Bistable pneumatic soft finger

Abstract

The utility model provides a bistable pneumatic soft finger, which relates to the field of manipulators and comprises a bistable mechanism, a soft cylinder is arranged in the bistable mechanism, and a first chamber and a second chamber are arranged in the soft cylinder. According to the pneumatic soft manipulator, through the bidirectional design of the first cavity and the second cavity, the soft cylinder and the bistable mechanism are combined to be designed into the pneumatic soft finger, the response speed of the pneumatic soft finger can be greatly increased, and then the grabbing efficiency of the pneumatic soft manipulator is improved; and meanwhile, the loading capacity of the pneumatic soft finger can be improved, so that the defect that the loading capacity of the original soft finger is insufficient is overcome.

Description

Technical Field

[0001] The utility model relates to the field of mechanical arms, in particular to a bistable pneumatic soft finger. 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. Rigid manipulators have been used in various fields such as aerospace, electronics, and agriculture to replace manual labor.

[0003] However, the fingers of rigid manipulators are made of rigid materials, and their human-machine environment interaction safety is poor, and they are easily damaged when grasping fragile and fragile objects. With the development of soft material preparation technology, pneumatic soft fingers made of soft materials are increasingly attracting the attention of experts and scholars at home and abroad. Thanks to the flexibility of soft materials, pneumatic soft fingers have excellent compliance and human-machine environment interaction safety. Therefore, pneumatic soft manipulators do not require expensive sensors and complex sensing strategies when grasping fragile and fragile objects to achieve non-destructive operation. In addition, the preparation cost of soft materials is low, which can greatly reduce the equipment cost of pneumatic soft manipulators and improve the economic benefits of the industry. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a bistable pneumatic soft finger. Through the bidirectional design of the first chamber and the second chamber, the soft cylinder and the bistable mechanism are combined to form a pneumatic soft finger, which can greatly improve the response speed of the pneumatic soft finger and thus improve the grasping efficiency of the pneumatic soft manipulator; at the same time, it can also improve the load capacity of the pneumatic soft finger to make up for the disadvantage of insufficient load capacity of the original soft finger.

[0005] In order to solve the above technical problems, the utility model provides a bistable pneumatic soft finger through the following technical scheme. The bistable structure used in the finger can increase its deformation response speed to improve the problem of the pneumatic soft manipulator.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A bistable pneumatic soft finger comprises a bistable mechanism, wherein a soft cylinder is arranged in the bistable mechanism, and a first chamber and a second chamber for bidirectional bending pneumatic adjustment are arranged in the soft cylinder.

[0008] Preferably, the bistable mechanism also includes an upper end cap, a lower end cap, an upper connecting rod, a lower connecting rod and a tension spring, the upper end cap is fixed to the top of the soft cylinder, the lower end cap is fixed to the bottom of the soft cylinder, and the upper connecting rod, the lower connecting rod and the tension spring are each provided in two groups.

[0009] Preferably, the upper connecting rod is arranged on both sides of the upper end cap, and the lower connecting rod is arranged on both sides of the lower end cap.

[0010] Preferably, the two groups of tension springs are both arranged on a side of the upper connecting rod and the lower connecting rod away from the soft cylinder.

[0011] Preferably, one end of the upper connecting rod is fixed on the bistable mechanism, one end of the lower connecting rod is fixed on the lower end cap, and the other end is hingedly connected to the end of the upper connecting rod away from the soft cylinder.

[0012] Preferably, a first lug is installed on a side of the upper connecting rod away from the soft cylinder, and a second lug is installed on a side of the lower connecting rod away from the soft cylinder.

[0013] Preferably, one end of the tension spring is mounted on the first lug, and the other end is mounted on the second lug.

[0014] Preferably, the soft cylinder is made of soft material.

[0015] Preferably, the first chamber and the second chamber are constructed in a vertically symmetrical design.

[0016] Preferably, the bistable mechanism is provided with a compressed air inlet, and the compressed air inlet is connected to the first chamber and the second chamber.

[0017] Compared with the prior art, the utility model has the following beneficial effects:

[0018] The bistable pneumatic soft finger provided by the present application, through the bidirectional design of the first chamber and the second chamber, combines the soft cylinder and the bistable mechanism into a pneumatic soft finger, which can greatly improve the response speed of the pneumatic soft finger, thereby improving the grasping efficiency of the pneumatic soft manipulator;

[0019] The combination of the bistable mechanism and the soft cylinder of the present application can also improve the load capacity of the pneumatic soft fingers to make up for the shortcoming of insufficient load capacity of the original soft fingers.

