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Multi-degree-of-freedom soft grabbing device

A grasping device and a technology of degrees of freedom, applied in the direction of claw arms, manipulators, chucks, etc., can solve problems such as inability to grasp objects

Inactive Publication Date: 2017-07-18
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention aims at the defect that only one degree of freedom can be realized when grabbing an object in the prior art. When the software robot and the object to be grasped are not in a vertical corresponding relationship, the object cannot be grasped, etc., and proposes a multi-degree-of-freedom software grasping device. It can realize multi-degree-of-freedom movement, and can be applied to grasping tasks in various complex environments. Compared with rigid grasping structures, it has higher flexibility, simple structure, flexible disassembly and use

Method used

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Examples

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Embodiment Construction

[0019] Such as figure 1 As shown, this embodiment includes: several soft fingers 1 and a soft arm 3 composed of several arm units 4 sequentially connected, wherein: the soft finger 1 is arranged at one end of the soft arm 3 .

[0020] Such as Figure 2~4 As shown, the soft finger 1 includes several cuboid finger units 2, wherein: the finger units 2 are connected in sequence, and the finger air cavities 21 are arranged inside the finger units 2, and the finger air cavities 21 in each finger unit 2 are connected. It means that the ratio of length, width and height of unit 2 is 4:3:6. Both sides of the finger unit 2 are provided with threaded holes 22 and externally threaded pipes 23 respectively, and the threaded holes 22 and externally threaded pipes 23 communicate with the finger air cavity 21 respectively. The two finger units 2 are connected to the externally threaded pipe 23 through respective threaded holes 22 . Means unit 2 has a length of 20mm, a width of 15mm, and a ...

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Abstract

A multi-degree-of-freedom soft grabbing device comprises multiple soft fingers and a soft arm formed by sequentially connecting multiple arm units. The soft fingers are arranged at one end of the soft arm. Each soft finger comprises multiple cuboid finger units, wherein the finger units are sequentially connected, a finger air cavity is formed in each finger unit, and the finger air cavities in all the finger units are connected. Each arm unit comprises a columnar pipe and connecting pipes, wherein the connecting pieces are arranged at the two ends of each columnar pipe. Multiple air pipes are arranged in each columnar pipe. Multiple cylindrical air cavities formed in the axial direction are formed in the pipe wall of each columnar pipe. Each cylindrical air cavity is correspondingly connected with one air pipe. The multi-degree-of-freedom soft grabbing device achieves multi-degree-freedom motion, can be applied to the grabbing task of objects in multiple complex environments; and compared with a rigid grabbing structure, the multi-degree-of-freedom soft grabbing device is higher in flexibility, simple in structure and flexible to disassemble and use.

Description

technical field [0001] The invention relates to a technology in the field of industrial robots, in particular to a multi-degree-of-freedom software grabbing device. Background technique [0002] With the development of soft robot technology, the rigid manipulator structure in the traditional sense cannot meet the work requirements in some complex environments. The gripping device of the soft manipulator is based on software, and theoretically has unlimited freedom of movement and continuous deformation capabilities. It can achieve complex deformation effects through technical control, and is suitable for use in complex working conditions. Contents of the invention [0003] The present invention aims at the defect that only one degree of freedom can be realized when grabbing an object in the prior art. When the software robot and the object to be grasped are not in a vertical corresponding relationship, the object cannot be grasped, etc., and proposes a multi-degree-of-free...

Claims

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Application Information

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IPC IPC(8): B25J15/12B25J15/10B25J18/06
CPCB25J15/12B25J15/10B25J18/06
Inventor 谷国迎李灵
Owner SHANGHAI JIAO TONG UNIV
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