A high-efficiency pneumatic flexible robot

Abstract

The present application discloses a high-efficiency pneumatic flexible robot applied in the field of flexible robots, which supplies air to different pneumatic grippers in sequence through electromagnetic valves, and utilizes the clamping effect of flexible clamping grippers to grasp multiple objects at one time, thereby effectively improving work efficiency. Moreover, due to the mutual interlacing between multiple flexible clamping grippers during grasping, it can also effectively prevent objects from falling during the grasping process. By arranging a restraint and a flexible connecting member inside the flexible clamping gripper, the expansion effect during inflation is utilized to make the restraint bulge, and the limiting effect of the restraint is utilized to make the flexible clamping gripper flip and deform, thereby realizing the clamping action of the flexible clamping gripper, reflecting the flexible grasping of the robot, realizing the working efficiency of the flexible robot, and utilizing multiple flexible clamping grippers to grasp multiple objects at one time, the frequency of repeated grasping actions of the robot is greatly reduced, thereby effectively improving the grasping efficiency.

Description

Technical Field

[0001] The present application relates to the field of flexible robots, and in particular to a high-efficiency pneumatic flexible robot. Background Art

[0002] When it comes to flexible robots, many people will immediately think of the robots in movie scenes. In fact, there are huge differences between this type of robot and traditional robots in terms of technology and design concepts. It is mainly designed through different software and hardware architectures, and each joint is equipped with sensors to achieve high-precision position and power control.

[0003] Flexible robots have better adaptability than traditional robots in grasping heterogeneous objects, and they also have better practical value for objects with easily broken surfaces. However, as machines that replace human labor, efficient work efficiency should be their most important feature, especially for goods that are continuously produced on the production line. However, existing flexible robots can only grasp one item at a time, and the grasping efficiency is obviously not high.

[0004] Therefore, the flexible robot can be used to grasp multiple objects at one time, thereby improving the working efficiency of the flexible robot. Summary of the Invention

[0005] The purpose of the present application is to improve the flexible robot in the prior art. Compared with the prior art, a high-efficiency pneumatic flexible robot is provided, which supplies air to different pneumatic grippers in sequence through solenoid valves, and utilizes the clamping effect of the flexible clamping gripper to grasp multiple objects at one time, thereby effectively improving work efficiency. Moreover, due to the mutual interlacing between multiple flexible clamping grippers during grasping, it can also effectively prevent objects from falling during the grasping process, and is suitable for grasping heavier objects. By arranging a restraint and a flexible connecting part inside the flexible clamping gripper, the expansion effect during inflation is utilized to make the restraint bulge, and the limiting effect of the restraint is utilized to make the flexible clamping gripper flip and deform, thereby realizing the clamping action of the flexible clamping gripper, reflecting the flexible grasping of the flexible clamping gripper.

[0006] To achieve the working efficiency of the flexible robot, multiple flexible wrap grippers are used to grab multiple objects at one time, which greatly reduces the frequency of repeated grasping actions of the robot, effectively improves the grasping efficiency, and is also beneficial to prolonging the service life of the flexible robot.

[0007] Furthermore, the flexible wrap-around gripper includes a main gripping section, both ends of which are fixedly connected to auxiliary gripping sections. The main gripping section mainly performs gripping actions, while the auxiliary gripping section, as an extension of the main gripping section, can effectively prevent items from falling.

[0008] Furthermore, the main grasping section is cylindrical in shape and is composed of an outer limiting layer and an inner limiting layer. The outer limiting layer and the inner limiting layer together constitute the main grasping section, thereby allowing the main grasping section to achieve a flexible grasping action.

[0009] Furthermore, both the outer restriction layer and the inner restriction layer are made of flexible elastic materials, and the flexibility of the inner restriction layer is greater than that of the outer restriction layer. The different flexibility of the outer restriction layer and the inner restriction layer determines the deformation direction of the main grasping section after inflation, thereby allowing the main grasping section to complete the flexible grasping action.

[0010] Furthermore, the outer restriction layer occupies one-third of the main gripping section, and the outer restriction layer is arranged close to the pneumatic gripper. Since the main gripping section is required to bend toward the inner restriction layer after inflation, the outer restriction layer cannot occupy too large a portion to avoid affecting the bending.

[0011] Furthermore, the auxiliary grasping section is made of silicone material, and the inner wall of the auxiliary grasping section is fixedly inlaid with permanent magnet blocks. The two adjacent permanent magnet blocks are magnetically attracted to each other. During the flexible grasping process of the main grasping section, the two adjacent permanent magnet blocks contact each other, and the two adjacent permanent magnet blocks are connected together through magnetic attraction, thereby effectively increasing the wrapping effect on the items and preventing the items from falling.

