Polypod-simulated pneumatic soft body underwater grasping robot

A multi-legged animal and robot technology, applied in the field of pneumatic soft underwater grasping robot, can solve the problems that hinder the expansion of application fields, only have the grasping function, limit the application objects, etc., and achieve strong self-adaptive ability, low price, and grasp Great lasting effect

Active Publication Date: 2019-08-23
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the load force of software grasping robots is generally small, which seriously limits its application objects and hinders the expansion of its application fields.
At present, the focus of research on soft gripping robots is mainly on improving the output force of soft actuators. However, due to the inherent properties of soft materials and the limitations of complex structure strengthening technology, it is difficult to greatly increa

Method used

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  • Polypod-simulated pneumatic soft body underwater grasping robot
  • Polypod-simulated pneumatic soft body underwater grasping robot
  • Polypod-simulated pneumatic soft body underwater grasping robot

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[0028] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, instead of limiting the protection scope of the present invention. It should be understood that in the description of the present invention, the directions or positional relationships indicated by the terms "front", "rear", "left", "right", "upper" and "lower" are based on the directions shown in the drawings. Or the positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. The terms "first", "second", "third", etc. are only used to simplify the text description to distinguish them from similar objects, and cannot be understood as a specific sequence...

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Abstract

The invention discloses a polypod-simulated pneumatic soft body underwater grasping robot. The polypod-simulated pneumatic soft body underwater grasping robot comprises a front portion, a middle portion and a rear portion, wherein the rear portion and the front portion are of the same structure, the rear portion is connected with the front portion through a connection frame, the front portion is of bilateral symmetry structure, the front portion comprises a large soft body bending driver, a small soft body bending driver, a top pressing cover, a bottom pressing cover and a pressing sheet, a first end of the large soft body bending driver is provided with two lug holders which are bilaterally symmetrical, a slotted hole is formed in the center of each lug holder, a second end of the large soft body bending driver is provided with a U-shaped flange, the middle of the large soft body bending driver is of a comb structure, a comb-shaped inner cavity is formed in the comb structure, a folded rectangular air bag is embedded in the inner cavity, the rectangular air bag is formed by laminating four layers of films, the two inner layers of the rectangular air bag are plastic films having airtightness, the two outer layers of the rectangular air bag are fiber layers having a reinforcement property, a first end of the rectangular air bag is connected with an air pipe, and a first end of the small soft body bending driver is of a square pyramid solid structure.

Description

technical field [0001] The invention relates to a soft grasping robot, more specifically, the invention relates to a pneumatic soft underwater grasping robot imitating a myriad animal. Background technique [0002] Soft robots are composed of flexible and soft materials, which can change their shape and size in a wide range. Compared with rigid robots, they have superior flexibility, adaptability, and unstructured environment operation capabilities. The realization of soft interaction with the surrounding environment occupies an important position in the field of robotics research. Among the many soft robots, soft gripping robots and soft manipulators have a high influence, among which soft gripping robots are the first to be commercialized. The German FESTO company has successively launched a variety of new products such as MultiChoiceGripper and FlexShapeGripper, and the domestic Beijing Soft Robot Technology Co., Ltd. has also launched the SFG series of flexible grippers...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J15/00B63C11/52
CPCB25J11/00B25J15/00B63C11/52
Inventor 姚建涛李海利魏纯杰张帅周盼许允斗赵永生
Owner YANSHAN UNIV
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