A software self-locking manipulator

Abstract

The invention belongs to the technical field of manipulators, and in particular relates to a soft self-locking manipulator, which includes: manipulator joints, joint accommodation bins and a base, and several manipulator joints are hingedly connected from head to tail to form a joint chain; the manipulator joints include: joint body, fitting device , filler, covering layer and trachea, the hinge of the two joint bodies is provided with a covering layer, and the side of the joint body close to the hinge rod forms an extrusion surface, and the hinge rod, extrusion surface and covering of the adjacent joint body The layer forms two cavities whose volume changes with the rotation of the joint body. Fillers are set in the two cavities, and the cladding layer is connected with the trachea. When grasping the clay pot, the joint chain can automatically adapt to the surface curve of the pot. After the chain forms a grasping structure with the lower end converging, it avoids extra pressure on the clay pot, and locks the shape of the joint chain, so that the pot can be grasped. At the same time, it has the adaptability of a flexible manipulator and the strength of a rigid manipulator. Clay pot grabbing.

Description

technical field [0001] The invention belongs to the technical field of manipulators, in particular to a software self-locking manipulator. Background technique [0002] Existing flexible manipulators usually use an air cavity inside the deformable material, and multiple drive chambers are set on one side of the air cavity. After the air source is introduced, the drive chamber expands to stretch the side wall of one side of the flexible manipulator. The manipulator bends to the other side. Because it uses flexible and bendable materials for grasping, it can grasp soft and fragile objects, but there are two problems with this type of manipulator: 1. The bending curve is fixed, for example, "a bow-shaped CN108381534 "flexible manipulator with continuous curved inner cavity. After the air source is introduced, the manipulator bends to achieve grasping, but the curved curve cannot adapt to the surface curve of the clay pot, and the point contact with the pottery pot makes the gra...

AI Technical Summary

Problems solved by technology

[0002] Existing flexible manipulators usually use an air cavity inside the deformable material, and multiple drive chambers are set on one side of the air cavity. After the air source is introduced, the drive chamber expands to stretch the side wall of one side of the flexible manipulator. The manipulator bends to the other side. Because it uses flexible and bendable materials for grasping, it can grasp soft and fragile objects, but there are two problems with this type of manipulator: 1. The bending curve is fixed, for example, "a bow-shaped CN108381534 "flexible manipulator with continuous curved inner cavity. After the air source is introduced, the manipulator bends to achieve grasping, but the curved curve cannot adapt to the surface curve of the clay pot, and the point contact with the pottery pot makes the grasping unstable; 2. The strength itself is not enough. In order to complete the bending, the manipulator uses flexible materials, which are easily deformed when subjected to external forces, resulting in unstable grasping;

[0003] Since the handmade clay pots are fragile, the external curves of each pot are different, and the manipulators in the prior art cannot complete the grasping of the pots in the production of pots

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