WO2020232802A1 - Flexible gripper having surface microstructure - Google Patents

Flexible gripper having surface microstructure Download PDF

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Publication number
WO2020232802A1
WO2020232802A1 PCT/CN2019/094794 CN2019094794W WO2020232802A1 WO 2020232802 A1 WO2020232802 A1 WO 2020232802A1 CN 2019094794 W CN2019094794 W CN 2019094794W WO 2020232802 A1 WO2020232802 A1 WO 2020232802A1
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WIPO (PCT)
Prior art keywords
connecting body
air
flexible
airbag
boss
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PCT/CN2019/094794
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French (fr)
Chinese (zh)
Inventor
王琨
董康
蔡嘉辉
王诚意
李可
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江南大学
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Application filed by 江南大学 filed Critical 江南大学
Publication of WO2020232802A1 publication Critical patent/WO2020232802A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0023—Gripper surfaces directly activated by a fluid

Definitions

  • the invention relates to the technical field of robotic hands, in particular to a flexible gripper with a surface microstructure.
  • the rigid gripper has its limitations in principle. It can only grasp a few regular-shaped objects, and is costly, difficult to control, and demanding on the environment, which is far from satisfying logistics , Housekeeping services, rescue and other emerging industries.
  • Traditional flexible grippers mostly use the connection of multiple tiny rigid elements to achieve the purpose of "flexibility”, but their essence is still rigid grippers.
  • the applicant provides a flexible gripper with a reasonable structure and a surface microstructure, which can effectively grasp objects with a low surface friction factor and irregular shapes while improving the grasping efficiency. And crawling stability.
  • a flexible pawl with a surface microstructure including a motor, the end of the output shaft is connected with a bending grasping mechanism through a connecting body; the connecting body is provided with an air guiding passage, and one end of the air guiding passage is connected to the connecting body
  • the inflatable nozzle on one side surface is connected, and the other end is connected with the curved grasping mechanism;
  • the curved grasping mechanism has a structure including a flexible finger fingerboard, the top end of which is connected with the bottom surface of the connecting body, and the bottom end is a free end
  • An elastic body is connected to one side of the flexible finger fingerboard.
  • the elastic body is composed of a plurality of interconnected airbags sequentially connected along the length direction into a whole.
  • Each airbag has an inflatable cavity inside. The cavities are connected by an air path, and the inflation cavity of the airbag at the top is connected with the air guiding path; in the uninflated state, the volume of the inflation cavity of the airbag decreases successively in the direction away from the connecting body.
  • the longitudinal section of the elastic body has a semi-corrugated tubular structure, and the radius of the semi-corrugated tubular structure decreases in the axial direction.
  • the gas path channel is located on the two side walls of the inflation cavity of each airbag.
  • a plurality of convex structures are evenly spaced on the other side of the flexible finger fingerboard.
  • the protruding structures are arranged in multiple groups at intervals along the length direction, and each group of protruding structures includes a plurality of first bosses and a plurality of second bosses, the first bosses and the second bosses are arranged in parallel at intervals, and the first The boss and the second boss are of frustum or conical structures with different volumes.
  • the motor is connected to the top end of the connecting body through a key, and the inflating nozzle is fixedly connected to the surface of the connecting body for connecting with an external air pump.
  • the invention has a compact and reasonable structure and is easy to operate.
  • the motor drives the flexible grasping mechanism to rotate, and the compressed gas provided by the external air pump passes through the inflation nozzle, the air guide channel, and then inflates the entire elastic body's inflation cavity through the air path.
  • the inward bending of the flexible finger fingerboard realizes the grasping function.
