Pneumatic rigidity-variable soft gripper

Abstract

The invention provides a pneumatic variable-rigidity soft gripper which comprises a base, a soft execution part and an air source distribution part, the soft execution part and the air source distribution part are arranged on the base, and the soft execution part is cylindrical. The pneumatic soft fingers are evenly arranged in the circumferential direction, the variable-rigidity soft parts are arranged on the pneumatic soft fingers in the radial direction, the connecting soft parts are connected to the two pneumatic soft fingers, the variable-rigidity soft parts are parallel to the pneumatic soft fingers in the axial direction, and the connecting soft parts are of an accordion-shaped structure in the circumferential direction. Wherein the pneumatic soft finger is internally provided with a first cavity, the variable stiffness soft part is provided with a second cavity, the connecting soft part is provided with a third cavity, and the air source distribution part is respectively communicated with the first cavity, the second cavity and the third cavity. The robot has the advantages of being high in loading capacity, good in capturing performance and wide in capturing range.

Description

technical field [0001] The invention belongs to the technical field of grasping, and in particular relates to a soft grip with pneumatically variable stiffness. Background technique [0002] In the field of robotics research, the grasping of complex objects is a challenging research; robots in direct contact with objects need to interact with the environment in order to perform in different application scenarios such as automated production processes, minimally invasive surgery, environmental deep-sea exploration, etc. certain tasks. The current grippers include rigid grippers and soft grippers. The rigid gripper has the characteristics of high precision, large force, and low mechanical flexibility, which makes it possible to apply a large force when clamping an object, making the object Deformation or even damage; while the existing soft grippers are all based on soft materials, the materials are soft and flexible, and have good adaptability and safety. Limited objects, p...

AI Technical Summary

Problems solved by technology

The arc-shaped slider is connected with a single finger through a buckle, which can be quickly installed and disassembled, which facilitates the maintenance and replacement of the flexible gripper. However, the grasping performance is poor and the grasping objects are limited

[0004] Chinese patent document CN110788881A discloses a pneumatic software gripper for vacuum adsorption locking joints. This structure is composed of four pneumatic fingers, a retention structure, and a flexible suction cup spine. This structure improves the load capacity, but the captured objects are limited. Poor capture performance

Images