[0020] The present application provides a first lug and a second lug to connect the sides of the upper connecting rod and the lower connecting rod, thereby further improving the stability of the bistable pneumatic soft finger.

[0021] The present application provides a compressed air inlet, which is located on the bistable mechanism, so as to charge the compressed air into the first chamber and the second chamber respectively. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0024] Figure 2 It is a schematic diagram of the bistable upward bending deformation of the utility model;

[0025] Figure 3 It is a schematic diagram of the bistable gradual straightening deformation of the utility model;

[0026] Figure 4 It is a schematic diagram of the bistable downward bending deformation of the utility model;

[0027] Figure 5 It is a partial cross-sectional view of the soft cylinder of the utility model.

[0028] Explanation of the figure numbers: 1. bistable mechanism; 101. soft cylinder; 102. first chamber; 103. second chamber; 104. compressed air inlet; 105. upper end cap; 106. lower end cap; 107. upper connecting rod; 108. lower connecting rod; 109. tension spring; 110. first lug; 111. second lug. DETAILED DESCRIPTION

[0029] The utility model is described in further detail below in conjunction with the accompanying drawings.

[0030] The following description is used to disclose the utility model so that those skilled in the art can implement the utility model. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the utility model defined in the following description can be used for other implementation schemes, variations, improvements, equivalent schemes, and other technical solutions that do not deviate from the spirit and scope of the utility model.

[0031] Those skilled in the art should understand that, in the disclosure of the present invention, the directions or positions indicated by the terms "longitudinal", "lateral", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positional relationships shown in the accompanying drawings, which are only simplified descriptions for the convenience of describing the present invention, and do not indicate or imply that the device or component referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the above terms should not be understood as limitations on the present invention.

[0032] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity. Example

[0033] See also Figure 1-5 A bistable pneumatic soft finger comprises a bistable mechanism 1, in which a soft cylinder 101 is arranged, and a first chamber 102 and a second chamber 103 for bidirectional bending pneumatic adjustment are arranged in the soft cylinder 101.

[0034] Some implementation methods of the present application are described in detail below with reference to the accompanying drawings:

[0035] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The bistable pneumatic soft finger of the present application is mainly composed of a bistable mechanism 1 and a soft cylinder 101 fixed in the bistable mechanism 1. At the same time, a first chamber 102 and a second chamber 103 are opened inside the soft cylinder 101, wherein the soft cylinder 101 cooperates with the first chamber 102 and the second chamber 103. The structure of the device is simple, stable and reliable. Through the bidirectional design of the first chamber 102 and the second chamber 103, the soft cylinder 101 and the bistable mechanism 1 are combined to form a pneumatic soft finger to realize bidirectional bending pneumatic adjustment, which can greatly improve the response speed of the pneumatic soft finger and thus improve the grasping efficiency of the pneumatic soft manipulator; in addition, the combination of the bistable mechanism 1 and the soft cylinder 101 can also improve the load capacity of the pneumatic soft finger to make up for the disadvantage of insufficient load capacity of the original soft finger.

[0036] The first chamber 102 and the second chamber 103 are constructed as a vertically symmetrical design so as to be filled with compressed air in sequence and applied in combination with the bistable mechanism 1 .

[0037] In a specific embodiment, the bistable mechanism 1 also includes an upper end cap 105, a lower end cap 106, an upper connecting rod 107, a lower connecting rod 108 and a tension spring 109, wherein the upper connecting rod 107, the lower connecting rod 108 and the tension spring 109 are each provided with two groups, the upper end cap 105 is fixedly mounted on the top of the soft cylinder 101, the lower end cap 106 is fixedly mounted on the bottom of the soft cylinder 101, the two groups of upper connecting rods 107 are located on both sides of the upper end cap 105, and are fixedly connected to the bistable mechanism 1, the two groups of lower connecting rods 108 are fixedly connected on both sides of the lower end cap 106, and the ends of the upper connecting rod 107 away from the bistable mechanism 1 and the lower connecting rod 108 away from the lower end cap 106 are connected by hinged activities; in the application process, firstly, as Figure 2 As shown, in the initial state, the bistable mechanism 1 bends upward under the action of the tension spring 109;

