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Soft pneumatic finger with built-in skeleton

A pneumatic finger and software technology, applied in manipulators, chucks, manufacturing tools, etc., can solve the problems of insufficient torsional stiffness and poor torsional resistance of soft pneumatic fingers, and achieve good torsional stiffness, improved torsional stiffness, and good bending stiffness. Effect

Active Publication Date: 2019-12-13
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the shortcomings of the existing soft pneumatic fingers such as poor torsion resistance, the purpose of the present invention is to provide a soft pneumatic finger with a built-in skeleton to solve the problem of insufficient torsional rigidity of the soft pneumatic finger

Method used

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  • Soft pneumatic finger with built-in skeleton
  • Soft pneumatic finger with built-in skeleton
  • Soft pneumatic finger with built-in skeleton

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Embodiment Construction

[0020] The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

[0021] Such as figure 1 As shown, a soft pneumatic finger with an embedded skeleton includes a soft pneumatic finger and an embedded skeleton 10. The soft pneumatic finger is mainly composed of a body 1, and may further include an appendage 2. When the appendage 2 is included, the appendage 2 It is fixedly connected with the bottom surface of the main body 1 (that is, the lower side in the figure); the embedded frame 10 is connected with the main body 1 at both ends, and the main body part is not in direct contact with the main body 1 .

[0022] Such as figure 2 As shown, the overall shape of the body 1 can be described as meandering along the length direction, that is, bow-shaped or bow-like, and a closed air cavity 11 that is also bow-shaped or bow-like is arranged inside, and one end of the closed air cavity 11 The part is the vent 111 com...

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Abstract

The invention discloses a soft pneumatic finger with a built-in skeleton. The soft pneumatic finger with the built-in skeleton comprises a pneumatic soft finger and a built-in type skeleton. The softpneumatic finger comprises a finger body and can also further comprise an attached body. The finger body and the attached body are made of a flexible material. The integral outer shape of the finger body is in a bow-like shape, and a bow-like shape sealed air cavity and a venthole connected with an external air source are contained inside the finger body. The built-in type skeleton is composed ofa front porous layer, vertical chain plates, hinges, transverse chain plates and a rear porous layer, the shape of the built-in type skeleton is consistent with that of the sealed air cavity, and a light-weight rigid material is adopted to manufacture the built-in type skeleton. The built-in type skeleton and the soft pneumatic finger are connected at two ends through the porous layers. Corner positions of wave-shape portions of the built-in type skeleton are connected by using the hinges, and the influence on bending movement of the soft pneumatic finger is reduced. According to the soft pneumatic finger with the built-in skeleton, the rigid skeleton is embedded into the soft pneumatic finger, the torsional rigidity of the soft pneumatic finger is increased, and the capacity for manipulating and grabbing objects of the soft pneumatic finger is improved.

Description

technical field [0001] The invention belongs to the field of industrial automation and robot technology, and relates to a soft pneumatic finger, in particular to a soft pneumatic finger with an embedded skeleton. Background technique [0002] With the continuous improvement of the level of industrial automation, the application of robotic arms in industry is becoming more and more extensive. At present, the end effector of the robotic arm mainly relies on rigid grippers or vacuum suction cups to complete the grasping operation. However, rigid grippers cannot effectively grasp fragile objects and are easy to damage the grasping surface. Vacuum suction cups have higher requirements for the smoothness of the grasped objects. Both end effectors have certain application limitations. Soft pneumatic fingers are made of flexible materials, which can grasp soft and fragile objects and ensure the integrity of the objects. It has a good application prospect in the field of food sortin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 邵珠峰安敏·骆彭发忠张兆坤
Owner TSINGHUA UNIV
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