Artificial finger inflation software three-finger clamping device

Abstract

The invention belongs to the technical field of clamping equipment, and particularly relates to an artificial finger inflation software three-finger clamping device. The clamping device comprises a controller, a fixed frame and bionic fingers, wherein the controller is fixed at the top end of the fixed frame; the bionic fingers are connected to the bottom end of the fixed frame, each bionic fingercomprises a first joint, a second joint and a third joint, and the first joint, the second joint and the third joint are connected with one another through torsion springs. When goods need to be grabbed, the controller applies pressure to a first cavity through a hose, so that a piston rod extends into a second cavity from the first cavity under the action of the pressure, and at the moment, thebionic fingers are in an open state; and when the clamping device is located above the goods, the controller releases pressure to the first cavity through the hose, the second joints and the third joints are bent under the action of the torsion spring torsion, the piston rod can retract into the first cavity again after being extruded, and the bionic fingers return a folding state again at the moment, so that grabbing of the goods is realized.

Description

technical field [0001] The invention belongs to the technical field of clamping equipment, and specifically relates to a three-finger clamper which imitates human fingers and inflatable software. Background technique [0002] In recent years, with the development of new materials and rapid prototyping technology, there has been an upsurge of research on soft robots worldwide. Soft robots involve the disciplines of bionics, robotics, soft materials, and control, and are inspired by imitating molluscs and structures in nature. Soft grippers, because they can adapt to various shapes of object surfaces, and perform safe and compliant target grasping and manipulation tasks, are currently one of the most popular research directions in soft robots. Although the traditional rigid gripper has the characteristics of high rigidity, high precision, fast speed, and good repeatability, it is widely used in the fields of industrial manufacturing, medical equipment, and aerospace. For bro...

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Problems solved by technology

[0003] In order to make up for the deficiencies of the existing technology, there is still a certain distance between the soft gripper and the large-scale practical application. The important point is the poor load capacity of the soft gripper and the poor stability of the gripped object; this paper The invention proposes a humanoid finger inflatable soft three-finger gripper

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