[0012] Furthermore, the side wall of the pneumatic gripper is provided with a plurality of connection ports that match the connection pipe ports, and a threaded sleeve that is threadedly connected to the connection pipe port is fixedly embedded at the connection port. The threaded connection between the connection pipe port and the threaded sleeve enables the flexible wrapped gripper and the pneumatic gripper to be detachably connected, thereby allowing the pneumatic gripper to additionally grasp a single large-volume object, effectively improving its applicability, and enhancing the stability of the threaded connection through the threaded sleeve, effectively avoiding air leakage. The outside of the pneumatic gripper is also provided with an air-sealing cover that matches the threaded sleeve. When the working mode of disassembling the flexible wrapped gripper is selected, the air-sealing cover is screwed onto the threaded sleeve after the flexible wrapped gripper is removed to achieve sealing.

[0013] Furthermore, the restraint is made of hard material and is arc-shaped. The non-deformation property of the restraint causes the airbag to begin to bend toward the opposite side of the restraint after being inflated with gas, thereby realizing the flexible grasping action of the flexible wrapping gripper. The restraint plays the role of limiting the expansion direction of the airbag.

[0014] Furthermore, the flexible connector is made of elastic material and is located in the middle of the two restraining members. The flexible connector enables a flexible connection between the two restraining members, so that the two restraining members can be flipped back to achieve reset, thereby allowing the flexible wrapping gripper to complete a flexible grasping action.

[0015] Furthermore, the side wall of the flexible wrap-up gripper away from the pneumatic gripper is fixedly connected with multiple anti-slip gaskets. The anti-slip gaskets include multiple petal-shaped sticky sheets, and the sticky sheets are made of rubber material. The sticky sheets supported by rubber increase the friction between the flexible wrap-up gripper and the grasped object, thereby effectively preventing the object from falling during the grasping process and making the object easier to grasp.

[0016] Compared with the existing technology, the advantages of this application are:

[0017] (1) Air is supplied to different pneumatic grippers in sequence through the electromagnetic valve, and the clamping effect of the flexible clamping gripper is used to grasp multiple objects at one time, which effectively improves work efficiency. Moreover, due to the mutual interlacing between multiple flexible clamping grippers during grasping, it can also effectively prevent objects from falling during the grasping process, which is suitable for grasping heavier objects. By arranging a restraint and a flexible connecting part inside the flexible clamping gripper, the expansion effect during inflation is used to make the restraint bulge, and the limiting effect of the restraint is used to make the flexible clamping gripper flip and deform, thereby realizing the clamping action of the flexible clamping gripper, reflecting the flexible grasping of the flexible clamping gripper, realizing the work efficiency of the flexible robot, and using multiple flexible clamping grippers to grasp multiple objects at one time, the frequency of repeated grasping actions of the robot is greatly reduced, effectively improving grasping efficiency, and also helping to prolong the service life of the flexible robot.

[0018] (2) The flexible wrap-around gripper includes a main gripping section, with auxiliary gripping sections fixedly connected to both ends of the main gripping section. The main gripping section mainly performs the gripping action, while the auxiliary gripping section, as an extension of the main gripping section, can effectively prevent objects from falling.

[0019] (3) The main grasping section is cylindrical in shape and is composed of an outer restriction layer and an inner restriction layer. The outer restriction layer and the inner restriction layer together constitute the main grasping section, so that the main grasping section can achieve a flexible grasping action.

[0020] (4) Both the outer and inner restricting layers are made of flexible elastic materials, and the flexibility of the inner restricting layer is greater than that of the outer restricting layer. The different flexibility of the outer and inner restricting layers determines the deformation direction of the main grasping section after inflation, thereby allowing the main grasping section to complete the flexible grasping action.

[0021] (5) The outer restriction layer occupies one-third of the main gripping section, and the outer restriction layer is set close to the pneumatic gripper. Since the main gripping section is required to bend toward the inner restriction layer after inflation, the outer restriction layer cannot occupy too much part to avoid affecting the bending.

[0022] (6) The auxiliary gripping section is made of silicone material, and the inner wall of the auxiliary gripping section is fixedly inlaid with permanent magnets. The two adjacent permanent magnets are magnetically attracted to each other. During the flexible grasping process of the main gripping section, the two adjacent permanent magnets contact each other and are connected together by magnetic attraction, thereby effectively increasing the wrapping effect on the items and preventing the items from falling.

