Pneumatic rigidity-variable soft gripper

A variable stiffness, soft finger technology, applied in the field of capture, can solve the problems of poor capture performance, limited capture objects, and limited capture objects, and achieve good envelopment, increased load capacity, and envelope Good performance and adaptability

Pending Publication Date: 2022-05-06
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The arc-shaped slider is connected with a single finger through a buckle, which can be quickly installed and disassembled, which facilitates the maintenance and replacement of the flexible gripper. However, the grasping performance is poor and the grasping objects are limited
[0004] Chinese patent document

Method used

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  • Pneumatic rigidity-variable soft gripper
  • Pneumatic rigidity-variable soft gripper
  • Pneumatic rigidity-variable soft gripper

Examples

Experimental program
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Effect test

Embodiment 1

[0030] This embodiment provides a soft gripper with pneumatically variable stiffness, such as Figure 1-5 As shown, the soft gripper includes a base 100 , a software execution part 200 and an air distribution part 300 disposed on the base 100 .

[0031] Such as figure 1 As shown, the software execution part 200 is in the shape of a cylinder, and its interior is a hollow structure; the software execution part 200 includes four pneumatic soft fingers 210 uniformly arranged around the circumference, and a variable stiffness soft part arranged on the pneumatic soft fingers 210 along the radial direction. 220 and the connecting software part 230 connected to the two pneumatic soft fingers 210.

[0032] Specifically, the variable stiffness soft body part 220 is parallel to the pneumatic soft finger 210 in the axial direction, and the connecting soft body part 230 in the circumferential direction has an accordion-shaped structure;

[0033] Wherein the pneumatic soft finger 210 has ...

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Abstract

The invention provides a pneumatic variable-rigidity soft gripper which comprises a base, a soft execution part and an air source distribution part, the soft execution part and the air source distribution part are arranged on the base, and the soft execution part is cylindrical. The pneumatic soft fingers are evenly arranged in the circumferential direction, the variable-rigidity soft parts are arranged on the pneumatic soft fingers in the radial direction, the connecting soft parts are connected to the two pneumatic soft fingers, the variable-rigidity soft parts are parallel to the pneumatic soft fingers in the axial direction, and the connecting soft parts are of an accordion-shaped structure in the circumferential direction. Wherein the pneumatic soft finger is internally provided with a first cavity, the variable stiffness soft part is provided with a second cavity, the connecting soft part is provided with a third cavity, and the air source distribution part is respectively communicated with the first cavity, the second cavity and the third cavity. The robot has the advantages of being high in loading capacity, good in capturing performance and wide in capturing range.

Description

technical field [0001] The invention belongs to the technical field of grasping, and in particular relates to a soft grip with pneumatically variable stiffness. Background technique [0002] In the field of robotics research, the grasping of complex objects is a challenging research; robots in direct contact with objects need to interact with the environment in order to perform in different application scenarios such as automated production processes, minimally invasive surgery, environmental deep-sea exploration, etc. certain tasks. The current grippers include rigid grippers and soft grippers. The rigid gripper has the characteristics of high precision, large force, and low mechanical flexibility, which makes it possible to apply a large force when clamping an object, making the object Deformation or even damage; while the existing soft grippers are all based on soft materials, the materials are soft and flexible, and have good adaptability and safety. Limited objects, p...

Claims

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Application Information

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IPC IPC(8): B25J15/00
CPCB25J15/0023
Inventor 李兵张阳黄海林
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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