Pneumatic soft body gripper

Abstract

The invention provides a pneumatic soft body gripper. The pneumatic soft body gripper comprises pneumatic soft body drivers and a clamping device; the pneumatic soft body drivers are of hollow columnar structures with air cavities, the cross sections are semi-circular, the three pneumatic soft body drivers are evenly distributed according to the circumference to form the gripper, one end of each pneumatic soft body driver is fixed to the clamping device which is designed in an auxiliary manner, under the air pressure effect, the free end can generate bending action facing the round center direction, and the three pneumatic soft body drivers are in coordination to achieve gripping task. Compressibility of gas and elasticity of the soft body drivers enable the gripper to have the good characteristic of grabbing fragile items in a non-damage manner. Due to the clamping device designed in the auxiliary manner, a gas source is connected into the pneumatic soft body drivers, the soft body gripper is fixed to the tail end of a mechanical arm, the soft body gripper only needs to have two states of inflation and deflation to achieve grabbing and releasing of the items, and the pneumatic soft body gripper is simple in structure, high in self-adaptation capacity, simple in control, low in cost, high in generality and suitable for automation work of small fruit and vegetable picking, dailysmall object classified storage and the like.

Description

Technical field [0001] The present invention relates to the field of automation operations, in particular to a pneumatic soft gripper, in particular to a pneumatic soft gripper suitable for the storage and placement of daily small items such as small fruit and vegetable picking and sorting, supermarket snacks and the like. Background technique [0002] The existing mechanical grippers are mostly rigid structures and have poor adaptive ability to the grasped objects. In order to achieve compliant grasping, the under-actuated method is often used, which brings about the complicated structure of the designed mechanical gripper and the difficulty of control, and it can usually only be applied to specific target objects. [0003] Patent document CN202292762U discloses an under-driven mechanical claw for fruit and vegetable picking, including an upper base, a finger fixing member, a support column, a lower base, a stepping motor, a screw, a nut, a lifting platform, a guide column, a far ...

AI Technical Summary

Problems solved by technology

This kind of mechanical gripper with traditional mechanical structure design is based on the traditional rigid hinge structure, which can achieve non-destructive grasping of fruits and vegetables to a certain extent, but its function needs to be realized with the help of a touch sensor for feedback, and the structure is complex

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