[0023] (7) The side wall of the pneumatic gripper is provided with a plurality of connection ports that match the connection pipe ports, and a threaded sleeve that is threadedly connected to the connection pipe port is fixedly embedded in the connection port. The threaded connection between the connection pipe port and the threaded sleeve enables the flexible gripper and the pneumatic gripper to be detachably connected, thereby allowing the pneumatic gripper to additionally grasp a single large-volume object, effectively improving its applicability. The threaded sleeve also enhances the stability of the threaded connection, effectively preventing air leakage. The outside of the pneumatic gripper is also provided with an air-sealing cover that matches the threaded sleeve. When the working mode of disassembling the flexible gripper is selected, the air-sealing cover is screwed onto the threaded sleeve after the flexible gripper is removed to achieve sealing.

[0024] (8) The restraint is made of a hard material and is arc-shaped. The non-deformable nature of the restraint allows the airbag to bend toward the opposite side of the restraint after being filled with gas, thereby achieving a flexible grasping action of the flexible wrapping gripper. The restraint plays a role in limiting the expansion direction of the airbag.

[0025] (9) The flexible connector is made of elastic material and is located in the middle of the two restraining members. The flexible connector enables a flexible connection between the two restraining members so that the two restraining members can be flipped back to achieve reset, thereby allowing the flexible wrapping gripper to complete the flexible grasping action.

[0026] (10) The side wall of the flexible wrap-around gripper away from the pneumatic gripper is also fixedly connected with a plurality of anti-slip gaskets, which include a plurality of petal-shaped adhesive sheets made of rubber material. The adhesive sheets supported by rubber increase the friction between the flexible wrap-around gripper and the grasped object, thereby effectively preventing the object from falling during the grasping process and making the object easier to grasp. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a diagram of the non-working state of this application;

[0028] Figure 2 Grab the state diagram for the start of this application;

[0029] Figure 3 Most of the crawl state diagrams for this application;

[0030] Figure 4 This is a diagram of a single crawling working mode for this application;

[0031] Figure 5This is a diagram showing the changes before and after the flexible gripper of the present application is grasped;

[0032] Figure 6 This is the front view of the flexible gripper of this application;

[0033] Figure 7 This is a diagram showing the changes of the flexible gripper of the present application before and after inflation;

[0034] Figure 8 This is a cross-sectional view of the main grip section of this application;

[0035] Figure 9 A partial top view of this application;

[0036] Figure 10 This is a side view of the flexible wrap gripper of this application.

[0037] Description of the numbers in the figure:

[0038] 1 pneumatic flexible robot body, 101 pneumatic gripper, 1011 threaded sleeve, 2 flexible wrapped gripper, 201 main gripping section, 2011 outer restriction layer, 2012 inner restriction layer, 202 auxiliary gripping section, 3 connecting pipe mouth, 4 constraint part, 5 flexible connector, 6 permanent magnet block, 7 anti-slip gasket. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0040] Example:

[0041] This application discloses a high-efficiency pneumatic flexible robot. Figure 1 、 6, 10, including a pneumatic flexible robot body 1, a plurality of pneumatic grippers 101 are installed on the pneumatic flexible robot body 1, the pneumatic flexible robot body 1 includes a plurality of air supply pipes connected to the internal air chamber of the pneumatic gripper 101, each air supply pipe is installed with a solenoid valve, and the solenoid valve control is used to control the air supply to different pneumatic grippers 101 in sequence (and this part of the control structure and working principle is a well-known technology well known to technicians, and will not be described in detail here), so that the pneumatic gripper 101 can grab multiple objects at one time, and each air gripper 101 can grab multiple objects at one time. The dynamic gripper 101 is connected to a plurality of flexible wrapped grippers 2. The side wall of the flexible wrapped gripper 2 away from the pneumatic gripper 101 is also fixedly connected to a plurality of anti-slip pads 7. The anti-slip pads 7 include a plurality of petal-shaped adhesive pads made of rubber material. The adhesive pads supported by the rubber increase the friction between the flexible wrapped gripper 2 and the grasped object, thereby effectively preventing the object from falling during the grasping process and making the object easier to grasp. The flexible wrapped gripper 2 includes a main grasping section 201, and both ends of the main grasping section 201 are fixedly connected to auxiliary grasping sections 202.