[0038] Then, the first chamber 102 of the soft cylinder 101 is filled with compressed air, and the upper side of the cylinder is axially extended, while the lower side is not extended. Therefore, the soft cylinder 101 drives the bistable mechanism 1 to gradually straighten, as shown in FIG. Figure 3 As shown, until the soft cylinder 101 has a tendency to bend downward, the tension springs 109 on both sides of the bistable mechanism 1 quickly pull the soft cylinder 101 to bend downward, as shown in FIG. Figure 4 As shown;

[0039] Finally, the second chamber 103 of the soft cylinder 101 is filled with compressed air, and according to the above principle, the pneumatic soft finger can be bent upward and reset.

[0040] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 In the present application, a first lug 110 and a second lug 111 are also provided, wherein the first lug 110 and the second lug 111 are provided in two groups, the first lug 110 is respectively installed on one end of the upper connecting rod 107 away from the soft cylinder 101, and the second lug 111 is respectively installed on one end of the lower connecting rod 108 away from the soft cylinder 101, one end of the first lug 110 is installed on the first lug 110, and the other end is installed on the second lug 111, thereby connecting the side edges between the upper connecting rod 107 and the lower connecting rod 108, which can further improve the stability of the bistable pneumatic soft finger. When in the initial state, the bistable mechanism 1 bends upward under the action of the tension spring 109. After connection, the tension spring 109 can quickly pull the soft cylinder 101 to bend during operation.

[0041] The compressed air inlet 104 also provided in the present application is located on the bistable mechanism 1, so as to fill the compressed air into the first chamber 102 and the second chamber 103 respectively, so as to assist the operation of the bistable pneumatic soft finger.

[0042] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functions and structural principles of the present invention have been demonstrated and explained in the embodiments. Without departing from the principles, the embodiments of the present invention may be deformed or modified in any way.

Claims

1. A bistable pneumatic soft finger, comprising a bistable mechanism (1), characterized in that: The bistable mechanism (1) is provided with a soft cylinder (101), and the soft cylinder (101) is provided with a first chamber (102) and a second chamber (103) for bidirectional bending pneumatic adjustment.

2. A bistable pneumatic soft finger according to claim 1, characterized in that: The bistable mechanism (1) further comprises an upper end cap (105), a lower end cap (106), an upper connecting rod (107), a lower connecting rod (108) and a tension spring (109); the upper end cap (105) is fixed to the top of the soft cylinder (101); the lower end cap (106) is fixed to the bottom of the soft cylinder (101); and the upper connecting rod (107), the lower connecting rod (108) and the tension spring (109) are each provided in two groups.

3. A bistable pneumatic soft finger according to claim 2, characterized in that: The upper connecting rod (107) is arranged on both sides of the upper end cap (105), and the lower connecting rod (108) is arranged on both sides of the lower end cap (106).

4. A bistable pneumatic soft finger according to claim 2, characterized in that: The two groups of tension springs (109) are both arranged on the side of the upper connecting rod (107) and the lower connecting rod (108) away from the soft cylinder (101).

5. The bistable pneumatic soft finger according to claim 2, characterized in that: One end of the upper connecting rod (107) is fixed to the bistable mechanism (1), one end of the lower connecting rod (108) is fixed to the lower end cap (106), and the other end is hingedly connected to the end of the upper connecting rod (107) away from the soft cylinder (101).

6. A bistable pneumatic soft finger according to claim 2, characterized in that: A first lug (110) is installed on a side of the upper connecting rod (107) away from the soft cylinder (101), and a second lug (111) is installed on a side of the lower connecting rod (108) away from the soft cylinder (101).

7. A bistable pneumatic soft finger according to claim 6, characterized in that: One end of the tension spring (109) is mounted on the first lug (110), and the other end is mounted on the second lug (111).

8. The bistable pneumatic soft finger according to claim 2, characterized in that: The soft cylinder (101) is made of soft material.

9. A bistable pneumatic soft finger according to claim 8, characterized in that: The first chamber (102) and the second chamber (103) are constructed in a vertically symmetrical design.

10. The bistable pneumatic soft finger according to claim 1, characterized in that: The bistable mechanism (1) is provided with a compressed air inlet (104), and the compressed air inlet (104) is in a connected state with the first chamber (102) and the second chamber (103).

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