  • the convex structure increases the friction between the flexible finger fingerboard and the object, and the convex structure can be embedded in some objects with grooves on the surface to realize the The surface friction factor is not high and the effective gripping of irregularly shaped objects.
  • Figure 1 is a schematic diagram of the three-dimensional structure of the present invention.
  • Figure 2 is a partial cross-sectional view of the present invention.
  • Figure 3 is another view of Figure 1.
  • Figure 4 is a partial enlarged view of the raised structure of the present invention.
  • Fig. 5 is a schematic diagram of the present invention in working state.
  • Air passage 1. Air passage; 2. Protruding structure; 3. Airbag; 4. Flexible finger fingerboard; 5. Air guide passage; 6. Inflatable nozzle; 7. Connecting body; 8. Motor; 9. Inflatable cavity 10, elastomer; 21, first boss; 22, second boss.
  • the flexible gripper with surface microstructure of this embodiment includes a motor 8, the end of the output shaft of which is connected with a bending grasping mechanism through a connecting body 7; the connecting body 7 is provided with a gas guide Passage 5, one end of the air guiding passage 5 is connected with the inflator 6 provided on one side surface of the connecting body 7, and the other end is connected with the curved grasping mechanism; the structure of the curved grasping mechanism is: including the flexible finger fingerboard 4, which The top end is connected to the bottom surface of the connecting body 7, and the bottom end is a free end.
  • An elastic body 10 is connected to one side of the flexible finger fingerboard 4, and the elastic body 10 is formed by a plurality of interconnected airbags 3 in sequence along the length direction into a whole.
  • Each airbag 3 has an inflation cavity 9 inside, and the inflation cavities 9 of two adjacent airbags 3 are connected through the air path 1, and the inflation cavity 9 of the airbag 3 at the top is connected with the air guiding path 5; In the uninflated state, the volume of the inflation cavity 9 of the airbag 3 gradually decreases in the direction away from the connecting body 7.
  • the motor 8 is connected to the top end of the connecting body 7 by a key, and the air nozzle 6 is fixedly connected to the surface of the connecting body 7 for connecting with an external air pump.
  • the longitudinal section of the elastic body 10 is a semi-corrugated tubular structure, and the radius of the semi-corrugated tubular structure decreases in the axial direction.
  • the air path 1 is located on the two side walls of the inflation cavity 9 of each airbag 3.
  • the other side of the flexible finger fingerboard 4 is provided with a plurality of convex structures 2 evenly spaced.
  • the convex structures 2 are arranged in multiple groups at intervals along the length direction, and each group of the convex structures 2 includes a plurality of first bosses 21 and a plurality of second bosses 22, the first bosses 21 and the second bosses 22 are spaced in parallel Arranged, the first boss 21 and the second boss 22 have a circular cone or conical structure with different volumes.
  • the implementation process of the present invention is as follows:
  • the connecting body 7 is driven to rotate by the motor 8 to realize that the bending grasping mechanism takes the motor output shaft as the central axis to perform 360-degree rotation; the compressed gas provided by the external air pump passes through the air filling nozzle 6 and passes through the air guide channel 5, and is located in the most elastic body 10.
  • the inflation cavity 9 of the airbag 3 at the top is inflated. The air passes through the air path 1 in each airbag 3 to inflate the entire elastic body 10.
  • the bottom airbag 3 As the volume of the inflation cavity 9 is along the length direction (as shown in Figure 3) To the bottom) decrease sequentially, so the bottom airbag 3 is first deformed compared to the upper airbag 3, and at the same time, the airbag 3 is expanded along the length direction by the internal compressed gas, causing the entire elastic body 10 to increase in length. , And the length of the flexible finger fingerboard 4 remains unchanged, so that the flexible finger fingerboard 4 is bent to the side away from the elastic body 10, and the purpose of grasping the object is achieved (as shown in FIG. 5).
  • the protruding structure 2 increases the friction force, and can cooperate with the groove when encountering objects with grooves on the surface, thereby improving the grasping stability.