[0042] See also Figure 5 、 6 , 7, 8, the main grasping section 201 is mainly used for grasping, and the auxiliary grasping section 202 is an extension of the main grasping section 201, which can effectively prevent items from falling. The main grasping section 201 is cylindrical, and the main grasping section 201 is composed of an outer limiting layer 2011 and an inner limiting layer 2012. The outer limiting layer 2011 and the inner limiting layer 2012 together constitute the main grasping section 201, so that the main grasping section 201 can achieve a flexible grasping action. The outer limiting layer 2011 and the inner limiting layer 2012 are both made of flexible elastic materials, and flexible rubber materials are preferred. Other materials can also be selected according to actual needs, and the flexibility of the inner limiting layer 2012 is greater than that of the outer limiting layer 2011. The different flexibility of the outer limiting layer 2011 and the inner limiting layer 2012 determines the main grasping section 20 1 In the deformation direction after inflation, the main grasping section 201 completes the flexible grasping action. The outer restriction layer 2011 occupies one-third of the main grasping section 201, and the outer restriction layer 2011 is arranged close to the pneumatic gripper 101. Since the main grasping section 201 is required to bend toward the inner restriction layer 2012 after inflation, the portion occupied by the outer restriction layer 2011 cannot be too large to avoid affecting the bending. The auxiliary grasping section 202 is made of silicone material, and the inner wall of the auxiliary grasping section 202 is fixedly inlaid with a permanent magnet block 6. The two adjacent permanent magnet blocks 6 are magnetically attracted to each other. During the flexible grasping process of the main grasping section 201, the two adjacent permanent magnet blocks 6 contact each other and are connected together by magnetic attraction, thereby effectively increasing the wrapping effect on the object and preventing the object from falling.

[0043] See also Figure 2 、 3, 4, 6, a cavity is provided inside the flexible wrapped gripper 2, and an airbag is placed in the cavity, and the inner walls of the two ends of the airbag away from the pneumatic gripper 101 are fixedly connected with a restraint 4, and the restraint 4 is made of a hard material, preferably a plastic material, and other materials can also be selected according to actual needs, and the restraint 4 is in an arc shape. The non-deformation property of the restraint 4 makes the airbag begin to bend toward the opposite side of the restraint 4 after being filled with gas, thereby realizing the flexible grasping action of the flexible wrapped gripper 2, and the restraint 4 plays a role in limiting the expansion direction of the airbag, and a flexible connector 5 is fixedly connected between the two restraints 4, The flexible connector 5 is made of elastic material, preferably polyurethane elastic material, and other materials can also be selected according to actual needs. The flexible connector 5 is located in the middle of the two restraining members 4. The flexible connector 5 enables a flexible connection between the two restraining members 4, so that the two restraining members 4 can be flipped back to achieve reset, thereby allowing the flexible wrapped gripper 2 to complete a flexible grasping action. A connecting pipe port 3 is connected between each flexible wrapped gripper 2 and the air chamber of the pneumatic gripper 101, and the connecting pipe port 3 passes through the flexible connector 5 and extends into the airbag. A closed space is enclosed between the flexible connector 5, the airbag and the two restraining members 4.

[0044] See also Figure 9 The side wall of the pneumatic gripper 101 is provided with multiple connection ports that match the connecting pipe port 3, and the connection port is fixedly inlaid with a threaded sleeve 1011 that is threadedly connected to the connecting pipe port 3. The threaded connection between the connecting pipe port 3 and the threaded sleeve 1011 enables the flexible wrapped gripper 2 and the pneumatic gripper 101 to be detachably connected, so that the pneumatic gripper 101 can additionally grasp a single large-volume object, effectively improving the applicability, and the threaded sleeve 1011 enhances the stability of the threaded connection, effectively avoiding air leakage, and the outside of the pneumatic gripper 101 is also provided with an air-sealing cover that matches the threaded sleeve 1011. When the working mode of disassembling the flexible wrapped gripper 2 is selected, the air-sealing cover is screwed on the threaded sleeve 1011 after the flexible wrapped gripper 2 is removed to achieve sealing.

[0045] The working principle of this scheme is as follows: after the pneumatic flexible robot body 1 is started, air is inflated into different pneumatic grippers 101 by controlling the sequential start-up sequence of the solenoid valves, so that the two opposite pneumatic grippers 101 are inflated first, and then the remaining pneumatic grippers 101 are inflated, thereby realizing the grasping of multiple objects at one time. While inflating the pneumatic gripper 101, air is also inflated into the flexible enveloping gripper 2. After the flexible enveloping gripper 2 is inflated, the constraint 4 limits the expansion direction of the flexible enveloping gripper 2. Due to the limiting effect of the constraint 4 and the inner limiting layer 2012, the flexible enveloping gripper 2 is bent inward, thereby realizing a flexible grasping action and achieving the purpose of grasping multiple objects at the same time. Moreover, the two adjacent flexible enveloping grippers 2 are connected together by the magnetic attraction of the permanent magnet block 6, realizing the enveloping effect of multiple objects and effectively preventing the objects from falling. In addition, by removing the flexible enveloping gripper 2 from the pneumatic gripper 101, the pneumatic gripper 101 can realize the grasping of a single large-volume object at one time.

