7 results about "Soft finger" patented technology

The application provides a soft finger based on a giant electro-rheological valve and a soft gripper integrated with driving control, and belongs to the technical field of soft robots. The soft finger comprises a fluid grid layer and a bottom plate layer. The fluid grid layer comprises a main channel and a plurality of grids. Each grid is provided with a branch cavity. The bottom of the branch cavity is provided with an opening. The bottom of the branch cavity of each grid is communicated with the main channel. A branch soft valve is arranged on the side wall of the branch cavity of each grid. A plurality of main channel soft valves are arranged in the main channel. The side wall of the grid at a fixed end is provided with a first giant electro-rheological liquid pipe. The bottom plate layer comprises a second giant electro-rheological liquid pipe and a bottom plate body. The second giant electro-rheological liquid pipe is communicated with the main channel. By applying a specified pressure to different parts of each branch cavity and the main channel, the branch cavity is expanded, a plurality of bending modes of the soft finger can be realized, and the main channel can be individually pressurized to improve the ability of grasping a load.

The application discloses a preparation method of a silica gel-based rigid-flexible coupling pneumatic soft body finger, which comprises the following steps: firstly, preparing a silica gel gas distribution base layer and a silica gel pneumatic expansion joint structure; then, bonding the silica gel gas distribution base layer, the silica gel pneumatic expansion joint structure and a rigid framework into a semi-finished product pneumatic soft body finger; placing the semi-finished product pneumatic soft body finger into a pneumatic soft body finger mold, and placing a flexible tensile strain sensor on the palm of the semi-finished product pneumatic soft body finger, and placing the electric signal lead wire of the flexible tensile strain sensor outside the pneumatic soft body finger mold; finally, injecting silica gel into the pneumatic soft body finger mold to coat the semi-finished product pneumatic soft body finger and the flexible tensile strain sensor into an integral whole by using the silica gel.

The application discloses a variable-configuration rigid-flexible coupling soft hand, comprising a plurality of rigid-flexible coupling soft fingers, a switching frame system and a superstructure energy-absorbing palm, the roots of the plurality of rigid-flexible coupling soft fingers are connected with the switching frame system, the superstructure energy-absorbing palm is arranged on the switching frame system and located inside a space surrounded by the plurality of rigid-flexible coupling soft fingers, and the switching frame system is used for driving the plurality of rigid-flexible coupling soft fingers to switch between a first configuration and a second configuration; the first configuration is that the plurality of rigid-flexible coupling soft fingers are parallel to each other and are used for soft covering and grabbing a static target; and the second configuration is that the plurality of rigid-flexible coupling soft fingers converge towards each other to form a cage-shaped configuration and are used for capturing a dynamic target. The application solves the problem that a single gripper is difficult to simultaneously achieve soft grabbing of a static target and efficient capturing of a dynamic target.

This invention relates to the technical field of soft robots, and more specifically, to a soft finger with adjustable grasping force, a soft gripper, and a method for manufacturing the same. The soft finger includes a soft actuator and a fingertip. The soft actuator has a cavity, and the fingertip is fixedly mounted at one end of the soft actuator. The other end of the soft actuator has an air passage communicating with the cavity. The outer wall of the soft actuator has several protrusions, with grooves formed between adjacent protrusions. The inner wall of the soft actuator has a bendable and lockable first blocking structure, and the outer wall of the soft actuator has a retractable and lockable second blocking structure. The second blocking structure is wavy and can engage with the grooves on the outer wall of the soft actuator. The second blocking structure can cooperate with the first blocking structure to lock the soft actuator. This invention allows for pre-grasping by bending the soft finger, then fixing the fingertip position and adjusting the grasping force, making it suitable for non-damaging grasping of fragile items.

This utility model relates to a reflow oven conveying device with clamping function, including a supporting guide rail, a conveying chain, a clamping mechanism, an open guide plate, and a close guide plate. The conveying chain is mounted on the supporting guide rail. The clamping mechanism includes a base, a clamping soft finger, and a positioner. The base is fixed to the conveying chain, and the clamping soft finger is slidably mounted on the base via the positioner. The sliding direction of the clamping soft finger is perpendicular to the conveying direction of the conveying chain. The open guide plate and the close guide plate are installed at different positions on the supporting guide rail. When the open guide plate abuts against the clamping soft finger, the clamping soft finger is in the open state; when the close guide plate abuts against the clamping soft finger, the clamping soft finger is in the closed state. Compared with the prior art, this utility model has the advantages of ensuring the stability of the object throughout the conveying process through the clamping mechanism; the open and close guide plates can change the working state of the clamping mechanism without manual operation according to the opening and closing requirements of the clamping mechanism, making it convenient to use.

The application discloses a kind of pneumatic soft body fingers with variable stiffness finger plate and force feedback and control method, including flexible joint main body, variable stiffness finger plate and fiber bragg grating sensor.Flexible joint main body is made of silicone rubber, inside is provided with wave cavity, is connected external air pressure source by pneumatic interface.Variable stiffness finger plate is arranged at one side of gripping surface, inside is filled with flowable solid particles, is connected external vacuum source by vacuum interface, realizes the fast adjustment of finger plate stiffness in 8 to 15 times by vacuumizing.Light fiber bragg grating sensor is embedded in the back of finger, and bending strain and fingertip contact force are detected in real time.Control method is: the measured value of acquisition fiber wavelength signal and the measured value of bending angle are calculated, the working mode of variable stiffness finger plate is decided according to the comparison result of target gripping force and preset threshold, and the opening of pneumatic proportional valve is adjusted by PID algorithm closed loop, so that gripping force is stabilized in target error range.

The application discloses a kind of humanoid soft body finger with rigid-flexible coupling structure, it is related to the technical field of soft body robot, solve the existing soft body finger in space suit glove interactive force test working condition, when overcoming pressurized space suit glove high impedance load, lateral instability, motion trajectory deviation and low control precision and other problems are prone to occur, rigid support skeleton is assembled in soft body base, the proximal end and distal end of soft body base are respectively equipped with one positioning ring, the both sides of rigid support skeleton are equipped with high-strength plastic tube that is penetrated into driving line, auxiliary reset spring is sleeved on rigid support skeleton and two ends are respectively connected with two positioning rings, the application is constrained by discrete rigid skeleton and cylindrical pin, by weaving artificial tendon sheath at joint through hole, arch string effect is radically cured and driving arm constant is ensured, independently arranged high-strength plastic tube effectively protects soft body base from being cut by driving line, and the cavity formed by heat shrink tube ensures the dexterity of joint movement.