Abstract

A flexible gripper having a surface microstructure, comprising a motor (8). A bending grabbing mechanism is connected to the end part of the output shaft of the motor by means of a connecting body (7). An air guide channel is formed in the connecting body (7). One end of the air guide channel (5) is communicated with an inflating nozzle (6) on one side surface of the connecting body (7), and the other end of the air guide channel (5) is communicated with the bending grabbing mechanism. The structure of the bending grabbing mechanism comprises a flexible finger plate (4). The top end of the flexible finger plate (4) is connected to the bottom surface of the connecting body (7), and the bottom end of the flexible finger plate (4) is a free end. An elastic body (10) is connected to one side surface of the flexible finger plate (4) and is formed into a whole by connecting a plurality of mutually communicated air bags (3) in a length direction sequentially. An inflatable cavity (9) is formed in each air bag (3). The inflating cavities (9) of every two adjacent air bags (3) are communicated by means of an air channel (1). The inflatable cavity (9) of the air bag (3) located at the top most is communicated with the air guide channel (5). In an uninflated state, the volumes of the inflatable cavities (9) of the air bags (3) decrease in sequence in the direction distant from the connecting body (7). The flexible gripper can effectively grabs objects having a complex shape and an irregular structure.

Description

一种具有表面微结构的柔性手爪Flexible hand claw with surface microstructure 技术领域Technical field
本发明涉及机器人手技术领域，尤其是一种具有表面微结构的柔性手爪。The invention relates to the technical field of robotic hands, in particular to a flexible gripper with a surface microstructure.
背景技术Background technique
目前工业应用中采用最多的机器人手爪为刚性手爪，但是刚性手爪存在原理性局限，只能抓握少数规则形状物体，而且成本高、控制难度大、对环境要求苛刻，远不能满足物流、家政服务、救援等新兴产业的需求。传统的柔性手爪大多是利用多个微小刚性元件的连接，以此来达到“柔性”的目的，但是其本质依旧是刚性手爪。At present, the most widely used robot gripper in industrial applications is the rigid gripper, but the rigid gripper has its limitations in principle. It can only grasp a few regular-shaped objects, and is costly, difficult to control, and demanding on the environment, which is far from satisfying logistics , Housekeeping services, rescue and other emerging industries. Traditional flexible grippers mostly use the connection of multiple tiny rigid elements to achieve the purpose of "flexibility", but their essence is still rigid grippers.
技术问题technical problem
在柔性化制造的今天，这些都难以满足形状复杂、种类多样等产品的有效抓取。In today's flexible manufacturing, these are difficult to satisfy the effective grasping of products with complex shapes and diverse types.
技术解决方案Technical solutions
本申请人针对上述现有生产技术中的缺点，提供一种结构合理的具有表面微结构的柔性手爪，实现对表面摩擦因数不高以及形状不规则物品的有效抓取，同时提高抓取效率和抓取稳定性。In view of the above-mentioned shortcomings of the existing production technology, the applicant provides a flexible gripper with a reasonable structure and a surface microstructure, which can effectively grasp objects with a low surface friction factor and irregular shapes while improving the grasping efficiency. And crawling stability.
本发明所采用的技术方案如下：The technical scheme adopted by the present invention is as follows:
一种具有表面微结构的柔性手爪，包括电机，其输出轴端部通过连接体连接有弯曲抓取机构；所述连接体内部设有导气通路，导气通路的一端与设置在连接体一侧表面上的充气嘴连通，另一端与所述弯曲抓取机构连通；所述弯曲抓取机构的结构为：包括柔性手指指板，其顶端与连接体的底面连接，底端为自由端，柔性手指指板的一侧面上连接有弹性体，所述弹性体由多个相互连通的气囊沿长度方向依次顺接成整体，每个气囊的内部具有充气腔体，相邻两气囊的充气腔体之间通过气路通道相连通，位于最顶部的气囊的充气腔体与所述导气通路连通；在未充气状态下，气囊的充气腔体体积沿远离连接体的方向依次递减。A flexible pawl with a surface microstructure, including a motor, the end of the output shaft is connected with a bending grasping mechanism through a connecting body; the connecting body is provided with an air guiding passage, and one end of the air guiding passage is connected to the connecting body The inflatable nozzle on one side surface is connected, and the other end is connected with the curved grasping mechanism; the curved grasping mechanism has a structure including a flexible finger fingerboard, the top end of which is connected with the bottom surface of the connecting body, and the bottom end is a free end An elastic body is connected to one side of the flexible finger fingerboard. The elastic body is composed of a plurality of interconnected airbags sequentially connected along the length direction into a whole. Each airbag has an inflatable cavity inside. The cavities are connected by an air path, and the inflation cavity of the airbag at the top is connected with the air guiding path; in the uninflated state, the volume of the inflation cavity of the airbag decreases successively in the direction away from the connecting body.
