Transverse and longitudinal coupling pneumatic type multi-finger soft manipulator

Abstract

The invention provides a transverse and longitudinal coupling pneumatic type multi-finger soft manipulator. The transverse and longitudinal coupling pneumatic type multi-finger soft manipulator comprises a bendable finger module, a rigid retainer and a long-strip-shaped telescopic driver. The tail end of the bendable finger module is fixed to the rigid holder, and the long-strip-shaped telescopic driver is installed between the finger ends of the bendable finger module. When the transverse and longitudinal coupling pneumatic type multi-finger soft manipulator works, gas in the long-strip-shaped telescopic driver is extracted, the flexible finger module is inflated, the motion form that the flexible manipulator bends inwards and the tail end is closed up is achieved, and then a target object is grabbed. The transverse and longitudinal coupling pneumatic type multi-finger soft manipulator provided by the invention not only has the advantage of large grabbing range of a multi-finger type soft manipulator, but also has the characteristic of large loading capacity of a closed type soft manipulator, and soft materials of the soft manipulator can protect fragile objects, so that diversified task requirements are met.

Description

technical field [0001] The invention relates to a soft manipulator, in particular to a horizontal and vertical coupled pneumatic multi-finger soft manipulator. The invention belongs to the technical field of robot end effectors. Background technique [0002] Most of the manipulators at the end of traditional industrial robots are in the form of rigid grippers, which can achieve stable, accurate and fast working effects in the grasping operation of target objects, and have been widely used in sorting, assembly, manufacturing and other fields. However, the grasping object of this type of manipulator is usually a regular-shaped object. When the grasping object is a special-shaped object, its grasping effect is often unsatisfactory. In addition, its rigid structure often causes damage to the object when grasping fragile objects , causing unnecessary economic losses. [0003] With the development of manipulator technology, soft manipulator came into being. Since the material p...

AI Technical Summary

Problems solved by technology

However, due to its pneumatic drive method and low working air pressure, this type of manipulator has the problem of low load capacity

The Chinese patent with publication number CN109746933A discloses a closed soft manipulator based on air pressure, which mainly includes a reinforced airbag and a flexible cage. By inflating the airbag, the soft manipulator shrinks radially to complete the grasping of objects. The large capacity and flexible cage can protect fragile objects, but its graspable size is limited by the geometric size of the cage, and it cannot grasp large-sized objects

Images