CN113581840B - Flexible pneumatic gripping device - Google Patents
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- CN113581840B CN113581840B CN202110880468.4A CN202110880468A CN113581840B CN 113581840 B CN113581840 B CN 113581840B CN 202110880468 A CN202110880468 A CN 202110880468A CN 113581840 B CN113581840 B CN 113581840B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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Abstract
The invention discloses a flexible pneumatic grabbing device which comprises a pneumatic arm and a flexible grabbing hand, wherein the pneumatic arm comprises a plurality of pneumatic sections connected with each other, each pneumatic section comprises a first cavity and a first particle cavity, the flexible grabbing hand comprises a grabbing hand surrounding film, a second cavity and a second particle cavity, and particles are filled in the first particle cavity and the second particle cavity. According to the flexible pneumatic grabbing device, the stretching of the pneumatic arm can be realized by inflating or exhausting air into the first cavity, meanwhile, the air can be selectively inflated or exhausted into one first cavity of one pneumatic joint, the angle adjustment of the pneumatic arm can be realized, after the length and the angle of the pneumatic arm are adjusted, the air is exhausted from the first particle cavity through the air pipe, and the supporting rigidity of the pneumatic arm is improved by means of the friction force between particles and the inner wall of the cavity of the first particle cavity; similarly, after the object to be grabbed is wrapped by the hand grab wrapping film, the second particle cavity is pumped, so that the supporting rigidity of the flexible grabbing hand is improved, and the grabbing stability is improved.
Description
Technical Field
The invention relates to the technical field of robots and peripheral supporting facilities thereof, in particular to a flexible pneumatic gripping device.
Background
The gripping device is one of the most important devices for the robot to transfer different types of articles, and along with the automatic production, the gripping device is widely applied and researched, wherein the gripping device comprises two main types, namely a rigid gripping device and a flexible gripping device. Conventional gripping devices are generally rigid, and their fixed gripping action and movement range show poor versatility for small, irregular objects. At this point, the flexible gripping device can solve this problem.
Chinese patent publication No. CN108687794A discloses a gripper that stably grips by electrostatic attraction and opening and closing of shape memory alloy, but the upper metal structure of the gripper is damaged integrally, and is not suitable for application scenarios with high requirements for sanitary environment. The Chinese patent with the publication number of 209256949U discloses a multifunctional flexible manipulator, which utilizes independent air discharge/air exhaust of each hose to drive three-cavity connected flexible arms to perform grabbing and releasing actions, lifting actions and screwing/loosening actions, but the whole structure is a pneumatic silica gel structure, the grabbing force is small, and the degree of maintaining stability is low. Chinese patent publication No. CN107671878A discloses an electrostatic adsorption flexible gripper, but the overall structure is complex and the versatility is lacking. Flexible grabbing hand structure in prior art
Therefore, how to change the current situation that the flexible gripping device in the prior art has a complex structure and poor gripping stability becomes a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide a flexible pneumatic gripping device, which is used for solving the problems in the prior art and improving the gripping stability on the basis of simplifying the structure of the gripping device.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a flexible pneumatic gripping device, comprising:
the pneumatic arm comprises a plurality of pneumatic sections which are connected, each pneumatic section comprises a first cavity and a first particle cavity, the first cavities are sequentially connected and enclose a ring, and the first particle cavity is connected with the first cavities and is positioned on one side of the first cavities, which is far away from the axis of the pneumatic section;
the flexible grabbing hand comprises a grabbing hand surrounding film, a second cavity and a second particle cavity, one end of the grabbing hand surrounding film is connected with the pneumatic arm, the other end of the grabbing hand surrounding film is connected with the second cavity, the second cavities are sequentially connected and surround into a ring shape, and the second particle cavity is connected with the second cavity and is positioned on one side, far away from the axis of the flexible grabbing hand, of the second cavity;
the first particle cavity and the second particle cavity are filled with particles; the first cavity, the second cavity, the first particle cavity and the second particle cavity are respectively connected with an air pipe, and the air pipes can be used for inflating or exhausting air into the first cavity, the second cavity, the first particle cavity and the second particle cavity; the pneumatic arm and the flexible grabbing hand are both made of flexible materials.
