Soft manipulator

Abstract

The utility model relates to the technical field of manipulators, and discloses a soft manipulator which comprises a base body, the outer surface of the base body is fixedly connected with a plurality of circumferentially-distributed limiting pieces, the interiors of the multiple limiting pieces are slidably connected with sliding pieces, and the ends, away from each other, of the multiple sliding pieces are rotatably connected with threaded rods; the multiple threaded rods are in threaded connection with the limiting rods close to the threaded rods, and claw bodies are hinged to the inner walls of the multiple sliding parts. According to the soft manipulator, the distance between the claw bodies can be adjusted through the cooperation of the mounting threaded rod and the sliding part, so that objects of different sizes can be grabbed, the resistance between the claw bodies and the objects can be increased through the cooperation of the resistance contact part, and grabbing is facilitated; and by installing the multiple rubber blocks, an object can be extruded through pushing of gas, then the grabbing force on the object can be increased, and the object can be grabbed more firmly.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a soft manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. It combines the advantages of both humans and robotic machines and can be programmed to complete various intended tasks.

[0003] The existing patent (publication number: CN219666684U) discloses a soft manipulator made of an eccentric hose. It relates to the field of robotics. The outer shell of the manipulator unit is a hollow structure, and the outer shell is made of flexible material. The overall external shape is a "U"-shaped structure that simulates the shape of a human finger, and the hollow structure of the outer shell is an eccentric cylindrical structure. The opening of the air cavity is located at its front end, and each inflation pipe of the driving structure is sealed and connected to each mechanical finger one by one. The outer shell of the manipulator unit of the present invention is an eccentric hollow structure. According to the different wall thicknesses, the degree of expansion after inflation is different, thereby forming a phenomenon of bending to one side, thereby realizing the bending and grasping actions of the manipulator unit. The operation is simple, the use is flexible, and the grasping effect is good.

[0004] During the use of the above-mentioned document, there is a lack of ability to adjust the mechanical claws, and it is not possible to grasp larger parts. In addition, the surface of the U-tube is too smooth and may slip during the grasping process. Utility Model Content

[0005] In view of the deficiencies in the prior art, the present application provides a soft robot arm that has the advantages of adjusting and grasping objects of different sizes and grasping them stably, thereby solving the problems raised in the background technology.

[0006] To achieve the above-mentioned objectives, the present application provides the following technical solutions: a soft manipulator comprises a base body, the outer surface of the base body is fixedly connected with a plurality of circumferentially distributed limit members, the interiors of the plurality of limit members are slidably connected with sliding members, the ends of the plurality of sliding members that are away from each other are rotatably connected with threaded rods, the plurality of threaded rods are threadedly connected with the limit rods close to them, the inner walls of the plurality of sliding members are hinged with claw bodies, the side surfaces of the plurality of claw bodies that are close to each other are fixedly connected with resistance contact members, the interiors of the plurality of claw bodies are provided with cavities, and the interiors of the plurality of cavities are slidably connected with rubber blocks.

[0007] Through the above solution, the distance between the multiple claws can be adjusted by installing the threaded rod and the sliding member, so that objects of different sizes can be grasped.

[0008] Furthermore, a communication frame is installed on the upper surface of the base, and a plurality of circumferentially distributed hoses are fixedly connected to the upper surface of the communication frame, and the plurality of hoses are all connected to the cavities adjacent thereto.

[0009] Through the above solution, the installation can facilitate the swing of the claw body, and can make the gas in the communication frame be infused into the cavity, so that the multiple rubber blocks can clamp the object.

[0010] Furthermore, the outer surface of the communication frame is fixedly connected with a plurality of sliding cylinders distributed in a circumference, the interiors of the plurality of sliding cylinders are all slidably connected with push rods, and the plurality of push rods are all ball-connected with claw bodies adjacent thereto.

[0011] Through the above solution, the mounting push rod can push the claw body to swing under the impetus of gas, so that the bottom ends of multiple claw bodies can approach each other and grab the object.

[0012] Furthermore, a spring is fixedly connected to a side surface of each of the plurality of push rods that is close to each other, and the other ends of each of the plurality of springs are fixedly connected to a slide cylinder that is close to the springs.

[0013] Through the above solution, the installed spring can drive the multiple claws to reset through the reset force of the spring, so as to facilitate the release of the grasped object.

[0014] Furthermore, an air intake pipe is fixedly connected to the upper surface of the communication frame, and the air intake pipe is fixedly connected to an external air pipe.

[0015] Through the above solution, installing the air inlet pipe can allow external gas to enter the connecting frame and enter the multiple cavities through the connecting frame and the hose.

[0016] Furthermore, a sliding groove is provided at one end of the plurality of claw bodies close to each other, and a buffer contact piece is slidably connected inside the plurality of sliding grooves. An elastic piece is fixedly connected at one end of the plurality of buffer contact pieces away from each other, and the plurality of elastic pieces are fixedly connected to the sliding grooves close to them.

