CN208614826U - A kind of joint of robot with suction cavity - Google Patents
A kind of joint of robot with suction cavity Download PDFInfo
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- CN208614826U CN208614826U CN201821301202.XU CN201821301202U CN208614826U CN 208614826 U CN208614826 U CN 208614826U CN 201821301202 U CN201821301202 U CN 201821301202U CN 208614826 U CN208614826 U CN 208614826U
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- robot
- joint
- air inlet
- chamber
- attaching means
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Abstract
The utility model provides a kind of joint of robot with suction cavity, belongs to soft robot technical field.It solves the problems, such as that existing soft robot grasping force is not strong.It includes elastic matrix and air inlet pipe that this, which has the joint of robot of suction cavity, vacuum suction chamber and multiple air inlet driving chambers are offered on elastic matrix, air inlet driving chamber includes a centre-drive chamber and at least two side driving chambers, more air inlet pipe are connected to multiple air inlet driving chambers one-to-one correspondence, the intracavitary rigidity section equipped with tubulose of vacuum suction, it is equipped with hose in the pore rigidly saved, is equipped with sucker at the corresponding rigid section in the outside of matrix.This has the joint of robot of suction cavity except air inlet driving chamber, increase vacuum suction chamber, and it is provided with rigidity section wherein, when bending grasping, due to the effect rigidly saved, " packaging type grasping flexible " and " rigid absorption type grasping " combines, and can guarantee joint to the stable grasp of manipulating object.
Description
Technical field
The utility model belongs to robotic technology field, is related to a kind of joint applied to soft robot, in particular to
A kind of joint of robot with suction cavity.
Background technique
In recent years, soft robot becomes the research direction of the emerging and great prospect of robot field.Software machine
Device people is the continuity of bio-robot research, and the mollusk in natural imitation circle has unlimited multiple degrees of freedom and continuous modification
Ability in military affairs, can be visited in a wide range of interior any change own form and size due to its outstanding flexibility and adaptability
The fields such as survey, medical treatment are with a wide range of applications.
(such as: silicon rubber, marmem SMA, electricity are living by means of intellectual material by researcher and engineers and technicians
Property polymer EPA etc.) and novel actuation techniques (such as: SMA, pneumatic, magnetorheological, EPA), research and development completely dispense with or use less
The novel robot structure of rigid mechanism, this kind of soft robot generally have sufficient flexibility, adaptability, super redundancy or nothing
Limit freedom degree, it might even be possible to which any own form and size of changing is to adapt to environment and target.
A kind of soft robot relatively common at present is driven using air, and compressed gas is passed through into soft robot
Body makes it change rigidity and curvature, still, since the matrix of soft robot is made using flexible material on the whole,
The Shortcomings in crawl function, grasping force is general, and some specific areas can not be competent at.
Utility model content
The purpose of this utility model is to be directed to the above problem present in existing soft robot, and propose a kind of energy
The joint of the bionic soft robot of stronger grasping force is provided.
The purpose of this utility model can be realized by the following technical scheme:
A kind of joint of robot with suction cavity, including elastic matrix and air inlet pipe, which is characterized in that the bullet
Property matrix on offer vacuum suction chamber and multiple air inlet driving chambers through matrix both ends, the air inlet driving chamber includes one
Centre-drive chamber and at least two side driving chambers, multiple side driving chambers are arranged around centre-drive chamber interval, more air inlets
Pipe is connected to multiple air inlet driving chambers one-to-one correspondence, the intracavitary rigidity section equipped with tubulose of the vacuum suction, the pipe rigidly saved
It is equipped with hose in hole, is equipped with sucker at the corresponding rigid section in the outside of matrix, the connecting pin of sucker sequentially passes through vacuum suction chamber side
It is connect after wall and rigidity section side wall with hose, the air entry of sucker is connected to hose inner cavity.
In a kind of above-mentioned joint of robot with suction cavity, the described rigidity section at least there are two, Duo Gegang
Property section sequentially dock arrangement, there are gap and pass through elastic component connection between two neighboring rigidity section.It can between multiple rigidity sections
Bending, deflecting can be realized by elastic component.
In a kind of above-mentioned joint of robot with suction cavity, the elastic component is connecting spring, connects bullet
The two of spring are equipped with connector, offer the annular slot to match with connecting spring on the outside of connector one end, connecting spring
One end is fastened in the card slot for being correspondingly connected with head, and the other end of connector is connect with the end thread rigidly saved.
In a kind of above-mentioned joint of robot with suction cavity, the one side of the rigidity section connecting sucker is flat
Face, the inner wall of corresponding vacuum suction chamber are equipped with corresponding binding face, plane fitting corresponding with binding face.