Preferably, the first cavities correspond to the first particle cavities one to one, and the ring-shaped part surrounded by the plurality of first particle cavities is sleeved outside the ring-shaped part surrounded by the plurality of first cavities.
Preferably, the number of the pneumatic sections is five, and each section of the pneumatic section comprises three first cavities and three first particle cavities.
Preferably, the second cavities correspond to the second particle cavities one to one, and the ring-shaped part surrounded by the plurality of second particle cavities is sleeved outside the ring-shaped part surrounded by the plurality of second cavities.
Preferably, the number of the second cavities and the second particle cavities is six, and a partition body is arranged between adjacent groups.
Preferably, the hand grip surrounding film is of a hollow hemispherical structure, the end, with the smaller diameter, of the hand grip surrounding film is connected with the pneumatic arm, and the end, with the larger diameter, of the hand grip surrounding film is connected with the second cavity.
Preferably, the pneumatic arm is detachably connected to the flexible gripping hand.
Preferably, the pneumatic arm utilize coupling assembling with the flexible hand of snatching links to each other, coupling assembling includes connector, endotheca spare and clamp, the pneumatic arm with the flexible hand of snatching all is provided with the adapter sleeve, the adapter sleeve can suit in the outside of endotheca spare, the endotheca spare can with the connector joint links to each other, the clamp can suit in the outside of connector is fixed the endotheca spare with the relative position of connector.
Preferably, the pneumatic arm is far away from the one end of flexible grabbing hand still is connected with the external joint, the pneumatic arm utilizes the external joint can link to each other with external component, be provided with on the external joint and allow the trachea passes through the through wires hole.
Preferably, the pneumatic arm with the flexible hand of snatching is made by the silica gel material, the particulate matter is made by the foam material, many the trachea all is connected and all has the solenoid valve.
Compared with the prior art, the invention has the following technical effects: the flexible pneumatic grabbing device comprises a pneumatic arm and a flexible grabbing hand, wherein the pneumatic arm comprises a plurality of pneumatic sections which are connected, each pneumatic section comprises a first cavity and a first particle cavity, the first cavities are sequentially connected and enclosed to form a ring, and the first particle cavity is connected with the first cavities and is positioned on one side, away from the axis of the pneumatic section, of each first cavity; the flexible grabbing hand comprises a grabbing hand surrounding film, second cavities and second particle cavities, one end of the grabbing hand surrounding film is connected with the pneumatic arm, the other end of the grabbing hand surrounding film is connected with the second cavities, the second cavities are sequentially connected and surround into a ring shape, and the second particle cavities are connected with the second cavities and located on one sides of the second cavities far away from the axis of the flexible grabbing hand; the first particle cavity and the second particle cavity are filled with particles; the first cavity, the second cavity, the first particle cavity and the second particle cavity are respectively connected with an air pipe, and the air pipes can be used for inflating or exhausting air into the first cavity, the second cavity, the first particle cavity and the second particle cavity; the pneumatic arm and the flexible grabbing hand are made of flexible materials.