[0017] Through the above solution, the cooperation between the installed elastic buffer and the elastic member can buffer the grasping force when grasping an object, thereby avoiding damage to the object due to excessive grasping force.

[0018] Furthermore, the plurality of springs are all in a reset state, and the plurality of buffer contact members are all configured to be Y-shaped.

[0019] Through the above solution, the buffer contact piece is set as a Y-shaped piece so that it can better contact with the grasped object, so that it can better grasp the object.

[0020] Furthermore, the plurality of elastic members are all in a reset state, and the plurality of claw bodies are all treated to prevent rust.

[0021] Through the above solution, the rust-proof treatment of the claw body can extend the service life of the claw body and prevent the claw body from rusting and causing pollution to the grasped object.

[0022] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0023] This kind of soft manipulator can adjust the distance between multiple claws by installing the threaded rod and the sliding part, so that it can grasp objects of different sizes, and the cooperation of the resistance contact part can increase the resistance between the claw and the object, which is convenient for grasping. By installing multiple rubber blocks, the object can be squeezed by the push of gas, thereby increasing the grasping force of the object, so that it can grasp the object more firmly. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a cross-sectional view of the overall structure of this application;

[0025] Figure 2 For this application Figure 1 A schematic diagram of the structure at A;

[0026] Figure 3 For this application Figure 1 A schematic diagram of the structure at B;

[0027] Figure 4 This is a schematic diagram of the overall structure of this application.

[0028] In the figure:

[0029] 1. Base; 2. Limiting member; 3. Sliding member; 4. Threaded rod; 5. Claw; 6. Resistance contact member; 7. Cavity; 8. Rubber block; 9. Connecting frame; 10. Hose; 11. Sliding cylinder; 12. Push rod; 13. Spring; 14. Inlet pipe; 15. Sliding groove; 16. Buffer contact member; 17. Elastic member. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions 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 creative work are within the scope of protection of this application.

[0031] See also Figure 1 , Figure 2 and Figure 3, a soft manipulator in this embodiment includes a base 1, a plurality of circumferentially distributed limit members 2 are fixedly connected to the outer surface of the base 1, a plurality of limit members 2 are slidably connected to the inside of each of the plurality of limit members 2, a plurality of sliding members 3 are rotatably connected to the ends of the plurality of sliding members 3 that are away from each other, a plurality of threaded rods 4 are threadedly connected to the limit rods close to them, a plurality of sliding members 3 are hinged with claw bodies 5 on the inner walls, a plurality of claw bodies 5 are fixedly connected to the side surfaces close to each other with resistance contact members 6, a plurality of claw bodies 5 are provided with cavities 7 inside, a plurality of cavities 7 are slidably connected to the inside of each of the plurality of claw bodies 5, the distance between the plurality of claw bodies 5 can be adjusted by installing the threaded rod 4 and the sliding member 3, so that objects of different sizes can be grasped, and the resistance contact member 6 can increase the resistance between the claw body 5 and the object by installing the plurality of rubber blocks 8, so that the object can be squeezed by the push of gas, thereby increasing the grasping force of the object, so that the object can be grasped more firmly.

[0032] See also Figure 1 , Figure 2 and Figure 3 A connecting frame 9 is installed on the upper surface of the base 1. The upper surface of the connecting frame 9 is fixedly connected with a plurality of circumferentially distributed hoses 10. The plurality of hoses 10 are connected with the cavity 7 close to them. The installation can facilitate the swing of the claw body 5 and enable the gas in the connecting frame 9 to be infused into the cavity 7, so that the plurality of rubber blocks 8 can clamp the object. The outer surface of the connecting frame 9 is fixedly connected with a plurality of circumferentially distributed slide cylinders 11. The interiors of the plurality of slide cylinders 11 are slidably connected with push rods 12. The plurality of push rods 12 are ball-jointed with the claw body 5 close to them. The installation of the push rods 12 can push the claw body 5 to swing under the push of the gas, so that the bottom ends of the plurality of claw bodies 5 can approach each other and grab the object. The side of the plurality of push rods 12 close to each other is fixedly connected with a spring 13, and the other ends of the plurality of springs 13 are close to the slide cylinder 1 1 is fixedly connected, and the installation of the spring 13 can drive the multiple claw bodies 5 to reset through the reset force of the spring 13, so as to release the grasped object. The upper surface of the connecting frame 9 is fixedly connected with an air inlet pipe 14, and the air inlet pipe 14 is fixedly connected with the external air pipe. The installation of the air inlet pipe 14 can allow the external gas to enter the connecting frame 9, and enter the multiple cavities 7 through the connecting frame 9 through the hose 10. The multiple springs 13 are all in a reset state, and the multiple buffer contact members 16 are all set to be Y-shaped. The buffer contact member 16 is set to be a Y-shaped member, which can better contact with the grasped object, so that it can better grasp the object. The multiple elastic members 17 are all in a reset state, and the multiple claw bodies 5 are all rust-proofed. The rust-proof treatment of the claw body 5 can extend the service life of the claw body 5, and can prevent the claw body 5 from rusting and causing pollution to the grasped object.

