CN214561000U - Direction-changeable pneumatic soft clamping hand - Google Patents
Direction-changeable pneumatic soft clamping hand Download PDFInfo
- Publication number
- CN214561000U CN214561000U CN202120631440.2U CN202120631440U CN214561000U CN 214561000 U CN214561000 U CN 214561000U CN 202120631440 U CN202120631440 U CN 202120631440U CN 214561000 U CN214561000 U CN 214561000U
- Authority
- CN
- China
- Prior art keywords
- soft
- chamber
- arm
- paw
- air
- 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
- 210000000078 claw Anatomy 0.000 claims abstract description 10
- 210000004712 air sac Anatomy 0.000 claims description 7
- 238000013459 approach Methods 0.000 abstract description 3
- 239000007779 soft material Substances 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000016 photochemical curing Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model is suitable for a software robot field discloses a pneumatic software centre gripping hand of diversion, mainly includes software arm and software hand claw. The soft arm is composed of three chambers, and the change of the orientation of the soft arm is realized by changing the air pressure of a small air bag of the chamber of the soft arm, so that the soft arm turns and approaches to an object to be grabbed. The opening degree of the soft fingers of the soft paw is changed by inflating and exhausting air in the soft fingers, so that the soft paw can grab and release objects. The utility model discloses a software centre gripping hand has the function of diversion and adapts to the space condition of isostructure not, can independently realize snatching in a flexible way to the object in different positions. Meanwhile, the soft arm and the soft paw are made of soft materials, so that the damage degree to the object is reduced when the object is grabbed.
Description
Technical Field
The utility model belongs to software robot field, concretely relates to pneumatic software centre gripping hand of diversion.
Background
With the continuous development of industrial automation and mechanization, the manipulator device has been widely applied to human production and life, and the labor force is greatly liberated. The mechanical arm is mainly divided into a rigid mechanical arm and a soft mechanical arm. The traditional rigid manipulator is generally complex in structure and large in size, and is suitable for repeated and dangerous work in an industrial field.
With the continuous progress and development of society, the requirements of people on the mechanical arm are more and more strict. For example, for the grabbing of fragile articles, the rigid manipulator in this case is difficult to meet the requirements of people. Therefore, the soft mechanical arm is widely applied to the production and the life of people. Compared with a rigid manipulator, the soft manipulator has more flexibility and safety, can ensure the integrity of a grabbed object, and is suitable for more environmental conditions.
At present, most of the existing soft manipulators work together with the rigid manipulator, but the rigid manipulator has a complex structure, great control difficulty, limited flexibility and poor adaptability to complex operation space. Therefore, a manipulator which can work alone, is suitable for various environments, and can reduce the damage degree to an object has not been popularized and used.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model aims to provide a pneumatic soft clamping hand that can change direction, which aims to ensure that the soft clamping hand is separated from the rigid manipulator to work independently, so that the space of how to adapt to different structures of the soft manipulator can be flexibly used for grabbing objects, and how to reduce the damage degree to the objects in the process of grabbing the objects.
In order to achieve the above purpose, the utility model adopts the following technical scheme to realize:
the utility model discloses a pneumatic software centre gripping hand that can change direction, including the software hand claw, the upper end of software hand claw is equipped with the software arm, and software arm center is the air flue, is equipped with first cavity, second cavity and third cavity around this air flue symmetry, does not communicate with each other between first cavity, second cavity and the third cavity, has an air inlet respectively at the top of first cavity, second cavity and third cavity, and first cavity, second cavity and third cavity are the ripple structure that comprises the little gasbag of even arrangement;
the soft paw is connected with the soft arm through a paw connecting piece, and the center of the paw connecting piece is provided with a soft paw air inlet communicated with an air passage of the soft arm;
the soft paw consists of a plurality of soft fingers, and each soft finger is in a corrugated structure consisting of big air bags which are uniformly distributed.
Preferably, the soft arm and the paw connecting piece are fixedly connected by a bolt.
Preferably, the first chamber, the second chamber and the third chamber are individually controlled by three gas sources, respectively.
Preferably, the soft paws are individually controlled by one air source.
Preferably, the soft paw consists of four soft fingers, and the big air bags of the four soft fingers are communicated with each other.
Preferably, the soft body arm and the soft body paw are made of flexible materials.
Preferably, when the air inlet of the soft paw is exhausted through the air passage, a plurality of big air sacs of the soft finger are attached, and the soft finger is bent outwards; when the air inlet of the soft paw is inflated through the air passage, a plurality of large air sacs of the soft fingers expand and extrude each other, and the soft fingers bend inwards.