In a kind of above-mentioned joint of robot with suction cavity, the hose at least there are two, multiple hoses according to
Ordered pair runs in column, and the both ends of each hose are fixed with assembly head, and the end face of assembly head is equipped with buckle and grab, buckle and grab
Annular is arranged alternately, and the grab can snap at the buckle of adjacent hose.
In a kind of above-mentioned joint of robot with suction cavity, the outer end face of the assembly head of the hose is additionally provided with
The seal groove of annular, seal groove is interior to be equipped with O-ring seal.
In a kind of above-mentioned joint of robot with suction cavity, the side wall of the hose is pasted by the way that fastener is fixed
There is sheet metal, the connecting pin of above-mentioned sucker is fixedly connected with the sheet metal.
In a kind of above-mentioned joint of robot with suction cavity, be also provided in described matrix it is several walk pipe it is logical
Road, above-mentioned air inlet pipe, which is arranged in a one-to-one correspondence, to be walked in tube passage, is respectively walked on the side wall between tube passage and corresponding air inlet driving chamber
It is provided with venthole, the side of air inlet pipe is provided with venthole, and the venthole passes through above-mentioned venthole and corresponding air inlet driving chamber
Connection.
In a kind of above-mentioned joint of robot with suction cavity, the joint of robot further includes interior attaching means
With outer attaching means, the interior attaching means and outer attaching means in a ring, in the lateral wall of the interior centrally disposed driving chamber of attaching means,
Centre-drive chamber is set to be located at the inside of the interior attaching means, outer attaching means is arranged in the lateral wall of side driving chamber, makes above-mentioned center
Driving chamber, side driving chamber, vacuum suction chamber and interior attaching means are respectively positioned on the inside of outer attaching means.
In a kind of above-mentioned joint of robot with suction cavity, the interior attaching means and outer attaching means are pressure
Contracting spring.
In a kind of above-mentioned joint of robot with suction cavity, the interior attaching means and outer attaching means are ring
Shape quoit, multiple quoits are alternatively arranged.
Compared with prior art, this has the joint of robot of suction cavity except air inlet driving chamber, increases vacuum
Suction chamber, and be provided with rigidity section wherein, due to the effect rigidly saved, makes joint can only be to vacuum suction when bending grasps
Chamber curving, and the flexibility of software matrix allows joint to realize object shapes certainly according to the difference of manipulating object shape
Package grasping is adapted to, and the sucker by being connected with vacuum suction chamber carries out absorption type grasping, " package flexible to manipulating object
Formula grasping " and " rigid absorption type grasping " combine, and can guarantee joint to the stable grasp of manipulating object.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model.
Fig. 2 is the schematic perspective view after Fig. 1 excision 1/4.
Fig. 3 is the end view of Fig. 1.
Fig. 4 is the structural schematic diagram of rigidity section and the cooperation of hose.
Fig. 5 is the structural schematic diagram of connecting spring.
Fig. 6 is the structural schematic diagram of hose.
Fig. 7 is the structural schematic diagram after the utility model removal matrix.
In figure, 1, matrix；2, air inlet pipe；3, centre-drive chamber；4, tube passage is walked；5, side driving chamber；6, venthole；7, just
Property section；8, connecting spring；9, connector；10, card slot；11, hose；12, assembly head；13, it buckles；14, grab；15, seal groove；
16, O-ring seal；17, fastener；18, sheet metal；19, sucker；20, connecting pin；21, air entry；22, plane；23, it is bonded
Face；24, interior attaching means；25, outer attaching means；26, vacuum suction chamber.
Specific embodiment
It is specific embodiment of the utility model and in conjunction with attached drawing below, the technical solution of the utility model is made further
Description, but the utility model is not limited to these examples.
As shown in Figure 1, Figure 2 and Figure 3, it includes columned 1 He of elastic matrix that this, which has the joint of robot of suction cavity,
Air inlet pipe 2, matrix 1 are made of silicon rubber, and matrix 1 is provided in the axial direction with three air inlet driving chambers for running through 1 both ends of matrix,
In air inlet driving chamber be center driving chamber 3, other two is side driving chamber 5, and two side driving chambers 5 or so set up separately at center
3 two sides of driving chamber.Three, which are also provided with, along axial direction on matrix 1 walks tube passage 4 and a vacuum suction chamber through 1 both ends of matrix
26, vacuum suction chamber 26 is laid between two side driving chambers 5 and centre-drive chamber 3, and the section of two side driving chambers 5 is in circular arc
Shape；Three are walked tube passage 4 and above-mentioned center driving chamber 3 and two one-to-one correspondence of side driving chambers 5, pass through respective side between them
The venthole 6 that opens up on wall is connected to, and each walks to be correspondingly provided with an air inlet pipe 2 in tube passage 4, the side of air inlet pipe 2 with it is right
6 corresponding position of venthole is answered to be provided with venthole, the air inlet pipe 2 is connected by venthole and venthole 6 with corresponding air inlet driving chamber
It is logical.
