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Pneumatic soft manipulator

A technology of manipulators and pneumatic fingers, which is applied in the field of manipulators, can solve the problems of poor versatility and difficulty in grasping slightly larger or smaller items, and achieve the effect of convenient grasping and expanding the grasping range

Pending Publication Date: 2018-07-13
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, in the current manipulators that use multiple pneumatic soft fingers, the distance between each pneumatic soft finger is relatively fixed. Therefore, it can only realize the grasping of objects within a certain size range (smaller range), and it is difficult to grasp slightly Larger or smaller items are less versatile

Method used

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Examples

Experimental program
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Embodiment Construction

[0022] figure 1 It is a structural schematic diagram of the present invention; as shown in the figure: the pneumatic soft manipulator of this embodiment includes a chassis 7, and four screw rods 3 arranged on the chassis 7 correspond to the sliders arranged on the screw rods 3 one by one. assembly, a pneumatic finger assembly driven by the slider assembly, and a drive motor for driving the four screw rods 3 to rotate synchronously; the slider assembly includes a slider body 2 and The flange plate 10 fixed on the slider body 2 by the set screw 9; the flange plate 10 is provided with a threaded hole threaded with the screw rod 3; when the distance between each pneumatic finger needs to be adjusted, The drive motor simultaneously drives four screw rods 3 to rotate synchronously; since the screw rod 3 cooperates with the flange plate 10 fixed on the slider to form a nut pair of the screw rod 3 , the rotation of the screw rod 3 is transformed into the movement of the slider along t...

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Abstract

The invention discloses a pneumatic soft manipulator. The pneumatic soft manipulator comprises a chassis, multiple lead screws arranged on the chassis, slide block modules correspondingly arranged onthe lead screws one to one, pneumatic finger modules driven through the slide block modules, and driving motors for driving the multiple lead screws to rotate at the same time; the slide block modulescomprise slide block bodies slidingly cooperating with the chassis, and flange plates fixed on the slide block bodies; and the flange plates are provided with thread holes in threaded fit with the lead screws. The manipulator can realize synchronous leaving or approaching of multiple pneumatic soft fingers from or to the center of a base, so that the grabbing range of the manipulator is widened,and objects with different sizes can be grabbed; and meanwhile, the pneumatic fingers can be rotated around central axes to reach a four-finger radial or four-finger parallel state, so that objects with different shapes are conveniently grabbed.

Description

technical field [0001] The invention relates to the field of manipulators, in particular to a pneumatic software manipulator. Background technique [0002] The basic principle of the pneumatic soft finger is a finger formed by a flexible material through a special process. For example, the pneumatic soft finger structure disclosed in the Chinese utility model patent whose publication number is CN205704256U is disclosed in the soft three-finger robot. This pneumatic soft finger has a special structure, and its back is divided into airbag structures. An air chamber that can be inflated; its inner side is constrained by a difficult-to-stretch constraining layer (such as cloth strips embedded in the material). When the airbags on the back are inflated, each air chamber expands, squeezes each other, and the material elongates, while the inner side is restrained by the constraining layer and is difficult to elongate, so that the entire finger bends inward. Objects can be grasped...

Claims

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Application Information

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IPC IPC(8): B65G47/91
CPCB65G47/91
Inventor 柏龙张磊涂国伟范圣哲
Owner CHONGQING UNIV
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