Modularized soft mechanical claw based on micropump driving

Abstract

The invention provides a modularized soft mechanical claw based on micropump driving, which comprises a claw bracket and n single claw bodies, and n is greater than or equal to 2; the inner ends of the n single claw bodies are all installed on the claw bracket and evenly distributed in the circumferential direction of the axis of the claw bracket; each single claw body comprises m bending units which are sequentially connected in series, and m is a positive integer; the m bending units are detachably connected in sequence through liquid passing connectors, so that inner cavities of the m bending units are communicated; the number of the bending units is determined according to the shape of a clamped object; and the outer ends of the bending units are bent inwards when the bending units are filled with liquid. According to the modularized soft mechanical claw based on micropump driving, modular configuration is adopted, the number of the bending units of the single claw bodies can be adjusted according to different clamped objects, the mechanical claw can have different lengths, and therefore the mechanical claw can keep a good clamping effect on the clamped objects of different sizes and shapes, and the universality of the soft mechanical claw is remarkably improved.

Description

technical field [0001] The invention belongs to the field of bionic manipulator devices, and in particular relates to a 3D printing-based modular soft mechanical gripper. Background technique [0002] With the development of the national economy, the combination of mechanical claws and mechanical arms has been used in all aspects of life and production, mainly to replace some simple and repetitive labor. In reality, rigid mechanical claws are more widely used. Rigid mechanical claws have the characteristics of strong grasping force, good versatility, and mature control software. Rigid mechanical claws are suitable for the assembly line production of large objects, but when rigid mechanical claws grab small, soft or irregularly shaped objects, it is likely to destroy the grasped object because the grasping force cannot be well controlled. structure. At this time, flexible mechanical claws will be used. Flexible mechanical claws have natural advantages for grasping small, so...

AI Technical Summary

Problems solved by technology

[0003] Based on the problems of low accuracy, poor versatility, and inconvenient manufacture of traditional pneumatic flexible mechanical grippers, the present invention provides a 3D printing modular software mechanical gripper controlled by a micropump

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