As shown in figure 4, vacuum suction chamber 26 in equipped with 2-section pipe shape rigidity section 7, rigidity section 7 outer contour shape with should
The cross sectional shape of vacuum suction chamber 26 matches, and rigidity section 7 is made of hard material, and multiple rigidity sections 7 are sequentially end to end,
It is connected between two neighboring rigidity section 7 there are gap and by elastic component.In the present embodiment, elastic component is connecting spring 8, is such as schemed
Shown in 5, the two of connecting spring 8 are equipped with connector 9, offer the annular to match with connecting spring 8 on the outside of 9 one end of connector
Card slot 10, one end of connecting spring 8 are fastened in the card slot 10 for being correspondingly connected with first 9, and the other end and rigidity of connector 9 save 7
End thread connection.
It is equipped with hose 11 in the pore of rigidity section 7, in the present embodiment, the rigid corresponding hose 11 in section 7 of every section, hose
Gap between 11 and rigidity section 7 is provides space for 11 Bending Deformation of hose.As shown in fig. 6, the both ends of each hose 11 are solid
Surely it is equipped with assembly head 12, the outer end face of assembly head 12 is all provided with there are two buckle 13 and two grabs 14, buckles 13 and 14 ring of grab
Shape is arranged alternately, and two hoses 11 rotate after docking from beginning to end, and grab 14 is enable to snap onto the buckle of adjacent 11 assembly head 12 of hose
Docking is completed at 13.The outer end face of assembly head 12 is additionally provided with the seal groove 15 of annular, is equipped with O-ring seal 16 in seal groove 15.
For the side wall of hose 11 by the fixed metal clad piece 18 of fastener 17, the connecting pin 20 of a sucker 19 sequentially passes through side driving chamber
It is fixedly connected after 5 side walls and rigidity 7 side walls of section with the sheet metal 18, in the air entry 21 on the connecting pin 20 and hose 11
Chamber connection, connecting pin 20 may each be and be fixedly connected with sheet metal 18 and rigidity section 7, such as be threadedly coupled (such as Fig. 2).
The one side of rigidity 7 connecting suckers 19 of section is plane 22, and the inner wall of corresponding vacuum suction chamber 26 is equipped with corresponding
Binding face 23, the fitting corresponding with binding face 23 of plane 22.
As shown in fig. 7, robot joint further includes interior attaching means 24 and outer attaching means 25, the interior attaching means 24 and outer
Attaching means 25 in a ring, in the lateral wall of the centrally disposed driving chamber 3 of interior attaching means 24, makes centre-drive chamber 3 be located at this interior
The inside of attaching means 24, outer attaching means 25 are arranged in the lateral wall of side driving chamber 5 and vacuum suction chamber 26, drive above-mentioned center
Dynamic 3, two side driving chambers 5 of chamber, vacuum suction chamber 26 walk tube passage 4 and interior attaching means 24 is respectively positioned on the inside of outer attaching means 25.
In the present embodiment, interior attaching means 24 and outer attaching means 25 are compressed spring.In addition to this, interior attaching means 24 and outer attaching means 25
It can also be that multiple quoits are alternatively arranged.
In use, can successively dock multiple joint of robot, and closed in both ends setting end cap, forms software machine
Device people, centre-drive chamber 3 between adjacent two joint of robot walk tube passage 4, side driving chamber 5, vacuum suction chamber 26, hose
11, rigidity section 7 etc. is sequentially docked and connected, and the correspondence that air inlet pipe 2 successively penetrates after connection walks tube passage 4.
The compressed gas of different pressures is passed through into centre-drive chamber 3 and two side driving chambers 5 by air inlet pipe 2, it can be with
The rigidity and different degrees of, different directions bendings of each joint of robot and soft robot entirety are adjusted in real time.When wanting
When the object of grasping is hard material, object to be grabbed can bear biggish grasping force, and not needing the work of sucker 19 can grab
It is fixed to keep steady, and grabs object similar to human finger.When the object to be grasped is soft material, if joint grasping force is small, then not
Can ensure that grasping stability, grasping force can then damage greatly grasping object, hose 11 vacuumized using vacuum evacuation device at this time,
Object is firmly grasped using the bending grasp force of the suction fit robot of sucker 19, is sucked.
It should be understood that in claims, specification of the utility model, all " including ... " should be understood as out
The meaning of formula is put, that is, its meaning is equal to " at least containing ... ", but should not be understood as enclosed meaning, i.e. its meaning
It should not be construed " only including ... ".
The specific embodiments described herein are merely examples of the spirit of the present invention.The utility model institute
Belonging to those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitute, but without departing from the spirit of the present application or beyond the scope of the appended claims.