[0046] Air is supplied to different pneumatic grippers 101 in sequence through the solenoid valve, and the clamping effect of the flexible clamping gripper 2 is used to grasp multiple items at one time, which effectively improves work efficiency. Moreover, due to the mutual interlacing between multiple flexible clamping grippers 2 during grasping, it can also effectively prevent items from falling during the grasping process, which is suitable for grasping heavier items. By arranging a restraint 4 and a flexible connecting member 5 inside the flexible clamping gripper 2, the expansion effect during inflation is used to make the restraint 4 swell up, and the limiting effect of the restraint 4 is used to make the flexible clamping gripper 2 flip and deform, thereby realizing the clamping action of the flexible clamping gripper 2, reflecting the flexible grasping of the flexible clamping gripper 2, and realizing the working efficiency of the flexible robot. Using multiple flexible clamping grippers 2 to grasp multiple items at one time greatly reduces the frequency of the robot's repeated grasping actions, effectively improves grasping efficiency, and is also beneficial to delaying the service life of the flexible robot.

[0047] The above is only a preferred specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed in the present application based on the technical solution and its improved ideas, which should be covered by the scope of protection of the present application.

Claims

1. A high-efficiency pneumatic flexible robot, comprising a pneumatic flexible robot body (1), a plurality of pneumatic grippers (101) mounted on the pneumatic flexible robot body (1), and a plurality of air supply pipes connected to air chambers inside the pneumatic grippers (101), characterized in that: A solenoid valve is installed on each air supply pipeline, and each of the pneumatic grippers (101) is connected to a plurality of flexible clamping grippers (2), a cavity is provided inside the flexible clamping grippers (2), and an airbag is placed in the cavity, and the inner walls of the two ends of the airbag away from the pneumatic gripper (101) are fixedly connected to a restraining member (4), and a flexible connecting member (5) is fixedly connected between the two restraining members (4), and a connecting pipe opening (3) is connected between each of the flexible clamping grippers (2) and the air chamber of the pneumatic gripper (101), and the connecting pipe opening (3) passes through the flexible connecting member (5) and extends into the airbag, and a closed space is enclosed between the flexible connecting member (5), the airbag and the two restraining members (4).

2. A high-efficiency pneumatic flexible robot according to claim 1, characterized in that: The flexible gripping gripper (2) comprises a main gripping section (201), and both ends of the main gripping section (201) are fixedly connected to auxiliary gripping sections (202).

3. A high-efficiency pneumatic flexible robot according to claim 2, characterized in that: The main gripping section (201) is cylindrical in shape, and is composed of an outer restriction layer (2011) and an inner restriction layer (2012).

4. A high-efficiency pneumatic flexible robot according to claim 3, characterized in that: The outer restriction layer (2011) and the inner restriction layer (2012) are both made of flexible elastic materials, and the flexibility of the inner restriction layer (2012) is greater than that of the outer restriction layer (2011).

5. The high-efficiency pneumatic flexible robot according to claim 3, characterized in that: The outer restriction layer (2011) occupies one third of the main gripping section (201), and the outer restriction layer (2011) is arranged close to the pneumatic gripper (101).

6. A high-efficiency pneumatic flexible robot according to claim 2, characterized in that: The auxiliary gripping section (202) is made of silica gel material, and the inner wall of the auxiliary gripping section (202) is fixedly inlaid with a permanent magnet block (6), and two adjacent permanent magnet blocks (6) are magnetically attracted to each other.

7. The high-efficiency pneumatic flexible robot according to claim 1, characterized in that: The side wall of the pneumatic gripper (101) is provided with a plurality of connection ports matching the connection pipe ports (3), and a threaded sleeve (1011) threadedly connected to the connection pipe ports (3) is fixedly embedded in the connection ports. The outside of the pneumatic gripper (101) is also provided with an air-sealing cover matching the threaded sleeve (1011).

8. The high-efficiency pneumatic flexible robot according to claim 1, characterized in that: The restraining member (4) is made of a hard material and is in an arc shape.

9. The high-efficiency pneumatic flexible robot according to claim 1, characterized in that: The flexible connecting member (5) is made of elastic material, and is located in the middle of the two restraining members (4).

10. The high-efficiency pneumatic flexible robot according to claim 1, characterized in that: A plurality of anti-slip gaskets (7) are fixedly connected to the side wall of the flexible wrapping gripper (2) away from the pneumatic gripper (101), and the anti-slip gaskets (7) include a plurality of petal-shaped adhesive sheets, and the adhesive sheets are made of rubber material.

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