Pneumatic soft mechanical arm

Abstract

The invention discloses a pneumatic soft mechanical arm, and belongs to the technical field of mechanical arms. The soft mechanical arm is composed of a multi-joint rigid-flexible coupling structure, a rigid body of each joint is composed of a light sandwich structure, and a flexible body is composed of four soft driving rods and soft connecting seats thereof; the rigid body part is embedded in the connecting seat and is fixed with the flexible connecting seat through a metal fastening ring; and the rigid-flexible coupled structure enables the arm to have the characteristic of high toughness.

Description

technical field [0001] The invention relates to a mechanical arm, in particular to a pneumatic software mechanical arm, which belongs to the technical field of mechanical arms. Background technique [0002] The robotic arm is a high-precision, high-speed dispensing robot, which corresponds to small batch production methods and improves production efficiency. In addition to dispensing operations, it can also handle various tasks such as UV irradiation, parts placement, screw locking, and circuit board cutting. [0003] Compared with the traditional rigid manipulator, the pneumatic soft manipulator has the characteristics of flexibility. It can plan the grasping path according to the position of the target object, and realize the manipulation of the object in the complex structure environment. Therefore, in the product handling of industrial production terminals, agricultural fruit and vegetable picking , Object grasping in space capsules and other fields have important applic...

AI Technical Summary

Problems solved by technology

[0004] The pneumatic soft manipulators in the prior art have better flexibility and rigidity, and have certain adaptability to the grasping path, but the ability to manipulate objects under complex paths is still not strong;

[0005] For example, a kind of bionic elephant trunk soft mechanical arm (CN108555883) in the prior art, although it can be bent in different directions, due to the need for inflatable ports of different sizes, the manipulation accuracy is not high;

[0006] In the prior art, a bionic soft manipulator and gripping system (CN110293581) is provided with three drive cavities at each joint, so that each joint can achieve a maximum bending of 180°, although compared with a bionic elephant trunk soft The mechanical arm (CN108555883) has improved the adaptability to grasping different paths, but the above two soft mechanical arms cannot realize twisting, and cannot adjust the posture of fingers when grasping and placing objects, and the ability to manipulate objects is limited. The soft material used by the two types of robotic arms for deformation is low in strength and does not have enough support for grasping heavier objects;

[0007] Therefore, the soft robotic arm in the prior art has the problems of not being able to adjust the pose of the fingers according to the shape of the object and the requirements for grasping and placing, and the strength of the arm is low, the support ability for heavier objects is low, and the manipulation ability is limited;

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