The flexible pneumatic grabbing device comprises a pneumatic arm and a flexible grabbing hand, wherein the pneumatic arm comprises a plurality of pneumatic sections, each pneumatic section comprises a first cavity which is encircled to form a ring, the pneumatic arm can stretch by inflating or exhausting air into the first cavity, and the pneumatic arm can selectively inflate or exhaust air into a certain first cavity of a certain pneumatic section, so that the angle adjustment of the pneumatic arm can be realized, after the length and the angle of the pneumatic arm are adjusted, the first particle cavity is exhausted through an air pipe, and the supporting rigidity of the pneumatic arm is improved by means of the friction force between particles and the inner wall of the cavity of the first particle cavity; the pneumatic arm drives the flexible grabbing hand to reach the grabbing position, the second cavity is inflated by adjusting the inflation condition of the second cavity, the hand grip surrounding film can cover the object to be grabbed, then the air pipe is used for pumping air to the second cavity, and after the object to be grabbed is wrapped by the hand grip surrounding film, the second particle cavity is pumped air, so that the supporting rigidity of the flexible grabbing hand is improved, and the grabbing stability is improved. The flexible pneumatic gripping device is simple in structure and convenient and fast to operate and adjust, and the supporting rigidity of the device is improved by utilizing the friction force between particles and the inner wall of the cavity, so that the gripping stability is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural view of a flexible pneumatic grasping apparatus of the present invention;
FIG. 2 is a schematic diagram of the pneumatic arm of the flexible pneumatic grasping device of the present invention;
FIG. 3 is a schematic view of a radial cutting structure of a pneumatic arm of the flexible pneumatic gripping device of the present invention;
FIG. 4 is a schematic structural view of a flexible gripping hand of the flexible pneumatic gripping apparatus of the present invention;
FIG. 5 is a schematic diagram of a side view of a flexible gripping hand of the flexible pneumatic gripping apparatus of the present invention;
FIG. 6 is a schematic diagram of a flexible grasping hand in an embodiment of the flexible pneumatic grasping apparatus of the invention;
FIG. 7 is a schematic structural view of a flexible gripping hand and a connecting assembly of the flexible pneumatic gripping apparatus of the present invention;
FIG. 8 is a schematic view of a portion of the flexible pneumatic grasping apparatus of the present invention;
FIG. 9 is a schematic view of the structure of the clamp band of the flexible pneumatic grasping apparatus according to the present invention;
FIG. 10 is a schematic view of the construction of the inner sleeve of the flexible pneumatic gripping apparatus of the present invention;
FIG. 11 is a schematic structural view of a connecting head of the flexible pneumatic gripping apparatus of the present invention;
FIG. 12 is a schematic view of a coupling head in an embodiment of the flexible pneumatic grasping apparatus according to the present invention;
FIG. 13 is a schematic structural view of an outer joint of the flexible pneumatic gripping apparatus of the present invention;
wherein, 1 is the pneumatic arm, 101 is pneumatic festival, 102 is first cavity, 103 is first granule chamber, 2 is the flexible hand of snatching, 201 is the tongs surrounding film, 202 is the second cavity, 203 is the second granule chamber, 204 is the cut-off body, 3 is the particulate matter, 4 is the trachea, 5 is coupling assembling, 501 is the connector, 502 is the internal member, 503 is the clamp, 504 is the arc groove, 505 is the arc arch, 506 is the rectangular channel, 507 is the axial through groove, 508 is the outer joint, 509 is the through wires hole, 6 is the adapter sleeve, 7 is the solenoid valve.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a flexible pneumatic gripping device, which is used for solving the problems in the prior art and improving the gripping stability on the basis of simplifying the structure of the gripping device.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1 to 13, fig. 1 is a schematic structural diagram of a flexible pneumatic grasping apparatus of the present invention, fig. 2 is a schematic structural diagram of a pneumatic arm of the flexible pneumatic grasping apparatus of the present invention, fig. 3 is a schematic structural diagram of a radial cut of the pneumatic arm of the flexible pneumatic grasping apparatus of the present invention, fig. 4 is a schematic structural diagram of a flexible grasping hand of the flexible pneumatic grasping apparatus of the present invention, fig. 5 is a schematic structural diagram of a side view of the flexible grasping hand of the flexible pneumatic grasping apparatus of the present invention, fig. 6 is a schematic structural diagram of the flexible grasping hand in an embodiment of the flexible pneumatic grasping apparatus of the present invention, fig. 7 is a schematic structural diagram of the flexible grasping hand and a connecting component of the flexible pneumatic grasping apparatus of the present invention, fig. 8 is a schematic structural diagram of a part of the flexible pneumatic grasping apparatus of the present invention, fig. 9 is a schematic structural diagram of a hoop of the flexible pneumatic grasping apparatus of the present invention, fig. 10 is a schematic structural diagram of an internal component of the flexible pneumatic grasping apparatus of the present invention, fig. 11 is a schematic structural diagram of a connecting head of the flexible pneumatic grasping apparatus of the present invention, fig. 12 is a structural diagram of an embodiment of the flexible pneumatic grasping apparatus of the present invention, and fig. 13 is a structural diagram of an external connecting head of the flexible pneumatic grasping apparatus of the present invention.