其进一步技术方案在于：Its further technical solutions are:
弹性体的纵截面呈半波纹管状结构，所述半波纹管状结构的半径沿轴向递减。The longitudinal section of the elastic body has a semi-corrugated tubular structure, and the radius of the semi-corrugated tubular structure decreases in the axial direction.
所述气路通道位于每个气囊的充气腔体的两侧壁上。The gas path channel is located on the two side walls of the inflation cavity of each airbag.
柔性手指指板的另一侧面上均匀间隔设有多个凸起结构。A plurality of convex structures are evenly spaced on the other side of the flexible finger fingerboard.
所述凸起结构沿长度方向间隔设置有多组，每组的凸起结构包括多个第一凸台和多个第二凸台，第一凸台和第二凸台间隔平行排列，第一凸台和第二凸台为体积不同的圆台形或圆锥形结构。The protruding structures are arranged in multiple groups at intervals along the length direction, and each group of protruding structures includes a plurality of first bosses and a plurality of second bosses, the first bosses and the second bosses are arranged in parallel at intervals, and the first The boss and the second boss are of frustum or conical structures with different volumes.
所述电机通过键连接在连接体的顶端，所述充气嘴固定连接在连接体的表面，用于与外部气泵连接。The motor is connected to the top end of the connecting body through a key, and the inflating nozzle is fixedly connected to the surface of the connecting body for connecting with an external air pump.
有益效果Beneficial effect
本发明的有益效果如下：The beneficial effects of the present invention are as follows:
本发明结构紧凑、合理，操作方便，通过电机带动柔性抓取机构转动，外部气泵提供的压缩气体通过充气嘴、导气通道，再通过气路通道向整个弹性体的充气腔体内充气，从而实现柔性手指指板的向内弯曲，实现抓取功能，利用凸起结构，增加柔性手指指板与物体间的摩擦力，且凸起结构能够嵌入到一些表面带凹槽的物品内，从而实现对表面摩擦因数不高和以及形状不规则物品的有效抓取。The invention has a compact and reasonable structure and is easy to operate. The motor drives the flexible grasping mechanism to rotate, and the compressed gas provided by the external air pump passes through the inflation nozzle, the air guide channel, and then inflates the entire elastic body's inflation cavity through the air path. The inward bending of the flexible finger fingerboard realizes the grasping function. The convex structure increases the friction between the flexible finger fingerboard and the object, and the convex structure can be embedded in some objects with grooves on the surface to realize the The surface friction factor is not high and the effective gripping of irregularly shaped objects.
附图说明Description of the drawings
图1为本发明的立体结构示意图。Figure 1 is a schematic diagram of the three-dimensional structure of the present invention.
图2为本发明的局部剖视图。Figure 2 is a partial cross-sectional view of the present invention.
图3为图1的另一视角。Figure 3 is another view of Figure 1.
图4为本发明凸起结构的局部放大图。Figure 4 is a partial enlarged view of the raised structure of the present invention.
图5的本发明在工作状态时的示意图。Fig. 5 is a schematic diagram of the present invention in working state.
其中：1、气路通道；2、凸起结构；3、气囊；4、柔性手指指板；5、导气通路；6、充气嘴；7、连接体；8、电机；9、充气腔体；10、弹性体；21、第一凸台；22、第二凸台。Among them: 1. Air passage; 2. Protruding structure; 3. Airbag; 4. Flexible finger fingerboard; 5. Air guide passage; 6. Inflatable nozzle; 7. Connecting body; 8. Motor; 9. Inflatable cavity 10, elastomer; 21, first boss; 22, second boss.
本发明的实施方式Embodiments of the invention
下面结合附图，说明本发明的具体实施方式。The specific embodiments of the present invention will be described below in conjunction with the drawings.
