Pneumatic soft gripper with adjustable grabbing diameter
An adjustable, soft-body technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve the problems of difficult installation and disassembly of soft-body grippers, unfavorable for application and promotion, unchangeable gripping diameter, etc., and achieves flexibility, stability and reliability. , Simple structure, low cost effect
Inactive Publication Date: 2020-11-27
南京云上自动化科技有限公司
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Problems solved by technology
However, due to the design of the rigid bracket and the limitation of the airtightness of the pneumatic drive, this kind of soft gripper is often a non-adjustable flexible gripper assembled by one-piece flexible single finger, and is fastened by bolts and other parts. For assembly, the grasping diameter cannot be changed, and it brings difficulties in installation and disassembly to the production of soft grippers
At the same time, the cost of this integrated software gripper is very high, which is not conducive to application and promotion.
Method used
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[0025] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
[0026] A soft gripper with pneumatically adjustable gripping diameter, such as figure 1 , 2 As shown in and 3, it includes a tripod 1, a fixing device 2 and a pneumatic soft finger 3. The tripod 1 includes three tracks 11, one end of which is connected to each other, and the fixing device 2 is slidably sleeved on the track 11. Above, a limit assembly is arranged between the fixing device 2 and the track 11, a slot 25 is arranged at the bottom of the fixing device 2, and a single finger 3 of pneumatic software is inserted in the slot 25, and a single finger 3 of the pneumatic software is arranged inside the slot 25. The cavity 33 is provided with a non-woven fabric on the side close to the center of the tripod 1 in the cavity 33 . The slot 25 is provided with a fixing assembly for fixing the single finger 3 of the pneumatic software; one side of t...
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The invention relates to a pneumatic soft gripper with an adjustable grabbing diameter. The pneumatic soft gripper comprises a triangular support, fixing devices and pneumatic soft single fingers; thetriangular support includes a plurality of rails; one ends of all the rails are connected with each other; each fixing device is glidingly arranged on the corresponding rail in a sleeving manner; a limiting assembly is arranged between each fixing device and the corresponding rail; the bottom part of each fixing device is provided with an insertion groove; each pneumatic soft single finger is arranged in the corresponding insertion groove in an inserted manner; a cavity is arranged in each pneumatic soft single finger; a fixing assembly used for fixing the pneumatic soft single finger is arranged in each insertion groove; one sides of pneumatic soft single fingers are in a comb teeth shape and arranged in a direction away from the center of the triangle support; and the pneumatic soft single fingers are each connected with an air duct and are connected with an air pump. The pneumatic soft gripper realizes damage-free grabbing of objects by utilizing controllable deformation of the pneumatic soft single fingers.
Description
technical field [0001] The invention belongs to the field of soft robots, in particular to a soft gripper with a pneumatically adjustable grasping diameter. Background technique [0002] Compared with traditional rigid robots, soft robots have a high degree of freedom and softness, which continuously expands the application fields of robots and is one of the main trends in the future development of robots. [0003] According to the characteristics of soft materials and drives, researchers at home and abroad have designed many soft grippers that are different from traditional rigid grippers. These soft grippers have good environmental interaction and human-machine safety, can gently grasp many fragile objects, and have good application prospects. However, due to the design of the rigid bracket and the limitation of the airtightness of the pneumatic drive, this kind of soft gripper is often a non-adjustable flexible gripper assembled by one-piece flexible single finger, and i...
Claims
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IPC IPC(8): B25J15/00B25J15/12
CPCB25J15/0009B25J15/12
Inventor 徐丰羽陈自新
Owner 南京云上自动化科技有限公司