The invention provides a flexible pneumatic grabbing device which comprises a pneumatic arm 1 and a flexible grabbing hand 2, wherein the pneumatic arm 1 comprises a plurality of pneumatic joints 101 connected with each other, each pneumatic joint 101 comprises a first cavity 102 and a first particle cavity 103, the first cavities 102 are sequentially connected and enclose into a ring shape, and the first particle cavity 103 is connected with the first cavity 102 and is positioned on one side of the first cavity 102, which is far away from the axis of the pneumatic joint 101; the flexible grabbing hand 2 comprises a grabbing hand surrounding film 201, a second cavity 202 and a second particle cavity 203, one end of the grabbing hand surrounding film 201 is connected with the pneumatic arm 1, the other end of the grabbing hand surrounding film 201 is connected with the second cavity 202, the second cavities 202 are sequentially connected and surrounded to form a ring shape, and the second particle cavity 203 is connected with the second cavity 202 and is located on one side, away from the axis of the flexible grabbing hand 2, of the second cavity 202; the first particle cavity 103 and the second particle cavity 203 are filled with particles 3; the first cavity 102, the second cavity 202, the first particle cavity 103 and the second particle cavity 203 are respectively connected with an air pipe 4, and the air pipe 4 can be used for inflating or exhausting air into the first cavity 102, the second cavity 202, the first particle cavity 103 and the second particle cavity 203; the pneumatic arm 1 and the flexible grabbing hand 2 are both made of flexible materials.
The flexible pneumatic grabbing device comprises a pneumatic arm 1 and a flexible grabbing hand 2, wherein the pneumatic arm 1 comprises a plurality of pneumatic sections 101, each pneumatic section 101 comprises a first cavity 102 which is encircled to be annular, the pneumatic arm 1 can be stretched by inflating or exhausting air into the first cavity 102, meanwhile, the pneumatic arm 1 can be selectively inflated or exhausted into one first cavity 102 of one pneumatic section 101, the angle adjustment of the pneumatic arm 1 can be realized, after the length and the angle of the pneumatic arm 1 are adjusted, the first particle cavity 103 is exhausted through an air pipe 4, and the supporting rigidity of the pneumatic arm 1 is improved by means of the friction force between particles 3 and the inner wall of the first particle cavity 103; the pneumatic arm 1 drives the flexible grabbing hand 2 to reach the grabbing position, the grabbing hand surrounding film 201 can be covered by the air pipe 4 to be grabbed through adjusting the inflation condition of the second cavity 202, then the air pipe 202 is used for pumping air to the second cavity 202, and after the grabbing hand surrounding film 201 wraps the object to be grabbed, the second particle cavity 203 is pumped air, so that the supporting rigidity of the flexible grabbing hand 2 is improved, and the grabbing stability is improved. The flexible pneumatic gripping device is simple in structure and convenient and fast to operate and adjust, and the supporting rigidity of the device is improved by utilizing the friction force between the particulate matters 3 and the inner wall of the cavity, so that the gripping stability is improved.
Wherein, first cavity 102 and first granule chamber 103 one-to-one, the annular suit that a plurality of first granule chamber 103 enclose is in the annular outside that a plurality of first cavities 102 enclose, encircle in the outside of first cavity 102 and set up first granule chamber 103, after pneumatic arm 1 has adjusted length and direction, bleed first granule chamber 103, rely on the frictional force between particulate matter 3 and the inner wall of first granule chamber 103 to improve pneumatic arm 1's rigidity, and improve rigidity in pneumatic arm 1's optional position, when guaranteeing that the device snatchs stability, improve the flexible adaptability of device.