如图1和图2所示，本实施例的具有表面微结构的柔性手爪，包括电机8，其输出轴端部通过连接体7连接有弯曲抓取机构；连接体7内部设有导气通路5，导气通路5的一端与设置在连接体7一侧表面上的充气嘴6连通，另一端与弯曲抓取机构连通；弯曲抓取机构的结构为：包括柔性手指指板4，其顶端与连接体7的底面连接，底端为自由端，柔性手指指板4的一侧面上连接有弹性体10，弹性体10由多个相互连通的气囊3沿长度方向依次顺接成整体，每个气囊3的内部具有充气腔体9，相邻两气囊3的充气腔体9之间通过气路通道1相连通，位于最顶部的气囊3的充气腔体9与导气通路5连通；在未充气状态下，气囊3的充气腔体9体积沿远离连接体7的方向依次递减。电机8通过键连接在连接体7的顶端，充气嘴6固定连接在连接体7的表面，用于与外部气泵连接。As shown in Figures 1 and 2, the flexible gripper with surface microstructure of this embodiment includes a motor 8, the end of the output shaft of which is connected with a bending grasping mechanism through a connecting body 7; the connecting body 7 is provided with a gas guide Passage 5, one end of the air guiding passage 5 is connected with the inflator 6 provided on one side surface of the connecting body 7, and the other end is connected with the curved grasping mechanism; the structure of the curved grasping mechanism is: including the flexible finger fingerboard 4, which The top end is connected to the bottom surface of the connecting body 7, and the bottom end is a free end. An elastic body 10 is connected to one side of the flexible finger fingerboard 4, and the elastic body 10 is formed by a plurality of interconnected airbags 3 in sequence along the length direction into a whole. Each airbag 3 has an inflation cavity 9 inside, and the inflation cavities 9 of two adjacent airbags 3 are connected through the air path 1, and the inflation cavity 9 of the airbag 3 at the top is connected with the air guiding path 5; In the uninflated state, the volume of the inflation cavity 9 of the airbag 3 gradually decreases in the direction away from the connecting body 7. The motor 8 is connected to the top end of the connecting body 7 by a key, and the air nozzle 6 is fixedly connected to the surface of the connecting body 7 for connecting with an external air pump.
弹性体10的纵截面呈半波纹管状结构，半波纹管状结构的半径沿轴向递减。The longitudinal section of the elastic body 10 is a semi-corrugated tubular structure, and the radius of the semi-corrugated tubular structure decreases in the axial direction.
气路通道1位于每个气囊3的充气腔体9的两侧壁上。The air path 1 is located on the two side walls of the inflation cavity 9 of each airbag 3.
如图3和图4所示，柔性手指指板4的另一侧面上均匀间隔设有多个凸起结构2。凸起结构2沿长度方向间隔设置有多组，每组的凸起结构2包括多个第一凸台21和多个第二凸台22，第一凸台21和第二凸台22间隔平行排列，第一凸台21和第二凸台22为体积不同的圆台形或圆锥形结构。As shown in Figs. 3 and 4, the other side of the flexible finger fingerboard 4 is provided with a plurality of convex structures 2 evenly spaced. The convex structures 2 are arranged in multiple groups at intervals along the length direction, and each group of the convex structures 2 includes a plurality of first bosses 21 and a plurality of second bosses 22, the first bosses 21 and the second bosses 22 are spaced in parallel Arranged, the first boss 21 and the second boss 22 have a circular cone or conical structure with different volumes.
本发明的实施过程如下：The implementation process of the present invention is as follows:
由电机8驱动连接体7转动，实现弯曲抓取机构以电机输出轴为中轴线，进行360度旋转；由外部气泵提供的压缩气体通过充气嘴6经过导气通道5，向位于弹性体10最顶部的气囊3的充气腔体9内充气，气体通过每个气囊3内的气路通道1，将整个弹性体10进行充气，由于充气腔体9的体积沿长度方向（图3中为由上至下）依次递减，因此底部的气囊3相较于其上部的气囊3首先发生变形，同时，气囊3受内部压缩气体的作用沿长度方向，向上下两端膨胀，引起整个弹性体10长度增加，而柔性手指指板4长度不变，从而实现柔性手指指板4向远离弹性体10的一侧弯曲，并达到抓取物体的目的（如图5所示）。凸起结构2起到了增大摩擦力，在遇到表面有凹槽物品时可与凹槽配合，起到了提高抓取稳定性的作用。The connecting body 7 is driven to rotate by the motor 8 to realize that the bending grasping mechanism takes the motor output shaft as the central axis to perform 360-degree rotation; the compressed gas provided by the external air pump passes through the air filling nozzle 6 and passes through the air guide channel 5, and is located in the most elastic body 10. The inflation cavity 9 of the airbag 3 at the top is inflated. The air passes through the air path 1 in each airbag 3 to inflate the entire elastic body 10. As the volume of the inflation cavity 9 is along the length direction (as shown in Figure 3) To the bottom) decrease sequentially, so the bottom airbag 3 is first deformed compared to the upper airbag 3, and at the same time, the airbag 3 is expanded along the length direction by the internal compressed gas, causing the entire elastic body 10 to increase in length. , And the length of the flexible finger fingerboard 4 remains unchanged, so that the flexible finger fingerboard 4 is bent to the side away from the elastic body 10, and the purpose of grasping the object is achieved (as shown in FIG. 5). The protruding structure 2 increases the friction force, and can cooperate with the groove when encountering objects with grooves on the surface, thereby improving the grasping stability.

