single gasbag will be very weak, can very soft parcel live and be grabbed the object, make its surface avoid damaging.
In addition, various combination modes are provided for different occasions, so that the hand grip can be stressed on two sides, three sides, four sides … … and even ten sides, and the problem which cannot be solved by the existing hand grip is perfectly solved.
Drawings
Fig. 1 is a schematic view of the three-dimensional structure of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a cross-sectional view of fig. 2A-a.
In the figure:
air cavity 1, cover plate 2, air bag 3, object 4 and vent 5.
Detailed Description
The features and principles of the present invention will be described in detail below with reference to the accompanying drawings, and the illustrated embodiments are only for explaining the present invention, and do not limit the scope of the present invention.
As shown in figure 1, the basic part of the invention is formed by assembling an air cavity 1, a cover plate 2 and an air bag 3, wherein the cover plate 2 is hermetically fixed on the side of the air cavity 1.
As shown in fig. 2, the cover plate 2 has mounting holes for mounting the air bags 3 in a matrix form, and may be circular holes, the number of the mounting holes is variable, and varies from tens to thousands according to the requirement, the matrix may be a rectangular array of N × N, or a circular array or other shapes, and the air bags 3 are uniformly arranged in a matrix form.
As shown in figure 3, the air bag 3 is hermetically arranged in the mounting hole of the cover plate 2, closed cavities are formed by the air chamber 1 and the cover plate 2 after the air bag 3 is mounted, the air bag 3 is in a long cylinder shape, the end is open, the open end is hermetically connected with the mounting hole, the end is blocked, the blocked end is in a hemispherical shape after being ventilated, damage to the grabbed object 4 is reduced, anti-skid grains can be arranged on the outer surface of the air bag 3, the friction force between the air bag and the object is increased, and the grabbing force is increased.
The air cavity 1 is provided with a small hole as an air vent 5 for connecting with external equipment for ventilation. When the object 4 needs to be clamped, positive pressure gas is introduced into the air cavity 1, and all the air bags 3 expand and extend under the action of pressure to clamp the object 4. When the object 4 needs to be released, negative pressure gas is introduced into the air cavity 1, the air bag 3 contracts and shrinks, and the object 4 is released.
The working principle is as follows:
this patent is about that has bilateral symmetry to tongs combined operation, when grabbing object 4 with to tongs from object 4 both sides be close to object 4 to suitable distance, lead to positive pressure gas simultaneously in two air cavitys 1, the gasbag 3 pressurized extension of both sides stretches out with the plane form, will be grabbed object 4 and firmly surround, can grab object 4 and grab, when needs place object 4, lead to negative pressure gas in the air cavity 1, the gasbag 3 contracts and contracts, object 4 can break away from the tongs automatically promptly.
This patent both can have about 1 to constitute and also can be by the relative 2 pairs in four sides or the relative N/2 pair of multiaspect is to constituting, and the assembly mode is nimble. The area size of the matrix can be customized according to the field situation.
In addition, various combination modes are provided for different occasions, so that the hand grip can be stressed on two sides, three sides, four sides … … and even ten sides, and the problem which cannot be solved by the existing hand grip is perfectly solved.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and improvements of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, which is defined by the appended claims.
Claims (7)
1. The matrix type air bag soft gripper is connected with a robot arm and is characterized by comprising at least two air cavities, wherein the air cavities are fixedly connected with a cover plate in a sealing mode, mounting holes are formed in the cover plate in a matrix type arrangement, air bags are mounted corresponding to each mounting hole in a sealing mode, the sides of the cover plate for mounting the air cavities are opposite, vent holes are formed in the air cavities, corresponding air bags on the two air cavities clamp objects when positive pressure gas is introduced into the air cavities, and corresponding air bags on the two air cavities release the objects when negative pressure gas is introduced into the air cavities.
2. The matrix air bag soft grip of claim 1, wherein said air bags are uniformly arranged in an N by N rectangular array.
3. The matrix air bag soft grip of claim 1, wherein said air bags are uniformly arranged in a circular array.
4. The matrix air bag soft grip of claim 1, wherein said air bags are identical in size and shape.
5. The matrix air bag soft grip of claim 1, wherein said air bag is made of a flexible rubber bladder.
6. The matrix air bag soft handle according to claim 1, 4 or 5, wherein the air bag is in a long cylinder shape, ends are open, another ends are blocked, and the blocked ends are hemispherical after being ventilated.
7. The matrix air bag soft grip of claim 6, wherein the outer surface of said air bag is provided with anti-slip texture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920838799.XU CN209999217U (en) | 2019-06-04 | 2019-06-04 | Matrix type air bag soft gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920838799.XU CN209999217U (en) | 2019-06-04 | 2019-06-04 | Matrix type air bag soft gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209999217U true CN209999217U (en) | 2020-01-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920838799.XU Active CN209999217U (en) | 2019-06-04 | 2019-06-04 | Matrix type air bag soft gripper |
Country Status (1)
| Country | Link |
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| CN (1) | CN209999217U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113043313A (en) * | 2021-03-18 | 2021-06-29 | 清华大学深圳国际研究生院 | Parallel two-finger mechanical gripper and method for identifying type of gripped object by same |
| CN114148732A (en) * | 2021-12-03 | 2022-03-08 | 梅龙 | Chip processing is with snatching mechanism |
-
2019
- 2019-06-04 CN CN201920838799.XU patent/CN209999217U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113043313A (en) * | 2021-03-18 | 2021-06-29 | 清华大学深圳国际研究生院 | Parallel two-finger mechanical gripper and method for identifying type of gripped object by same |
| CN114148732A (en) * | 2021-12-03 | 2022-03-08 | 梅龙 | Chip processing is with snatching mechanism |
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