In this embodiment, the number of the pneumatic joints 101 is five, each pneumatic joint 101 includes three first cavities 102 and three first particle cavities 103, and an annular structure surrounded by the three first particle cavities 103 is sleeved outside the annular structure surrounded by the three first cavities 102, and in other embodiments of the present invention, the specific number of the first cavities 102 and the first particle cavities 103 in each pneumatic joint 101 may also be set according to the adjustment requirement of the pneumatic arm 1, so as to meet the grabbing requirement.
Correspondingly, the second cavities 202 correspond to the second particle cavities 203 one by one, the annular part surrounded by the second particle cavities 203 is sleeved outside the annular part surrounded by the second cavities 202, after the object to be grabbed is covered by the hand grab surrounding film 201, the second cavities 202 are pumped, so that the object to be grabbed can be wrapped by the hand grab surrounding film 201, then the second particle cavities 203 are pumped, and the structural rigidity of the flexible grabbing hand 2 is improved.
Specifically, the number of the second cavities 202 and the second particle cavities 203 is six, and the dividing bodies 204 are arranged between adjacent groups, so that the adjacent groups of the second cavities 202 and the second particle cavities 203 are divided and positioned, and the function of supporting the gripper surrounding film 201 can be achieved, and the gripper surrounding film 201 can be ensured to cover the object to be gripped.
More specifically, the gripper surrounding film 201 is of a hollow hemispherical structure, the smaller diameter end of the gripper surrounding film 201 is connected with the pneumatic arm 1, the larger diameter end of the gripper surrounding film 201 is connected with the second cavity 202, the gripper surrounding film 201 is of a hollow hemispherical shape, the storage space of the gripper surrounding film 201 is enlarged, it is guaranteed that the object to be gripped can be covered and enter the hollow of the gripper surrounding film 201, the larger diameter end of the gripper surrounding film 201 is connected with the second cavity 202, the stretching direction of the pneumatic arm 1 is adjusted, and the opening direction of the gripper surrounding film 201 faces the object to be gripped, so that subsequent gripping can be carried out. It should be noted here that the dimensions of the grip enclosing film 201 are determined by the dimensions of the object to be gripped. In other embodiments of the present invention, the grip surrounding film 201 of the flexible gripping hand 2 may be provided with a plurality of folds, and when encountering a large object to be gripped, the folds unfold to increase the covering space of the grip surrounding film 201, thereby ensuring stable covering and gripping of the object to be gripped.
In addition, the pneumatic arm 1 and the flexible grabbing hand 2 are detachably connected, the grabbing surrounding film 201 with different specifications can be arranged, different flexible grabbing hands 2 are replaced according to different objects to be grabbed, and the flexible adaptability of the device is improved.
Further, the pneumatic arm 1 is connected with the flexible grabbing hand 2 through the connecting assembly 5, the connecting assembly 5 comprises a connector 501, an inner sleeve 502 and a hoop 503, the pneumatic arm 1 and the flexible grabbing hand 2 are provided with connecting sleeves 6, the connecting sleeves 6 can be sleeved outside the inner sleeve 502, the inner sleeve 502 can be connected with the connector 501 in a clamping mode, and the hoop 503 can be sleeved outside the connector 501 and fix the relative positions of the inner sleeve 502 and the connector 501. During connection, the internal sleeve member 502 is inserted into the connecting sleeve 6, then the connecting sleeve 6 is inserted into the connecting head 501, and then the relative positions of the connecting head 501 and the internal sleeve member 502 are fixed by the hoop 503, so that the connecting sleeve 6 is clamped, the pneumatic arm 1 and the flexible grabbing hand 2 are respectively connected with the connecting head 501, and the pneumatic arm 1 and the flexible grabbing hand 2 are connected and fastened. In the present embodiment, an arc-shaped groove 504 is further disposed on the inner wall of the connector 501, an arc-shaped protrusion 505 adapted to the arc-shaped groove 504 is disposed on the outer wall of the inner sleeve 502, and the connection fastening performance is further improved by pressing the connection sleeve 6 into the arc-shaped groove 504 by the arc-shaped protrusion 505; similarly, the outer wall of the connector 501 is provided with an axial through groove 507, and meanwhile, the outer wall is provided with a rectangular groove 506 capable of fixing the hoop 503, so that the hoop 503 is located in the rectangular groove 506, the hoop 503 is tightened, the axial through groove 507 is compressed, and therefore the inner sleeve member 502 is further prevented from being separated from the connecting sleeve 6, and the connecting tightness is improved.
