Flexible manipulator with bow-shaped continuous curved inner cavity

A bow-shaped, manipulator technology, applied in the field of flexible manipulators, to achieve the effect of simple and effective integration, high cost performance and good performance

Inactive Publication Date: 2018-08-10
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the above-mentioned shortcoming of the prior art, the object of the present invention is to provide a flexible manipulator to solve the problem of quickly grabbing objects of different shapes and sizes

Method used

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  • Flexible manipulator with bow-shaped continuous curved inner cavity
  • Flexible manipulator with bow-shaped continuous curved inner cavity
  • Flexible manipulator with bow-shaped continuous curved inner cavity

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Experimental program
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Embodiment Construction

[0022] The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

[0023] Such as figure 2 As shown, a flexible manipulator with a bow-shaped continuous curved inner cavity is characterized in that it includes a main body 1 and an appendage 2. The main body 1 and the appendage 2 are made of soft materials, and the elastic modulus of the material for making the appendage 2 is It is greater than the elastic modulus of the material of the main body 1, and can control the bending deformation posture and movement process of the entire manipulator through the elastic modulus of the material of the appendage 2; the overall shape of the main body 1 is bow-like, and a bow-like The font-shaped continuous closed air cavity 11 and the air vent 111 communicated with the external driving air source; the bottom surface of the appendage 2 and the main body 1 are fixed together; The cavity 11 is inflated or deflated, so as to...

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Abstract

The invention discloses a flexible manipulator with a bow-shaped continuous curved inner cavity. The flexible manipulator comprises a body and an auxiliary body, wherein the body and the auxiliary body are made of the same or different flexible materials, and a non-extensible layered material can be arranged inside the auxiliary body. The overall appearance of the body is in a bow-like shape, anda bow-shaped continuous closed cavity and a vent opening communicating with an external driving air source are formed in the body. The auxiliary body is fixedly connected with the bottom surface of the body. During operation, the driving air source inflates or deflates the closed air cavity inside the body through the vent opening, so that bending and stretching movement of the body is achieved under the restraint of the auxiliary body. According to the flexible manipulator with the bow-shaped continuous curved inner cavity, the overall arrangement of the bow-like shape and the air cavity of the bow-like shape can effectively improve the movement speed and output force of the manipulator, and the realization of a high-speed reliable grasping function is facilitated.

Description

technical field [0001] The invention relates to a flexible manipulator, in particular to a gas-driven flexible manipulator. Background technique [0002] In the field of industrial automation, the grasping action at the end of the robotic arm is mainly completed by rigid mechanical grippers or vacuum suction cups. However, due to the difficulty in controlling the strength of rigid mechanical grippers, it is difficult to achieve non-destructive grasping of soft and fragile objects. It is difficult for vacuum suction cups to adapt to irregular objects with rough surfaces and holes during handling. This leads to limitations in both application scenarios. The flexible manipulator includes flexible fingers and a fixed seat. The flexible fingers are made of elastic materials, which can grasp soft and fragile objects without causing damage to the objects themselves. [0003] In the prior art, patent documents such as "a pneumatic soft gripping device" (CN104959992B) and "a flex...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J9/00
CPCB25J9/0015B25J9/08
Inventor 邵珠峰安敏·骆邓豪王立平张兆坤易希理
Owner TSINGHUA UNIV
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