Multi-soft-body combined type flexible grabbing industrial assisting mechanism

Abstract

A multi-soft-body combined type flexible grabbing industrial assisting mechanism is characterized in that the upper part of a base is connected to the bottom end of a lower mechanical arm through a main rotating shaft, wherein the upper end of the lower mechanical arm is connected to the lower end of an upper mechanical arm through a mechanical arm rotating shaft; the rear end of a telescoping cylinder is mounted at the lower part of a support on the top end of the upper mechanical arm; a flexible grabber fixing rack is connected to the end part of a telescoping rod of the telescoping cylinder; the rear sides of spherical flexible grabbers are mounted in rows in a corresponding base at the bottom part of the flexible grabber fixing rack; and a flexible grabber linking piston parallel pumping mechanism is arranged in the flexible grabber fixing rack. According to the mechanism, a plurality of spherical soft grabbers are arranged in parallel and are linked with each other, so that the grabbing area of the flexible grabbers can be increased; in addition, the plurality of spherical soft grabbers are controlled in an original linking manner, so that the control is simplified, the grabbing efficiency is improved, and the mechanism is particularly suitable for industrial production.

Description

technical field [0001] The invention relates to the field of soft robots, in particular to a multi-head soft combined flexible grasping industrial auxiliary mechanism. Background technique [0002] For grasping robots, it is difficult to design and manufacture human-like fingers, which are prone to failure, and it is also very complicated to use a controller to control dozens of joints of the mechanical fingers. Therefore, although traditional rigid robots have high rigidity, high strength, The characteristics of high precision and high speed, but when complex and changeable objects are interactively operated, the high rigidity, high strength, and high precision of rigid robots have become shortcomings that make them unable to perform such tasks, so many people turn to soft robots. For research and development, the robot uses a spherical soft gripper. By inflating the structure, the air pressure is used to cause the structure to deform or move, so as to realize the driving g...

AI Technical Summary

Problems solved by technology

[0002] For grasping robots, it is difficult to design and manufacture human-like fingers, which are prone to failure, and it is also very complicated to use a controller to control dozens of joints of the mechanical fingers. Therefore, although traditional rigid robots have high rigidity, high strength, The characteristics of high precision and high speed, but when complex and changeable objects are interactively operated, the high rigidity, high strength, and high precision of rigid robots have become shortcomings that make them unable to perform such tasks, so many people turn to soft robots. For research and development, the robot uses a spherical soft gripper. By inflating the structure, the air pressure is used to cause the structure to deform or move, so as to realize the driving grasp. However, in the actual grasping process, there are often the following problems, because many parts are long strips , while the spherical soft gripper can only realize the flexible gripping of smaller items, so the force is often not enough and the parts are prone to fall. To achieve a larger range of gripping, it is necessary to design a large spherical soft gripper. This design is cost-effective extremely low

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