Claims (6)

  1. 一种具有表面微结构的柔性手爪，其特征在于：包括电机（8），其输出轴端部通过连接体（7）连接有弯曲抓取机构；A flexible gripper with surface microstructure, which is characterized in that it comprises a motor (8), the end of the output shaft of which is connected with a bending grasping mechanism through a connecting body (7);
    所述连接体（7）内部设有导气通路（5），导气通路（5）的一端与设置在连接体（7）一侧表面上的充气嘴（6）连通，另一端与所述弯曲抓取机构连通；所述弯曲抓取机构的结构为：包括柔性手指指板（4），其顶端与连接体（7）的底面连接，底端为自由端，柔性手指指板（4）的一侧面上连接有弹性体（10），所述弹性体（10）由多个相互连通的气囊（3）沿长度方向依次顺接成整体，每个气囊（3）的内部具有充气腔体（9），相邻两气囊（3）的充气腔体（9）之间通过气路通道（1）相连通，位于最顶部的气囊（3）的充气腔体（9）与所述导气通路（5）连通；The connecting body (7) is provided with an air guiding passage (5), one end of the air guiding passage (5) is communicated with an air filling nozzle (6) provided on one surface of the connecting body (7), and the other end is connected to the The curved grasping mechanism is connected; the structure of the curved grasping mechanism includes a flexible finger fingerboard (4), the top end of which is connected with the bottom surface of the connecting body (7), the bottom end is a free end, and the flexible finger fingerboard (4) An elastic body (10) is connected to one side of the airbag. The elastic body (10) is composed of a plurality of interconnected airbags (3) sequentially connected into a whole along the length direction. Each airbag (3) has an inflatable cavity inside (9), the inflating cavities (9) of two adjacent airbags (3) are connected by the air path (1), and the inflating cavity (9) of the airbag (3) at the top is connected to the air guide Path (5) is connected;
    在未充气状态下，气囊（3）的充气腔体（9）体积沿远离连接体（7）的方向依次递减。In the uninflated state, the volume of the inflation cavity (9) of the airbag (3) decreases successively in the direction away from the connecting body (7).
  2. 如权利要求1所述的一种具有表面微结构的柔性手爪，其特征在于：弹性体（10）的纵截面呈半波纹管状结构，所述半波纹管状结构的半径沿轴向递减。The flexible gripper with a surface microstructure according to claim 1, wherein the longitudinal section of the elastic body (10) is a semi-corrugated tubular structure, and the radius of the semi-corrugated tubular structure decreases in the axial direction.
  3. 如权利要求1所述的一种具有表面微结构的柔性手爪，其特征在于：所述气路通道（1）位于每个气囊（3）的充气腔体（9）的两侧壁上。The flexible gripper with surface microstructure according to claim 1, characterized in that the air passage (1) is located on the two side walls of the inflation cavity (9) of each air bag (3).
  4. 如权利要求1所述的一种具有表面微结构的柔性手爪，其特征在于：柔性手指指板（4）的另一侧面上均匀间隔设有多个凸起结构（2）。The flexible gripper with surface microstructure according to claim 1, characterized in that a plurality of convex structures (2) are evenly spaced on the other side of the flexible finger fingerboard (4).
  5. 如权利要求4所述的一种具有表面微结构的柔性手爪，其特征在于：所述凸起结构（2）沿长度方向间隔设置有多组，每组的凸起结构（2）包括多个第一凸台（21）和多个第二凸台（22），第一凸台（21）和第二凸台（22）间隔平行排列，第一凸台（21）和第二凸台（22）为体积不同的圆台形或圆锥形结构。A flexible gripper with a surface microstructure according to claim 4, characterized in that: the convex structures (2) are arranged in multiple groups at intervals along the length direction, and the convex structures (2) in each group include multiple A first boss (21) and a plurality of second bosses (22), the first boss (21) and the second boss (22) are arranged in parallel at intervals, the first boss (21) and the second boss (22) It is a truncated cone or conical structure with different volumes.
  6. 如权利要求1所述的一种具有表面微结构的柔性手爪，其特征在于：所述电机（8）通过键连接在连接体（7）的顶端，所述充气嘴（6）固定连接在连接体（7）的表面，用于与外部气泵连接。The flexible gripper with surface microstructure according to claim 1, characterized in that: the motor (8) is connected to the top of the connecting body (7) by a key, and the inflator (6) is fixedly connected to The surface of the connecting body (7) is used to connect with an external air pump.
PCT/CN2019/094794 2019-05-17 2019-07-05 Flexible gripper having surface microstructure WO2020232802A1 (en)

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