Soft winding robot

A robot and software technology, applied in the field of robots, to achieve the effect of improving reliability

Active Publication Date: 2020-05-15
PENG CHENG LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The main purpose of the present invention is to propose a soft body winding robot, aiming at s

Method used

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Embodiment Construction

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0035] It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of the present invention, the directional indication is only used to explain the position in a certain posture (as shown in the accompanying drawing). If the specific posture changes, the directional indication will also change accordingly.

[0036] In addition, if there are descriptions involving "first", "second" and ...

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Abstract

The invention discloses a soft winding robot. The soft winding robot comprises a winding tube, a non-ductile layer, a non-ductile line and an expansion tube, wherein the winding tube is provided withan air charging port, a gripping surface and a connecting surface which abuts upon the gripping surface, the air charging port communicates with an inner cavity of the winding tube, and the gripping surface extends in the axial direction of the winding tube; the non-ductile layer extends in the axial direction of the winding tube and is attached to the gripping surface; the non-ductile line is spirally wound around the outer wall surface of the winding tube in the axial direction of the winding tube so that the winding tube can deform spirally after being charged with air, and the non-ductilelayer faces the spiral center line; and the expansion tube is provided with an air injection port communicating with an inner cavity of the expansion tube, the expansion tube extends in the axial direction of the winding tube and is connected to the connecting surface to deform spirally along with the winding tube, and the expansion tube is charged with air to make contact with a gripped object. According to the soft winding robot, the gripping area on the gripped object can be increased, the gripping force of the expansion tube and the winding tube on the gripped object can be controlled by controlling the pressure of the charged air, and the gripping reliability of the soft robot is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a soft body winding robot. Background technique [0002] In real life, there are many grasping operations that require not to damage the structure of the target body, such as the sea recovery of autonomous underwater robots, the rescue of personnel from sunken ships, etc. The flexible grasping method has significant advantages over the rigid grasping method, and It has strong environmental adaptability, high flexibility and simple structure. Common flexible grasping methods include the envelope grasping method of soft grippers and the wrapping grasping method of soft robots that can bend and wrap. [0003] Soft gripper is a common flexible grasping structure, but it is not suitable for large-scale grasping, and it is difficult to adapt to the needs of operations with large size changes. Bending and winding soft robots have unique advantages in variable-size grasping, and can per...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/12B63B23/00B63C9/00
CPCB25J15/0023B25J15/12B63B23/00B63C9/00
Inventor 李福华邓豪梅涛苏杭焦健柳胜凯赖宇锋孔文超
Owner PENG CHENG LAB
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