A gas line double-drive support type soft hand
A dual-drive, support-type technology, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems that affect the use of soft hands, small grasping force, and infirmity, and achieve a wide range of use, firm grasping of objects, and production low cost effect
Active Publication Date: 2022-06-24
TIANJIN UNIV
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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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[0027] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
[0028] A schematic structural diagram of a pneumatic double-driven support type soft hand of the present invention is as follows: Figure 1-Figure 5 As shown, at least two finger units are included, each of which includes a soft 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 body 4 are bonded as a whole. The constraining layer 5 is placed between the soft body 6 and the base body 4 . The expansion coefficient of the soft body 6 is greater than the expansion coefficient of the constraint layer 5 . The wire driving mechanism 3 includes a driving wire body 3-3 and a plurality of wire body guiding blocks 3-2 mounted on the base body 4. One end of the driving wire body 3-3 is connected to the The base body 4 is fixedly connected, and the other end of the dri...
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The invention discloses an air-line dual-drive supporting soft hand, aiming to provide a soft hand capable of adopting different driving modes according to different objects to be grasped, with high grasping force and high grasping stability. It includes at least two finger units, each finger unit includes a soft finger body, a constraint layer, a substrate and a wire drive mechanism, the constraint layer is placed between the soft finger body and the base body; the expansion coefficient of the soft finger body is greater than that of the constraint layer; the wire drive mechanism It includes a driving wire body and a plurality of wire guide blocks installed on the base body, one end of the driving wire body is fixedly connected to the base body through a wire tube, the other end of the driving wire body is connected to the cable driving mechanism, and the driving wire body passes through multiple wire bodies The guide block guides; the soft finger body includes multiple gas chambers, the multiple gas chambers communicate with each other, and the gas pressure in the gas chambers is controlled by a pneumatic control mechanism. The soft hand of the present invention has greater grasping strength and bending angle under the same air pressure, and has higher grasping stability.
Description
technical field [0001] The invention relates to the technical field of soft robots, and more particularly, to a double-drive supporting soft hand driven by air and wire. Background technique [0002] With the continuous advancement of technology, robots can be seen everywhere in automated production lines. However, traditional manipulators are not completely suitable for the grasping of any industrial objects: because the manipulator is in rigid contact with the object to be grasped, it will cause damage to some fragile items during the grasping process; due to the poor adaptive ability 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 meet the needs of use in specific fields, soft robots emerge as the times require. Soft hand is one of them. Compared with traditional manipulators, most of them are made of soft m...
Claims
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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