It should be further noted that one end of the pneumatic arm 1, which is far away from the flexible grabbing hand 2, is further connected with an external joint 508, the pneumatic arm 1 can be connected with an external component by using the external joint 508, for example, the pneumatic arm can be detachably connected with other components of the robot, at this time, the connector 501 needs to be properly adjusted, one end of the connector is connected with the connecting sleeve 6 of the pneumatic arm 1, the other end of the connector is in threaded connection with the external joint 508, and the external joint 508 is provided with a threading hole 509 capable of allowing the air pipe 4 to pass through, so that the air pipe 4 is convenient to route and arrange.
Furthermore, the pneumatic arm 1 and the flexible grabbing hand 2 are both made of silica gel materials, and the silica gel materials are easy to obtain and low in price; the particles 3 are made of foam materials, can bear large load after being compressed, and do not increase extra load of the device; all connect many trachea 4 and all have solenoid valve 7, be convenient for control.
The flexible pneumatic gripping device comprises a pneumatic arm 1 and a flexible gripping hand 2, wherein the pneumatic arm 1 comprises a plurality of pneumatic sections 101, each pneumatic section 101 comprises a first cavity 102 which is encircled to be annular, the pneumatic arm 1 can be stretched by inflating or exhausting air into the first cavity 102, and the pneumatic arm 1 can be selectively inflated or exhausted into a certain first cavity 102 of a certain pneumatic section 101, so that the angle adjustment of the pneumatic arm 1 can be realized, after the length and the angle of the pneumatic arm 1 are adjusted, the first particle cavity 103 is exhausted through an air pipe 4, and the supporting rigidity of the pneumatic arm 1 is improved by means of the friction force between particles 3 and the inner wall of the cavity of the first particle cavity 103; the pneumatic arm 1 drives the flexible grabbing hand 2 to reach a grabbing position, the grabbing hand surrounding film 201 can cover the object to be grabbed by adjusting the inflation condition of the second cavity 202, then the air pipe 4 is used for exhausting air to the second cavity 202, and after the grabbing hand surrounding film 201 wraps the object to be grabbed, the second particle cavity 203 is exhausted, so that the supporting rigidity of the flexible grabbing hand 2 is improved, and the grabbing stability is improved. The flexible pneumatic gripping device can move in a three-dimensional space, is simple in structure and convenient and fast to operate and adjust, and improves the supporting rigidity of the device by utilizing the friction force between the particulate matters 3 and the inner wall of the cavity, so that the gripping stability is improved; and the whole device is driven by gas without metal exposure, thereby avoiding the pollution of a mechanical structure and being applicable to the sterile environment.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A flexible pneumatic gripping device, comprising:
the pneumatic arm comprises a plurality of pneumatic sections which are connected, each pneumatic section comprises a first cavity and a first particle cavity, the first cavities are sequentially connected and enclose a ring, and the first particle cavity is connected with the first cavities and is positioned on one side of the first cavities, which is far away from the axis of the pneumatic section; the first cavities correspond to the first particle cavities one by one, and the ring-shaped part formed by the first particle cavities is sleeved outside the ring-shaped part formed by the first cavities;
the flexible grabbing hand comprises a grabbing hand surrounding film, a second cavity and a second particle cavity, one end of the grabbing hand surrounding film is connected with the pneumatic arm, the other end of the grabbing hand surrounding film is connected with the second cavity, the second cavities are sequentially connected and surround into a ring shape, and the second particle cavity is connected with the second cavity and is positioned on one side, far away from the axis of the flexible grabbing hand, of the second cavity; the gripper surrounding film is of a hollow hemispherical structure, the smaller-diameter end of the gripper surrounding film is connected with the pneumatic arm, and the larger-diameter end of the gripper surrounding film is connected with the second cavity;
the first particle cavity and the second particle cavity are filled with particles; the first cavity, the second cavity, the first particle cavity and the second particle cavity are respectively connected with an air pipe, and the air pipes can be used for inflating or exhausting air into the first cavity, the second cavity, the first particle cavity and the second particle cavity; the pneumatic arm and the flexible grabbing hand are both made of flexible materials.
