13 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 high-aspect-ratio pneumatic soft gripper device capable of internal telescoping. The pneumatic soft gripper comprises a fixed table, a double-engine winding mechanism and a plurality of soft fingers. The double-engine winding mechanism is installed on the top surface of the fixed table, the root ends of the soft fingers are uniformly and circumferentially spaced apart and installed on the bottom surface of the fixed table, the soft fingers are connected to the double-engine winding mechanism through pull wires in the soft fingers and the double-engine winding mechanism, and the length of each soft finger is adjusted by the double-engine winding mechanism to realize internal telescoping, folding and unfolding and asymmetric expansion and bending actions, so that the pneumatic soft gripper can grasp different target objects. The high-aspect-ratio pneumatic soft gripper has a compact structure and strong grasping adaptability, can generate spiral winding deformation after elongation, is suitable for grasping irregular objects, and can realize self-adaptive grasping of objects of different sizes by controlling the extension length of the soft gripper.

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.

The invention discloses a rigid-flexible coupling soft hand with variable configuration, which comprises a plurality of rigid-flexible coupling soft fingers, a switching frame system and a superstructure energy absorption palm center, and the roots of the plurality of rigid-flexible coupling soft fingers are connected with the switching frame system; the super-structure energy absorption palm center is arranged on the switching frame system and located in a space defined by the rigid-flexible coupling soft fingers; the switching frame system is used for driving the rigid-flexible coupling soft fingers to be switched between a first configuration and a second configuration. The first configuration is formed in the mode that the rigid-flexible coupling soft fingers are parallel and opposite and is used for conducting flexible wrapping grabbing on a static target. And the second configuration is a cage configuration formed by converging a plurality of rigid-flexible coupling soft body fingers towards one another, and is used for capturing a dynamic target. The problem that smooth grabbing of static targets and efficient capturing of dynamic targets are difficult to achieve at the same time through a single gripper is solved.

The splicing type soft gripper carrying the suction cups comprises a main body, the main body comprises suction cup modules and gripper modules, the suction cup modules are arranged in the center area of the main body and used for sucking products, and the number of the gripper modules is two. The two gripper modules are arranged on the two separated sides of the suction cup module correspondingly and used for gripping the two ends of a product, each gripper module comprises two soft fingers, the bending directions of the soft fingers are controlled through internal air pressure of the soft fingers, and when the internal air pressure is in a negative pressure state, the two soft fingers get close to each other so as to grip the product. And when the internal air pressure is in a high-pressure state, the two flexible fingers are far away from each other so as to release grabbing of the product. According to the splicing type soft gripper carrying the suction cups, different products can be clamped, and the splicing type soft gripper carrying the suction cups is suitable for conveying of various products in an automatic production line.

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 utility model discloses a rigid-soft coupling type gripping device, and belongs to the technical field of tail end grippers. The grabbing device comprises a rigid mechanical arm, a soft gripper and an inflation and deflation system, the soft gripper comprises a gripper base and a plurality of soft fingers, each soft finger is of a cavity structure made of soft materials, a plurality of slots are formed in one side face of each soft finger, the soft fingers are circumferentially fixed to the bottom face of the gripper base in a surrounding mode, and the inflation and deflation system is connected with the soft fingers. The side faces, provided with the gaps, of the soft fingers face outwards, the top face of the gripper base is connected with the front end of the rigid mechanical arm, and the inflation and deflation system communicates with all the soft fingers. The soft gripper is designed at the front end of the rigid mechanical arm so as to realize spatial movement of the soft gripper, and the gripping action of the soft gripper is controlled through the inflation and deflation system, so that not only can objects with the characteristics of softness, fragility and the like be gripped without damage, but also the mechanical arm has stronger universality and interchangeability, a control scheme is easy to realize, and the equipment cost is reduced.

The invention discloses a dual-drive soft gripper capable of reconstructing finger arrangement and a gripping space. The device comprises a central palm module, the central palm module is provided with a reconfigurable configuration, the central palm module comprises at least one swing angle actuator, and the swing angle actuator is configured to change the relative angle of a finger base through controlled deformation to achieve switching of finger arrangement configurations; the at least one telescopic actuator is configured to drive the finger base to synchronously stretch out and draw back in the radial direction so as to adjust the effective length of the finger; the at least two soft finger modules are arranged in the circumferential direction of the central palm module, the rear end of each soft finger module is connected with the corresponding finger base, and the front end of each soft finger module is a free end. On the premise that the flexibility of the soft gripper body is kept and any electronic driving element is not needed, reconfigurable adjustment of the length, the arrangement mode, the rigidity and the overall working space of the fingers can be achieved at the same time.

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.

The invention discloses a rigid-flexible coupling self-adaptive manipulator based on rope-driven variable stiffness, and belongs to the technical field of manipulators. The mechanical arm comprises a mounting shell, a switching assembly, a variable-rigidity assembly, a finger assembly and a driving assembly, the driving assembly is arranged in the mounting shell and the switching assembly, rigidity adjusting driving force is provided for the variable-rigidity assembly through a variable-rigidity driving rope, the finger assembly is of a pneumatic driving type structure, and the bending action of the finger assembly drives the variable-rigidity assembly to bend and stretch synchronously; the rigidity of the variable-rigidity assembly is accurately adjusted and controlled through the dead point characteristic of a crank sliding block mechanism and the torsional elasticity of a torsional spring, the soft finger is provided with a groove-shaped air cavity and a bottom limiting layer, and the bending controllability and the large-angle characteristic are guaranteed. The mechanical arm is compact in structure, continuous in rigidity adjustment, fast in response and high in grabbing precision and stability, rigid-flexible coupling self-adaptive grabbing can be achieved, the mechanical arm can adapt to diversified grabbing scenes through modular design, and the mechanical arm can be widely applied to the fields of medical rehabilitation, precise assembly, fragile product sorting and the like.