Preferably, when the first chamber of the soft arm is subjected to positive pressure, the small air bags of the first chamber are expanded and mutually extruded, the small air bags of the second chamber and the third chamber are attached, and the soft arm is bent inwards along one side in the middle of the second chamber and the third chamber;
when the first chamber and the second chamber of the soft arm are subjected to the same positive pressure, the small air bags of the first chamber and the second chamber are expanded and extruded with each other, the small air bags of the third chamber are attached, and the soft arm is bent inwards along one side in the middle of the third chamber;
the first cavity and the second cavity of the soft arm are subjected to positive pressure, the air pressure of the first cavity is higher than that of the second cavity, the small air bags of the first cavity and the second cavity are expanded and mutually extruded, the small air bags of the second cavity are attached, and the soft arm is bent inwards along the direction between the second cavity and the third cavity;
when the same positive pressure is input into the first chamber, the second chamber and the third chamber of the soft body arm at the same time, the small air bags of the first chamber, the second chamber and the third chamber are expanded and mutually extruded, and the soft body arm extends forwards.
Compared with the prior art, the utility model discloses following beneficial effect has:
the utility model provides a pair of pneumatic software centre gripping hand of variable direction, including software arm and software hand claw two parts, the software arm is by first cavity, second cavity and third cavity constitute, first cavity, each other do not communicate with each other between second cavity and the third cavity, the degree of curvature of cavity is controlled to the different atmospheric pressure of little gasbag input that corresponds the cavity through the air inlet from each cavity, and then realize that the pneumatic software centre gripping hand of variable direction twists reverse to each direction, realize the nimble diversion function of the pneumatic software centre gripping hand of variable direction. Meanwhile, the soft paw is composed of a plurality of soft fingers, and different air pressures are input into the large air bags uniformly distributed in the soft fingers through the air passages to control the bending and stretching of the soft fingers, so that the grabbing and releasing functions of the pneumatic soft clamping hand capable of changing directions are realized. The utility model provides a pair of pneumatic software centre gripping hand of variable direction combines to use through software arm and software hand claw and just can reach the function of snatching object and diversion, and simple structure can realize snatching the object in different positions in a flexible way, can independent work under the condition that does not have the rigidity manipulator moreover.
Furthermore, the first chamber, the second chamber and the third chamber are respectively and independently controlled by three air sources, so that one chamber can be independently controlled to realize the direction changing function of the soft arm.
Furthermore, the soft paw is controlled by an air source independently, and the purpose is to enable a plurality of soft fingers to work together to realize the grabbing and releasing of objects.
Furthermore, the soft paw can be composed of four soft fingers, so that the soft paw can better wrap an object when grabbing the object, the object can be grabbed more firmly, the interiors of the soft fingers are communicated, and the purpose is to realize the grabbing and releasing of the object by a clamping hand by inflating and exhausting the interiors of the soft fingers through the air inlet of the soft paw.
Furthermore, the soft body arm and the soft body paw are made of flexible materials, so that the damage degree to the object can be reduced in the process of grabbing the object.
Further, air is pumped from the air inlet of the soft paw through the air passage, and a plurality of big air sacs of the soft finger are attached to enable the soft finger to bend outwards; by controlling the air pressure in the first chamber, the second chamber and the third chamber of the soft body arm, the first chamber, the second chamber and the third chamber are changed in direction, so that the soft body paw turns and approaches to an object to be grabbed;
inflating the air inlet of the soft paw through the air passage, expanding and mutually extruding a plurality of big air bags of the soft finger, and bending the soft finger inwards to complete the grabbing of the object;
after the position of the object to be placed is determined, the position of the soft paw is changed by controlling the air pressure in the first chamber, the second chamber and the third chamber of the soft arm, the position of the soft paw is close to the position of the object to be placed, air is pumped from the air inlet of the soft paw through the air passage, the large air sac of the soft finger is attached, the soft finger is bent outwards, and the object is released.
Drawings
FIG. 1 is a schematic view of the whole structure of the direction-changeable pneumatic soft clamping hand of the present invention;
FIG. 2 is a schematic view of the internal cavity of the soft arm of the present invention;
FIG. 3 is a schematic view of the internal cavity of the soft paw of the present invention;
FIG. 4 is a diagram showing the motion simulation of a soft arm;
FIG. 5 is a diagram showing the motion simulation of a soft arm;
FIG. 6 is a diagram showing the motion simulation of a soft arm;
fig. 7 is a diagram showing the motion simulation of the soft arm.
