Joint type internal skeleton pneumatic soft hand claw

Abstract

The invention discloses a joint type internal skeleton pneumatic soft hand claw. The joint type internal skeleton pneumatic soft hand claw comprises a central palm part, a plurality of soft-body tentacles fixed to the periphery of the central palm part; each soft-body tentacle part comprises a plurality of joint parts which are connected in sequence; each joint part comprises an elastic telescopiclayer and a plurality of supporting bone parts which are uniformly distributed in the elastic telescopic layer; an inner cavity of the elastic telescopic layer is supported by the supporting bone parts, the inner cavity is connected with the elastic telescopic layer, the supporting skeleton parts are hinged; an air hole is formed in the middle of the supporting skeleton part; the front end of thejoint part is provided with a fingertip bone part which is hinged to the support bone part; a finger bone part is arranged at the rear end of the joint part and is hinged to the supporting bone part;a connecting bone part is arranged between every two adjacent joint parts and is hinged to the supporting bone part; the air holes are formed in the connecting bone part and the finger bone part; andthe connecting bone part and the finger bone part are independently connected with an air pipe; the inner part of the elastic telescopic layer is filled with a plurality of circles of fiber restraintlayers, and the constraint layers correspond to the outside of the gas chamber. According to the joint type internal skeleton pneumatic soft hand claw, the rigidity and the grasping capacity of the tong are improved.

Description

technical field [0001] The invention belongs to the field of soft body grippers, in particular to an articulating endoskeleton pneumatic soft gripper. Background technique [0002] In modern industrial automation clamping and handling operating systems, pneumatic clamps have received more and more attention and applications. However, the current pneumatic clamping devices are mostly aimed at target objects of specific types and specifications, and it is generally difficult to meet the requirements for objects with irregular shapes and different operating environments. In order to overcome its strict restrictions on the material and shape of the gripper, the pneumatic soft gripper has been researched and developed. The pneumatic software gripper uses superelastic materials such as silicone rubber, which has high flexibility and can adapt to target objects of different shapes and sizes. It responds quickly, is light and not easy to damage the gripped object, and is safe and f...

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Problems solved by technology

[0003] Chinese patent 201620690558.1 is a patent titled "a soft three-fingered robot". It is based on a structure driven by air pressure of soft materials. By inflating or sucking air into the channel inside the finger, the finger can be bent outward or inward. Its posture deformation is used to grasp objects, and its flexibility is high. However, limited by the nature of the material itself, its output force is low, and it cann

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