2. The flexible pneumatic gripping apparatus of claim 1, wherein: the number of the pneumatic sections is five, and each pneumatic section comprises three first cavities and three first particle cavities.
3. The flexible pneumatic gripping apparatus of claim 1, wherein: the second cavities correspond to the second particle cavities one by one, and the annular part formed by the second particle cavities is sleeved outside the annular part formed by the second cavities.
4. The flexible pneumatic gripping apparatus of claim 3, wherein: the number of the second cavities and the second particle cavities is six, and dividing bodies are arranged between adjacent groups.
5. The flexible pneumatic gripping apparatus of claim 1, wherein: the pneumatic arm is detachably connected with the flexible grabbing hand.
6. The flexible pneumatic gripping apparatus of claim 5, wherein: the pneumatic arm utilize coupling assembling with the flexible hand of snatching links to each other, coupling assembling includes connector, endotheca spare and clamp, the pneumatic arm with the flexible hand of snatching all is provided with the adapter sleeve, the adapter sleeve can suit in the outside of endotheca spare, the endotheca spare can with the connector joint links to each other, the clamp can suit in the outside of connector is fixed the endotheca spare with the relative position of connector.
7. The flexible pneumatic gripping apparatus of claim 6, wherein: the pneumatic arm is kept away from the one end that the hand was snatched to the flexibility still is connected with the outer joint, the pneumatic arm utilizes the outer joint can link to each other with external component, be provided with on the outer joint and allow the through wires hole that the trachea passed.
8. The flexible pneumatic gripping apparatus according to any one of claims 1 to 7, wherein: pneumatic arm with the flexible hand of snatching is made by the silica gel material, the particulate matter is made by the foam material, many the trachea is all connected and is all had the solenoid valve.
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| CN202110880468.4A CN113581840B (en) | 2021-08-02 | 2021-08-02 | Flexible pneumatic gripping device |
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| CN202110880468.4A CN113581840B (en) | 2021-08-02 | 2021-08-02 | Flexible pneumatic gripping device |
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| CN113581840A CN113581840A (en) | 2021-11-02 |
| CN113581840B true CN113581840B (en) | 2023-04-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| SU556940A1 (en) * | 1975-06-25 | 1977-05-05 | Ленинградский Ордена Ленина Политехнический Институт Им. М.И.Калинина | Capturing manipulator torus |
| CN106956288A (en) * | 2017-04-28 | 2017-07-18 | 上海交通大学 | Multiple degrees of freedom software grabbing device |
| CN107756385B (en) * | 2017-08-31 | 2019-09-10 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
| FR3077519B1 (en) * | 2018-02-02 | 2020-01-10 | Psa Automobiles Sa | DEVICE FOR GRIPPING OBJECTS |
| CN108275464A (en) * | 2018-03-16 | 2018-07-13 | 重庆大学 | Pneumatic software manipulator |
| CN111113464A (en) * | 2020-01-21 | 2020-05-08 | 苏州迪天机器人自动化有限公司 | Gripping device |
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