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Soft finger, gripping device and gripping control system

A grasping device and software technology, used in manipulators, manufacturing tools, transportation and packaging, etc., can solve the problems of unable to grasp egg objects, crushed grasped objects, and fingers without pressure sensing function.

Pending Publication Date: 2018-07-13
SHENZHEN ZHENDI INFORMATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, most of the mechanical fingers used with manipulators are made of hard materials, because the fingers themselves do not have the same pressure sensing function as humans, and cannot automatically adjust the grasping force. Therefore, they cannot grasp objects such as eggs and molluscs. In the process of grasping, because the strong material will crush the grasping objects, etc., it is very urgent to develop a finger and grasping device that can grasp soft substances.

Method used

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  • Soft finger, gripping device and gripping control system
  • Soft finger, gripping device and gripping control system
  • Soft finger, gripping device and gripping control system

Examples

Experimental program
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Effect test

Embodiment 1

[0037] Such as Figure 1-Figure 3 As shown, the embodiment of the present invention provides

[0038] The present invention provides a soft finger, comprising: a finger body 1, the finger body 1 is a soft material with a first expansion coefficient; a constraining layer 12, the constraining layer 12 is a soft material or an elastic material, and is arranged on On the finger body 1 side, the constraint layer 12 has a second expansion coefficient; the first expansion coefficient is greater than the second expansion coefficient.

[0039] Specifically, in a preferred embodiment, the cross-sectional structure of the soft finger includes rectangle, trapezoid, semicircle and variable cross section, etc., wherein, the rectangle, trapezoid and semicircle can all realize constant curvature bending, while the variable cross section realizes variable Curvature bending, air pressure and resulting driving force required for soft finger deformation are related to the cross-sectional shape. ...

Embodiment 2

[0048] Such as Figure 6 As shown, the present invention provides a soft finger, comprising: a finger body 1, the finger body 1 is a soft material, and the material has a first expansion coefficient; a constraining layer 12, and the constraining layer 12 is a soft material or an elastic material , arranged on the side of the finger body 1, the constraining layer 12 has a second expansion coefficient; the first expansion coefficient is greater than the second expansion coefficient. The soft finger can also include a joint 3 connected between two adjacent finger bodies 1 .

[0049] In order to imitate human fingers, this embodiment preferably adopts joints, that is, joints 3 are also included on the basis of the above-mentioned soft fingers. The above-mentioned joint is in a contracted state on the first side, and in a tensionable state on the second side, and when the second side is in a contracted state, a straight line is formed between the finger body and the finger body; ...

Embodiment 3

[0068] Such as Figure 4-5 As shown, the embodiment of the present invention provides a grasping device, including at least two soft fingers as described in Embodiment 1. The grasping device also includes a base plate 4 , and the soft finger is fixedly connected to one side of the base plate 4 through the finger-body connecting plate 2 . Generally, there can be 2-4 soft fingers, and in this embodiment, there are 4 fingers.

[0069] Specifically, the base 4 may be fixedly connected via the finger-to-body connecting plate 2 . The finger connecting plate 2 is clamped by the protruding portion 131 . The finger-body connecting plate 2 is usually two acrylic plates, and the current method used is to use two acrylic plates to clamp the upper end of the soft finger with a certain pressure. Clamping pressure is achieved via screws. Screws can be used to connect with the basic 4 parts at the same time. Ordinary water pipe joints can be installed on the acrylic board, and pass throu...

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Abstract

The embodiment of the invention discloses a soft finger. The soft finger comprises a finger body (1) and a restraint layer (12), wherein the finger body (1) is made of a soft material, and the soft material has a first extending-and-contracting coefficient; and the restraint layer (12) is made of a flexible material or an elastic material and arranged at one side of the finger body (1) and has a second extending-and-contracting coefficient; and the first extending-and-contracting coefficient is greater than the second extending-and-contracting coefficient. According to the soft finger, the finger body is made of the soft material and internally provided with gas or liquid, and therefore, the integral finger body is in a soft state and particularly suitable for gripping objects such as eggs, mollusks and the like. Meanwhile, the invention provides a gripping device and a gripping control system. By means of the soft finger, the gripping device and the gripping control system, the problem that when being gripped, a gripped object is pressed to be damaged due to the hard material is solved on the whole.

Description

technical field [0001] The invention relates to the field of software control, in particular to a software finger and grasping control system. Background technique [0002] At present, mechanical fingers are usually of rigid structure, and rigid drives such as motors and hydraulic cylinders are used to control and grab objects. These industrial robotic fingers are usually used to grasp hard objects such as mechanical parts. However, with the gradual development of production and life, the functional requirements for mechanical fingers are becoming more and more abundant. [0003] At present, most of the mechanical fingers used with manipulators are made of hard materials, because the fingers themselves do not have the same pressure sensing function as humans, and cannot automatically adjust the grasping force. Therefore, they cannot grasp objects such as eggs and molluscs. In the process of grabbing, because the tough material will crush the grabbing objects, etc., it is v...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/12B25J19/00B65G47/90
CPCB65G47/90B25J15/00B25J15/12B25J19/0025
Inventor 不公告发明人
Owner SHENZHEN ZHENDI INFORMATION TECH CO LTD
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