Wherein: 1-soft arm; 2-bolt; 3-soft paw; 4-a first chamber; 5-a second chamber; 6-a third chamber; 7-soft paw air inlet; 8-soft fingers; 9-an air inlet; 10-the airway; 11-a small air bag; 12-big air bag; 13-gripper connection.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the following detailed description.
Referring to fig. 1-3, the utility model discloses an overall structure of pneumatic software centre gripping hand that can change direction, including software hand claw 3, the upper end of software hand claw 3 is equipped with software arm 1, and software arm 1 center is the air flue 10, is equipped with first cavity 4, second cavity 5 and third cavity 6 around this air flue 10 symmetry, does not communicate each other between first cavity 4, second cavity 5 and the third cavity 6, has an air inlet 9 respectively at the top of first cavity 4, second cavity 5 and third cavity 6, and first cavity 4, second cavity 5 and third cavity 6 are the ripple structure that comprises evenly distributed's small gasbag 11; the soft paw 3 is connected with the soft arm 1 through a paw connecting piece 13, and a paw air inlet 7 communicated with the air passage 10 of the soft arm 1 is formed in the center of the paw connecting piece 13; the soft paw 3 is composed of a plurality of soft fingers 8, and each soft finger 8 is in a corrugated structure composed of big air bags 12 which are uniformly distributed.
As shown in the figure 1-2, the soft paw 3 of the pneumatic soft clamping hand capable of changing the direction is connected with the soft arm 1 through a paw connecting piece 13, the soft arm 1 and the paw connecting piece 13 are fixedly connected through a bolt 2, the soft paw 3 is composed of a plurality of soft fingers 8, the soft arm 1 and the soft paw 3 are made of flexible materials through a photocuring 3D printing technology. The center of the soft body arm 1 is provided with an air passage 10, a first chamber 4, a second chamber 5 and a third chamber 6 are symmetrically arranged around the air passage 10, the top ends of the first chamber 4, the second chamber 5 and the third chamber 6 are respectively provided with an air inlet 9, the first chamber 4, the second chamber 5 and the third chamber 6 are all in a corrugated structure formed by small air bags 11 which are uniformly distributed, the first chamber 4, the second chamber 5 and the third chamber 6 are not communicated with each other, the degree of curvature of the first chamber 4, second chamber 5 and third chamber 6 is controlled by inputting different air pressures from the inlet 9 of each chamber to the small pocket 11 of the corresponding chamber, thereby realizing the turning of the pneumatic soft clamping hand which can change the direction to all directions and realizing the flexible direction changing function of the pneumatic soft clamping hand which can change the direction, the three chambers are respectively and independently controlled by three air sources, so that one chamber can be independently controlled to realize the direction changing function of the soft body arm 1.
As shown in figure 3, the soft finger 8 is a corrugated structure formed by big air bags 12 which are evenly distributed, the center of the paw connecting piece 13 is provided with a soft paw air inlet 7, the interiors of the soft fingers 8 are communicated, the soft paws 3 are independently controlled by an air source, so that a plurality of soft paws can work together, and the soft paw air inlet 7 is communicated with the air channel 10 of the soft arm 1. The soft paw 3 can be composed of four soft fingers 8, so that the soft paw 3 can be firmer when grabbing objects, and the interiors of the soft fingers 8 are communicated with each other, so that the purpose is to realize the grabbing and releasing of the object by a clamping hand by inflating and exhausting the interiors of the soft fingers 8 through the air inlet 7 of the soft paw.
As shown in fig. 4-7, the method for realizing the direction-changing function of the soft body arm 1 is further described by performing simulation modeling on the soft body arm 1 by using finite element software:
as shown in figure 4, when the first chamber 4 of the soft arm 1 is pressurized, the small air bags 11 of the first chamber 4 are expanded and pressed with each other, the small air bags 11 of the second chamber 5 and the third chamber 6 are jointed, and the soft arm 1 bends inwards along the right middle side of the second chamber 5 and the third chamber 6.
As shown in fig. 5, when the first chamber 4 and the second chamber 5 of the soft arm 1 are subjected to the same positive pressure, the small air bags 11 of the first chamber 4 and the second chamber 5 are expanded and pressed against each other, and the small air bags 11 of the third chamber 6 are attached, at this time, the soft arm 1 is bent inwards along the middle side of the third chamber 6.
