Air line double-drive support type soft body hand

A dual-drive, support-type technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems that affect the use function of soft hands, small grasping force, and low rigidity, and achieve a wide range of use, short production cycle, and improved The effect of stiffness

Active Publication Date: 2019-09-06
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the soft material properties of the current soft hand itself, when grasping objects, the grasping force is small, the stiffness is small, and it is easy to deform
It is not firm when grasping heavy objects and is easy to fall, which affects the use function of the soft hand

Method used

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  • Air line double-drive support type soft body hand
  • Air line double-drive support type soft body hand
  • Air line double-drive support type soft body hand

Examples

Experimental program
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Embodiment Construction

[0027] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0028] The structural schematic diagram of a kind of air line double-drive support type soft hand of the present invention is as follows Figure 1-Figure 5 As shown, at least two finger units are included, and each finger unit includes a soft finger body 6 , a constraining layer 5 , a base 4 and a wire drive mechanism 3 . The soft finger body 6, the constraining layer 5 and the base 4 are bonded together as a whole. The constraining layer 5 is placed between the soft finger body 6 and the base 4 . The expansion coefficient of the soft finger body 6 is greater than the expansion coefficient of the constraining layer 5 . The wire driving mechanism 3 includes a driving wire body 3-3 and a plurality of wire body guide blocks 3-2 installed on the base body 4, and one end of the driving wire body 3-3 passes through the wire tube 3-1 and the wire ...

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PUM

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Abstract

The invention discloses an air line double-drive support type soft body hand, and aims at providing a soft body hand which can adopt different drive manners according to different grabbed objects, andis high in grabbing strength and grabbing stability. At least two finger units are included. Each finger unit comprises a soft body finger body, a restraining layer, a base body and a line drive mechanism, wherein the restraining layer is arranged between the soft body finger body and the base body, wherein the telescopic coefficient of the soft body finger body is larger than that of the restraining layer, the line drive mechanism comprises a driving line body and a plurality of line body guiding blocks arranged on the base body, one end of the driving line body is fixedly connected with thebase body through a line pipe, the other end of the driving line body is connected with a cable driving mechanism, and the driving line body is guided through the multiple line body guiding blocks. Each soft body finger body comprises a plurality of gas cavities which are in communication. A pneumatic control mechanism is used for controlling the gas pressure in the gas cavities. The soft body hand has higher grabbing strength and larger bending angle under the same gas pressure and has higher grabbing stability.

Description

technical field [0001] The invention relates to the technical field of soft robots, and more specifically relates to a dual-drive supporting soft hand driven by air and wire. Background technique [0002] With the continuous advancement of technology, manipulators can be seen everywhere on automated production lines. However, the traditional manipulator is not completely suitable for grasping any industrial objects: because the manipulator is in rigid contact with the grasped object, it will cause damage to some fragile items during the grasping process; due to the poor adaptability of the manipulator, for Some objects with complex shapes are also difficult to grasp. Therefore, in some specific fields, traditional manipulators can no longer meet production requirements. [0003] In order to adapt to the needs of specific fields, soft robots emerged as the times require. Soft hands are one of them. Compared with traditional manipulators, most of them are made of soft mater...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/12B25J15/02
CPCB25J15/12B25J15/0233
Inventor 王福军张伟刘守锋刘柱林旺江王伟杰田延岭张大卫
Owner TIANJIN UNIV
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