[0033] See also Figure 1 , Figure 2 and Figure 3A sliding groove 15 is provided at one end of the plurality of claw bodies 5 that are close to each other, and a buffer contact piece 16 is slidably connected inside the plurality of sliding grooves 15. An elastic piece 17 is fixedly connected at one end of the plurality of buffer contact pieces 16 that are away from each other, and the plurality of elastic pieces 17 are fixedly connected to the sliding groove 15 that is close to them. The cooperation of the installed elastic buffer piece and the elastic piece 17 can buffer the grasping force when grasping an object, thereby avoiding damage to the object due to excessive grasping force.

[0034] A soft manipulator in the present embodiment can adjust the distance between multiple claws 5 by installing a threaded rod 4 and cooperating with a sliding member 3, so that it can grasp objects of different sizes, and the cooperation of the resistance contact member 6 can increase the resistance between the claw 5 and the object, making it easier to grasp. By installing multiple rubber blocks 8, the object can be squeezed by the push of gas, thereby increasing the grasping force of the object and making it possible to grasp the object more firmly.

[0035] The working principle of the above embodiment is as follows: first, when grabbing an object, external gas enters the connecting frame 9 through the air inlet pipe 14, and is transported to the multiple slides 11 through the connecting frame 9, and pushes the multiple push rods 12 away from each other, so that the upper ends of the multiple claw bodies 5 can move away from each other. At this time, the bottom ends of the multiple claw bodies 5 can grab the object. In the process of grabbing, by installing the elastic contact member 16 and the elastic member 17, the grabbing force can be buffered when the object is grabbed, so as to avoid damage to the object due to excessive grabbing force. At the same time, gas can be poured into the multiple cavities 7 through the multiple hoses 10, so that the multiple rubber blocks 8 can be in close contact with the object under the push of the gas, thereby increasing the grabbing force of the object, so that it can grab the object more firmly. When grabbing a larger object, when the threaded rod 4 is rotated, the sliding member 3 slides in the limiting member 2, so that the multiple claw bodies 5 can move away from each other, thereby increasing the grabbing radius, so that it can grab objects of different sizes, and improve the practicality of the claw body 5.

[0036] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0037] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A soft robot, comprising a base (1), characterized in that: The outer surface of the base body (1) is fixedly connected to a plurality of circumferentially distributed limiting members (2), the interiors of the plurality of limiting members (2) are slidably connected to sliding members (3), the ends of the plurality of sliding members (3) that are away from each other are rotatably connected to threaded rods (4), the plurality of threaded rods (4) are threadedly connected to the limiting rods that are close to them, the inner walls of the plurality of sliding members (3) are hinged with claw bodies (5), the sides of the plurality of claw bodies (5) that are close to each other are fixedly connected to resistance contact members (6), the interiors of the plurality of claw bodies (5) are provided with cavities (7), and the interiors of the plurality of cavities (7) are slidably connected to rubber blocks (8).

2. A soft robot according to claim 1, characterized in that: A communication frame (9) is installed on the upper surface of the base (1), and a plurality of circumferentially distributed hoses (10) are fixedly connected to the upper surface of the communication frame (9), and the plurality of hoses (10) are all connected to the cavity (7) adjacent thereto.

3. A soft robot according to claim 2, characterized in that: The outer surface of the communication frame (9) is fixedly connected to a plurality of sliding cylinders (11) distributed in a circumference, the interiors of the plurality of sliding cylinders (11) are all slidably connected to push rods (12), and the plurality of push rods (12) are all ball-connected to the claw bodies (5) adjacent thereto.

4. A soft robot according to claim 3, characterized in that: A spring (13) is fixedly connected to one side of the plurality of push rods (12) that is close to each other, and the other ends of the plurality of springs (13) are fixedly connected to the slide cylinder (11) that is close to them.

5. A soft robot according to claim 2, characterized in that: An air intake pipe (14) is fixedly connected to the upper surface of the communication frame (9), and the air intake pipe (14) is fixedly connected to an external air pipe.

6. A soft robot according to claim 1, characterized in that: A sliding groove (15) is provided at one end of the plurality of claw bodies (5) close to each other, and a buffer contact piece (16) is slidably connected inside the plurality of sliding grooves (15). An elastic piece (17) is fixedly connected at one end of the plurality of buffer contact pieces (16) away from each other, and the plurality of elastic pieces (17) are fixedly connected to the sliding groove (15) close to them.

7. A soft robot according to claim 4, characterized in that: The plurality of springs (13) are all in a reset state, and the plurality of buffer contact members (16) are all configured in a Y shape.

8. A soft robot according to claim 6, characterized in that: The plurality of elastic members (17) are all in a reset state, and the plurality of claw bodies (5) are all subjected to rust-proof treatment.

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