Claims (10)
1. a kind of joint of robot with suction cavity, including elastic matrix (1) and air inlet pipe (2), which is characterized in that described
Elastic matrix (1) on offer vacuum suction chamber (26) and multiple air inlet driving chambers through matrix (1) both ends, the air inlet
Driving chamber includes a centre-drive chamber (3) and at least two side driving chambers (5), and multiple side driving chambers (5) are around center
The setting of driving chamber (3) interval, more air inlet pipe (2) are connected to multiple air inlet driving chambers one-to-one correspondence, the vacuum suction chamber
(26) the rigidity section (7) in equipped with tubulose, rigidity save in the pore of (7) and are equipped with hose (11), the corresponding rigidity in the outside of matrix (1)
It saves and is equipped with sucker (19) at (7), the connecting pin (20) of sucker (19) sequentially passes through vacuum suction chamber (26) side wall and rigidity section (7)
It is connect after side wall with hose (11), the air entry (21) of sucker (19) is connected to hose (11) inner cavity.
2. a kind of joint of robot with suction cavity according to claim 1, which is characterized in that the rigidity section
(7) there are two at least, the sequentially docking arrangement of multiple rigidity sections (7) there are gap and passes through bullet between two neighboring rigidity section (7)
Property part connection.
3. a kind of joint of robot with suction cavity according to claim 2, which is characterized in that the elastic component
For connecting spring (8), the two of connecting spring (8) are equipped with connector (9), are offered on the outside of connector (9) one end and are connect bullet
The annular slot (10) that spring (8) matches, one end of connecting spring (8) are fastened in the card slot (10) for being correspondingly connected with head (9), even
The other end of connector (9) is connect with the end thread of rigidity section (7).
4. a kind of joint of robot with suction cavity according to claim 1 or 2 or 3, which is characterized in that described rigid
Property section (7) connecting sucker (19) one side be plane (22), the inner wall of corresponding vacuum suction chamber (26) is equipped with corresponding patch
Conjunction face (23), plane (22) fitting corresponding with binding face (23).
5. a kind of joint of robot with suction cavity according to claim 2 or 3, which is characterized in that the hose
(11) there are two at least, multiple hoses (11) sequentially dock arrangement, and the both ends of each hose (11) are fixed with assembly head (12),
The end face of assembly head (12) is equipped with buckle (13) and grab (14), and buckle (13) and grab (14) annular is arranged alternately, the card
Hook (14) can snap at the buckle (13) of adjacent hose (11).
6. a kind of joint of robot with suction cavity according to claim 5, which is characterized in that the hose (11)
The outer end face of assembly head (12) be additionally provided with the seal groove (15) of annular, be equipped with O-ring seal (16) in seal groove (15).
7. a kind of joint of robot with suction cavity according to claim 1 or 2 or 3, which is characterized in that described soft
The side wall for managing (11) is fixed metal clad piece (18) by fastener (17), the connecting pin (20) of above-mentioned sucker (19) and the metal
Piece (18) is fixedly connected.
8. a kind of joint of robot with suction cavity according to claim 1 or 2 or 3, which is characterized in that the base
Be also provided on body (1) it is several walk tube passage (4), above-mentioned air inlet pipe (2), which is arranged in a one-to-one correspondence, to be walked in tube passage (4), is respectively walked
It is provided on side wall between tube passage (4) and corresponding air inlet driving chamber venthole (6), the side of air inlet pipe (2) is provided with outlet
Hole, the venthole are connected to by above-mentioned venthole (6) with corresponding air inlet driving chamber.
9. a kind of joint of robot with suction cavity according to claim 1 or 2 or 3, which is characterized in that described
Joint of robot further includes interior attaching means (24) and outer attaching means (25), and the interior attaching means (24) and outer attaching means (25) are in
Annular in the lateral wall of the centrally disposed driving chamber of interior attaching means (24) (3), makes centre-drive chamber (3) be located at the interior attaching means
(24) inside, outer attaching means (25) are arranged in the lateral wall of side driving chamber (5), make above-mentioned center driving chamber (3), side driving
Chamber (5), vacuum suction chamber (26) and interior attaching means (24) are respectively positioned on the inside of outer attaching means (25).
10. a kind of joint of robot with suction cavity according to claim 9, which is characterized in that it is described it is interior about
Bundle (24) and outer attaching means (25) are compressed spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821301202.XU CN208614826U (en) | 2018-08-13 | 2018-08-13 | A kind of joint of robot with suction cavity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821301202.XU CN208614826U (en) | 2018-08-13 | 2018-08-13 | A kind of joint of robot with suction cavity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208614826U true CN208614826U (en) | 2019-03-19 |
Family
ID=65715112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821301202.XU Expired - Fee Related CN208614826U (en) | 2018-08-13 | 2018-08-13 | A kind of joint of robot with suction cavity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208614826U (en) |
-
2018
- 2018-08-13 CN CN201821301202.XU patent/CN208614826U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190319 Termination date: 20190813 |