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Multi-structural-state soft gripper

A soft body and configuration technology, applied in the field of manipulators, can solve problems such as inconvenience, and achieve the effect of improving versatility, improving grasping ability, and soft material

Inactive Publication Date: 2019-04-12
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The end effector of the multi-configuration soft gripper can change the initial posture of the grasp arbitrarily, but most of the end effectors are fixed at present. When encountering different grasping situations, the end effector needs to be replaced, which is very inconvenient

Method used

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Experimental program
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Embodiment Construction

[0021] figure 1 It is a structural schematic diagram of this embodiment, figure 2 It is a schematic diagram of the internal structure of this embodiment, image 3 It is a schematic diagram of the internal structure of the finger. A multi-configuration soft gripper of the present invention includes an actuator body 6, at least two reciprocating swing rods 1 arranged on the actuator body 6, and a device for driving the swing rods 1 to swing. The driving device, the swing rod 1 is fixedly connected with the fingers 2 that grasp or loosen when the swing rods 1 approach or move away from each other. The swing rod 1 swings as a whole. Since the finger 2 is fixed on the swing rod 1, it drives the finger 2 to move to achieve grasping, which can realize the grasping task under the variable load environment and improve the grasping stiffness of the end effector. The grasping performance of the gripper is also improved, and the structure of the scheme is simple, and the grasping of ob...

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Abstract

The invention discloses a multi-structural-state soft gripper. The multi-structural-state soft gripper comprises an actuator body, at least two swing rods capable of swinging back and force on the actuator body, fingers fixedly arranged on the swing rods, and a driving device for driving the swing rods to swing; the fingers achieve gripping and releasing through reciprocating swinging of the swingrods; moving of the swing rods mainly depends on a gripping signal which is emitted when the characteristics of a gripped object are distinguished by an industrial camera; and the soft fingers have the variable rigidity characteristic, and variable rigidity is achieved mainly through electrorheological fluid or magnetorheological fluid. When the multi-structural-state soft gripper meets differentgripping conditions, an end actuator does not need to be replaced, gripping is convenient, meanwhile, the soft fingers have the variable rigidity characteristic, the universality of the end actuatoris improved, and the gripping strength is improved.

Description

technical field [0001] The invention relates to the field of manipulators, and relates to a multi-configuration software gripper. Background technique [0002] The basic principle of the soft finger is a finger formed by forming 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 driven by a hard-to-stretch driven layer (such as a strip of cloth 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 driven by the driven layer and is difficult to elongate, so that the entire finger bends inward. Objects can be grasped when several finger...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J15/02
CPCB25J15/02B25J15/10
Inventor 陈锐吴黎罗帅李鑫
Owner CHONGQING UNIV
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