As shown in fig. 6, when the first chamber 4 and the second chamber 5 of the soft arm 1 are pressurized and the air pressure of the first chamber 4 is greater than the air pressure of the second chamber 5, the small air bags 11 of the first chamber 4 and the second chamber 5 are inflated and pressed against each other, the small air bags 11 of the second chamber 6 are attached to each other, the soft arm 1 is bent inward along the direction between the second chamber 5 and the third chamber 6, and the larger the air pressure difference between the first chamber 4 and the second chamber 5 is, the more the soft arm 1 is bent toward the side closer to the second chamber 5.
As shown in figure 7, when the same positive pressure is simultaneously input into the first chamber 4, the second chamber 5 and the third chamber 6 of the soft body arm 1, the small air bags 11 of the first chamber 4, the second chamber 5 and the third chamber 6 are inflated and pressed with each other, and the soft body arm 1 is stretched forwards.
Through the analysis of fig. 4-7, it is found that the flexible direction changing function can be realized by controlling the soft paw 3 to twist in all directions by adjusting the air pressure input into the first chamber 4, the second chamber 5 and the third chamber 6 of the soft arm 1. The pneumatic software centre gripping hand of diversion can work alone and does not rely on the rigidity manipulator on the one hand, is adapted to multiple operational environment, and on the other hand can also realize snatching in a flexible way the object in different position, can also reduce the damage degree to the object simultaneously at the in-process of snatching.
The utility model discloses a pneumatic software centre gripping hand of diversion grabs the process as follows:
before an object is grabbed, firstly determining the direction of the object to be grabbed, then exhausting air through the air passage 10 and the soft paw air inlet 7, and attaching the big air sac 12 of the soft finger 8 to enable the soft finger 8 to bend outwards; by controlling the air pressure in the first chamber 4, the second chamber 5 and the third chamber 6 of the soft body arm 1, the first chamber 4, the second chamber 5 and the third chamber 6 are changed in direction, so that the soft body paw 3 turns and approaches to the object to be grabbed.
When an object is grabbed, the air inlet 7 of the soft paw is inflated through the air passage 10, the big air bags 12 of the soft fingers 8 expand and extrude each other, so that the soft fingers 8 bend inwards to complete grabbing of the object.
When the object is released, after the position of the object to be released is determined, the position of the soft paw 3 is changed by controlling the air pressure in the first chamber 4, the second chamber 5 and the third chamber 6 of the soft arm 1, the position of the soft paw is close to the position of the object to be released, the air inlet 7 of the soft paw is exhausted through the air passage 10, the large air sac 12 of the soft finger 8 is attached, and the soft finger 8 is bent outwards to complete the release of the object.
The above contents are only for explaining the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical solution according to the technical idea of the present invention all fall within the protection scope of the claims of the present invention.
Claims (8)
1. The pneumatic soft clamping hand capable of changing the direction is characterized by comprising a soft claw (3), wherein a soft arm (1) is arranged at the upper end of the soft claw (3), an air passage (10) is formed in the center of the soft arm (1), a first chamber (4), a second chamber (5) and a third chamber (6) are symmetrically arranged around the air passage (10), the first chamber (4), the second chamber (5) and the third chamber (6) are not communicated with each other, air inlets (9) are respectively formed in the top ends of the first chamber (4), the second chamber (5) and the third chamber (6), and the first chamber (4), the second chamber (5) and the third chamber (6) are all of a corrugated structure formed by small air bags (11) which are uniformly distributed;
the soft paw (3) is connected with the soft arm (1) through a paw connecting piece (13), and the center of the paw connecting piece (13) is provided with a soft paw air inlet (7) communicated with an air passage (10) of the soft arm (1);
the soft paw (3) is composed of a plurality of soft fingers (8), and each soft finger (8) is of a corrugated structure composed of large air bags (12) which are uniformly distributed.
2. The pneumatic soft gripper of claim 1, wherein the soft arm (1) and the gripper connection member (13) are fixedly connected by a bolt (2).
3. The pneumatic flexible gripping hand of claim 1, wherein the first chamber (4), the second chamber (5) and the third chamber (6) are individually controlled by three air sources.
4. The pneumatic soft hand according to claim 1, wherein the soft claws (3) are individually controlled by a single air supply.
5. The pneumatic soft gripping hand with the direction changeable function as claimed in claim 1, wherein the soft gripper (3) is composed of four soft fingers (8), and the big air bags (12) of the four soft fingers (8) are communicated with each other.
6. The pneumatic soft gripping hand of claim 1, wherein the soft arm (1) and soft paw (3) are made of flexible material.
7. The pneumatic soft gripping hand capable of changing direction according to any one of claims 1 to 6, wherein when the air inlet (7) of the soft paw is evacuated through the air duct (10), a plurality of big air sacs (12) of the soft finger (8) are attached, and the soft finger (8) is bent outward; when the air inlet (7) of the soft paw is inflated through the air passage (10), a plurality of big air bags (12) of the soft finger (8) are expanded and mutually extruded, and the soft finger (8) is bent inwards.
