Soft touching hand for grabbing object through stretching and contracting of telescopic ring

Abstract

The invention relates to the field of mechanical arms, in particular to a soft touching hand for grabbing an object through stretching and contracting of a telescopic ring. The telescopic ring is inflated through an air guide pipe and begins to stretch; and meanwhile, outwards push force is exerted on each touching hand finger, and the soft touching hand is made to be unfolded. When the object needs to be grabbed, an external mechanical arm drives the soft touching hand to approach the object, a distance sensor feeds a signal back to a PLC control system when detecting the object, then the PLCcontrol system controls an external electromagnetic valve to perform air exhausting on the telescopic ring, and the telescopic ring begins to contract; and meanwhile, pull force towards the inner ring is generated on the touching hand fingers, the soft touching hand is folded, and the purpose of grabbing the object is obtained.

Description

technical field [0001] The invention relates to the field of robotic hands, in particular to a soft tentacle that grasps objects by expanding and contracting an elastic ring. Background technique [0002] The structure of the manipulator hand imitates human fingers, which are divided into three types: no joints, fixed joints and free joints. The number of fingers can be divided into two fingers, three fingers, four fingers, etc., among which two fingers are used the most. The purpose of all manipulators is to achieve the function of grasping objects. However, general manipulators are usually designed for parts with fixed shapes or shapes with similar structures, which have the problems of slow grasping, easy to cause certain damage to the surface of objects, and poor adaptability. [0003] In this regard, scientific research workers have transformed the traditional manipulator, breaking the original purely mechanical structure, and developed a suction cup type and a magnet...

AI Technical Summary

Problems solved by technology

The Chinese utility model patent with the notification number CN206011127U discloses a combined pneumatic flexible finger, which controls the deformation and bending of each silicone finger segment through compressed gas, so that the combined pneumatic flexible finger can achieve different actions and can grasp some fragile small objects. object, but because of the unique structure of the combined pneumatic flexible finger, the pneumatic flexible finger is not suitable for grasping spherical small objects

Images