8. The pneumatic flexible clamping hand capable of changing the direction of the force according to any one of claims 1 to 6, wherein when the first chamber (4) of the flexible arm (1) is pressurized with positive pressure, the small air bags (11) of the first chamber (4) are expanded and pressed with each other, the small air bags (11) of the second chamber (5) and the third chamber (6) are attached, and the flexible arm (1) is bent inwards along the right middle side of the second chamber (5) and the third chamber (6);
when the first chamber (4) and the second chamber (5) of the soft body arm (1) are subjected to the same positive pressure, the small air bags (11) of the first chamber (4) and the second chamber (5) are expanded and mutually extruded, the small air bags (11) of the third chamber (6) are attached, and the soft body arm (1) is bent inwards along one side in the middle of the third chamber (6);
the first chamber (4) and the second chamber (5) of the soft body arm (1) are subjected to positive pressure, the air pressure of the first chamber (4) is greater than that of the second chamber (5), small air bags (11) of the first chamber (4) and the second chamber (5) are expanded and mutually extruded, the small air bags (11) of the second chamber (5) are attached, and the soft body arm (1) is bent inwards along the direction between the second chamber (5) and the third chamber (6);
when the same positive pressure is simultaneously input into the first chamber (4), the second chamber (5) and the third chamber (6) of the soft body arm (1), the small air bags (11) of the first chamber (4), the second chamber (5) and the third chamber (6) are expanded and mutually extruded, and the soft body arm (1) extends forwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120631440.2U CN214561000U (en) | 2021-03-29 | 2021-03-29 | Direction-changeable pneumatic soft clamping hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120631440.2U CN214561000U (en) | 2021-03-29 | 2021-03-29 | Direction-changeable pneumatic soft clamping hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214561000U true CN214561000U (en) | 2021-11-02 |
Family
ID=78356053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120631440.2U Expired - Fee Related CN214561000U (en) | 2021-03-29 | 2021-03-29 | Direction-changeable pneumatic soft clamping hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214561000U (en) |
-
2021
- 2021-03-29 CN CN202120631440.2U patent/CN214561000U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112894865A (en) | Direction-changeable pneumatic soft clamping hand and using method thereof | |
| CN112894864A (en) | Pneumatic soft clamping hand with variable grabbing range and using method thereof | |
| CN1322962C (en) | Robot pneumatic shillful hand | |
| CN113104576B (en) | Soft pneumatic claw | |
| CN105583821A (en) | Fluid drive type multi-dimensional self-adaptive robot hand device | |
| CN111452066A (en) | Full-flexible bionic pneumatic manipulator | |
| CN212683990U (en) | Bionic thousand-hand-flashing clamping jaw | |
| CN110281257B (en) | Modularized double-air-cavity flexible mechanical finger capable of being bent in multiple directions and working method thereof | |
| CN110525531B (en) | Friction type mobile soft robot and driving method thereof | |
| CN106956288A (en) | Multiple degrees of freedom software grabbing device | |
| CN109168605A (en) | A kind of apery hand flexible pneumatic grabbing device | |
| CN113787509B (en) | Multi-pneumatic muscle cooperatively driven crustacean-imitated arthropod finger | |
| CN113232035A (en) | Multi-joint rigid-flexible coupling bionic soft finger | |
| CN214561000U (en) | Direction-changeable pneumatic soft clamping hand | |
| CN110566751B (en) | Rigid/flexible pipeline crawling robot | |
| CN106425939A (en) | Modular heterogeneous differential motion high-flexibility pneumatic clamp | |
| CN113370242B (en) | Horizontal-longitudinal coupling pneumatic type multi-finger soft manipulator | |
| CN205734911U (en) | A kind of bionic proboscis robot | |
| CN116587317A (en) | Modularized reconfigurable pneumatic soft robot | |
| CN115122314A (en) | Multi-deformation-mode software driver | |
| CN115256431A (en) | Flexible operation manipulator based on bending artificial muscle and grabbing method thereof | |
| CN214561001U (en) | Pneumatic soft clamping hand with variable grabbing range | |
| CN215848181U (en) | Ring section unit assembly and bionic mechanical arm | |
| CN113967922B (en) | Full-flexible pneumatic soft bionic manipulator | |
| CN210757775U (en) | Modular double-air-cavity double-section flexible mechanical finger capable of being bent in multiple directions |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211102 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |