CN110434882A - A kind of apery refers to that inflation soft body three refers to clamper - Google Patents
A kind of apery refers to that inflation soft body three refers to clamper Download PDFInfo
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- CN110434882A CN110434882A CN201910916490.2A CN201910916490A CN110434882A CN 110434882 A CN110434882 A CN 110434882A CN 201910916490 A CN201910916490 A CN 201910916490A CN 110434882 A CN110434882 A CN 110434882A
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- 239000011664 nicotinic acid Substances 0.000 claims abstract description 48
- 208000002925 dental caries Diseases 0.000 claims abstract description 43
- 230000000694 effects Effects 0.000 claims abstract description 29
- 238000000034 method Methods 0.000 claims description 21
- 230000008569 process Effects 0.000 claims description 19
- 238000001179 sorption measurement Methods 0.000 claims description 12
- 230000006378 damage Effects 0.000 claims description 10
- 230000003139 buffering effect Effects 0.000 claims description 5
- 235000013399 edible fruits Nutrition 0.000 claims description 2
- 208000027418 Wounds and injury Diseases 0.000 claims 1
- 208000014674 injury Diseases 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 16
- 239000000463 material Substances 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 241000237852 Mollusca Species 0.000 description 1
- 241001661355 Synapsis Species 0.000 description 1
- 208000037873 arthrodesis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 125000000623 heterocyclic group Chemical group 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to chucking device technical field, specifically a kind of apery refers to that inflation soft body three refers to clamper；Including controller, fixed frame and bionic finger；The controller is fixed on the top of fixed frame；The bionic finger is connected to the bottom end of fixed frame, and bionic finger includes the first joint, second joint and third joint, and is connected between the first joint, second joint and third joint by torsional spring；When needing to grab article, controller applies pressure into No.1 cavity by hose, so that piston rod protrudes into No. two cavitys from No.1 cavity under the effect of the pressure, bionic finger is in the open state at this time, when clamper is located above article, controller carries out pressure release to No.1 cavity by hose, then second joint and third joint bend under the action of torsional spring torsion, piston rod retracts in No.1 cavity again after being squeezed, then bionic finger restores closed configuration again at this time, realizes the crawl to article.
Description
Technical field
The invention belongs to chucking device technical field, specifically a kind of apery refers to that inflation soft body three refers to clamper.
Background technique
In recent years, with the development of new material and rapid shaping technique, soft robot has worldwide been started
Research boom.Soft robot is related to bionics, and robotics, the subjects such as soft material and control, Inspiration Sources are in mould
The mollusk of imitative nature and structure.Software clamper because it adapts to body surface of various shapes, and is pacified
Entirely, the grasping of submissive target and operation task, are soft robot one of research directions most popular at present.Conventional rigid clamping
Although device has high rigidity, the characteristics such as high-precision, speed is fast, repeatable accuracy is good, field of industrial manufacturing, field of medical device and
Aerospace field extensive application, but when the object to be operated is different or fragile article, it is desirable to rigidity clamping
Device has very high control precision, and which greatly increases clamper costs.Software clamper morphosis is simple, relies on material
Soft easily-deformable characteristic, may be implemented that safety, compliantly article clamps, and energy density is high, and it is strong to resist external impact ability, multiple
Heterocycle border is adaptable, and flexible design, easily fabricated, low in cost, can make up for it conventional rigid clamping to a certain extent
The deficiency of device, advantage are mainly reflected in: adapting to the clamping of each foreign body object of more size shapes；With grabbed the contact of object more
For safety；It does not need to be accurately controlled, more simply.Although software clamper has different advantages and an application, from
There are also certain distances for a wide range of practical application, and wherein the more important is embodied in the poor load capacity of software clamper, and clamps
The stability of article is poor.
Summary of the invention
In order to make up for the deficiencies of the prior art, software clamper is solved from a wide range of practical application there are also with a certain distance from,
Middle the more important is embodied in the poor load capacity of software clamper, and clamps the stability poor of article；The present invention mentions
A kind of apery is gone out and has referred to that inflation soft body three refers to clamper.
The technical solution adopted by the present invention to solve the technical problems is: a kind of apery of the present invention refers to inflation soft body
Three refer to clamper, including controller, fixed frame and bionic finger；The controller is fixed on the top of fixed frame；It is described bionical
Finger is connected to the bottom end of fixed frame, and bionic finger includes the first joint, second joint and third joint, and the first joint, the
It is connected between two joints and third joint by torsional spring；Described first is intra-articular equipped with No.1 cavity；It is set in the No.1 cavity
There is piston rod, and No.1 cavity is connect by hose with controller, so that controller can be ventilated by hose to No.1 cavity, from
And piston rod is released；No. two cavitys are equipped in the second joint, and No. two cavitys are connected with No.1 cavity, so that piston
Bar is can extend into push in No. two cavitys, so that second joint be stretched；The third is intra-articular to be equipped with No. three skies
Chamber, and No. three cavitys are connected with No. two cavitys, when so that piston rod protruding into No. two cavitys, gas in No. two cavitys can be into
Enter in No. three cavitys, so that third joint be stretched；It is realized by the cooperation of controller, fixed frame and bionic finger to article
Clamping；When work, when controller does not give No.1 cavity to generate air pressure, bionic finger is under the action of torsional spring torsion in conjunction
Hold together state, when needing to grab article, controller applies pressure into No.1 cavity by hose, so that piston rod is in pressure
It is protruded into No. two cavitys under effect from No.1 cavity, and piston rod pressure is greater than spring force, so that second joint is in work
It is stretched under the action of stopper rod, gas after piston rod protrudes into No. two cavitys in No. two cavitys enters in No. three cavitys, then third
Joint is stretched under the effect of the pressure, and bionic finger is in the open state at this time, when clamper is located above article, controller
Pressure release is carried out to No.1 cavity by hose, then second joint and third joint bend under the action of torsional spring torsion, living
Stopper rod retracts in No.1 cavity again after being squeezed, then bionic finger restores closed configuration again at this time, realizes to article
Crawl.
Preferably, first joint is provided with No.1 hole, and No.1 hole and No.1 cavity phase on the side wall close to article
Connection；The second joint is provided with No. two holes on the side wall close to article, and No. two holes are connected with No. two cavitys；Pass through one
Number cavity, No. two cavitys, No.1 hole and the cooperation in No. two holes are so that during clamping article, the side wall energy of bionic finger
It is enough that adsorption capacity is generated to article, to enhance the using effect of clamper；When work, after bionic finger is in the open state,
When clamper is located above article, controller carries out pressure release to No.1 cavity by hose, then second joint and third joint exist
It bends under the action of torsional spring torsion, piston rod retracts in No.1 cavity again after being squeezed, then bionic finger weight at this time
It is new to restore closed configuration, realize the crawl to article, during the pressure relief process, No.1 cavity and No. two cavitys pass through No.1 hole and two
Number hole generates adsorption capacity to article side wall, to enhance the load capacity of clamper, improves clamper in clamping article process
In stability, thus to staff bring greatly it is easy.
Preferably, it is equipped with sliding slot in the fixed frame, sliding block is equipped in sliding slot, and be equipped with gear at sliding slot；Institute
It states sliding block and is equipped with rack gear on the side wall close to gear, and rack and pinion is meshed；The controller passes through motor control tooth
The rotation of wheel；First arthrodesis is on sliding block；Clamper is adjusted by the cooperation of controller, gear, rack gear and sliding block
Clamping range；When work, when the article for needing to clamp is smaller or larger, in order to improve the stability in clamping process, control
Device processed can be rotated by motor control gear, to be slided in sliding slot with movable slider, that is, control between bionic finger away from
From adjusting the clamping range of clamper, expand the use scope of clamper, so that clamper can clamp different size of object
Product substantially increase the using effect of clamper.
Preferably, the chute wall is equipped with opening, and opening is interior to be connected with rubbing table by spring slide；The sliding block leans on
The end of nearly rubbing table is arc groove shape；It, can be right by the cooperation of sliding block and rubbing table so that sliding block is in sliding process
Rubbing table generates extruding, so that rubbing table stretches out opening, so that fixed function is generated to article, when work, when sliding block is in sliding slot
In interior sliding process, slider end can generate extruding to rubbing table with the movement of sliding block, so that work of the rubbing table in pressure
It is open with lower stretching, so that the surface with article contacts, substantially increases stability of article during clamped, reduce object
The shaking of product saves a large amount of manpower and material resources to improve the using effect of clamper.
Preferably, the third joint is equipped with rubber feeler on the side wall close to article；It is equipped in the rubber feeler
Cylinder shape groove, when squeezing rubber feeler in the clamping process to article, the air in cylinder shape groove is extruded away, from
And adsorption capacity is generated to article；When work, when clamper is when clamping article, article can rubber feeler to third articular surface
Extruding is generated, so that internal gas is extruded away after the cylinder shape groove in rubber feeler is squeezed, so that rubber
Feeler generates adsorption capacity to article side wall, further increases stability of article during clamped, improves the balance of article
Degree prevents article from falling off from clamper in clamped moving process, causes the damage of article, reduces article and had been clamped
The probability fallen in journey improves the using effect of clamper.
Preferably, the contact position and second joint and the contact position in third joint of first joint and second joint are equal
Equipped with buffer spring, after controller loses heart to No.1 cavity by hose, bionic finger can be extensive under the action of torsional spring torsion
Multiple at clamp position, buffer spring can generate buffer function at this time, reduce bionic finger and injure caused by article；Work
When, when controller carries out pressure release to No.1 cavity by hose, then the effect of second joint and third joint in torsional spring torsion
Under bend, piston rod retracts in No.1 cavity again after being squeezed, then bionic finger restores closed configuration again at this time,
Realize crawl to article, and due in the contact position in the first joint and second joint and connecing for second joint and third joint
Synapsis is equipped with buffer spring, so that can generate one by buffer spring during the distortion in second joint and third joint
Fixed buffering avoids the torsion of torsional spring larger, thus No.1 cavity lose heart moment second joint and third joint can be to object
Product surface generates biggish pressure, will cause article and generates biggish damage, thus buffer spring can reduce second joint and
The reagency in third joint avoids clamper damage caused by article to improve the clamping effect of clamper.
Beneficial effects of the present invention are as follows:
1. a kind of apery of the present invention refers to that inflation soft body three refers to clamper, pass through controller, fixed frame and bionic finger
Clamping to article is realized in cooperation, to enhance the load capacity of clamper, improves clamper during clamping article
Stability.
2. a kind of apery of the present invention refers to that inflation soft body three refers to clamper, pass through controller, gear, rack gear and sliding block
Cooperation adjust clamper clamping range, expand the use scope of clamper so that clamper can clamp it is different size of
Article substantially increases the using effect of clamper.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings.
Fig. 1 is perspective view of the invention；
Fig. 2 is working state figure of the invention；
Fig. 3 is cross-sectional view of the invention；
Fig. 4 is partial enlarged view at A in Fig. 3；
In figure: controller 1, fixed frame 2, sliding slot 21, sliding block 22, rack gear 221, gear 23, opening 24, rubbing table 241, bionic hand
Refer to the 3, first joint 31, No.1 cavity 311, piston rod 312, No.1 hole 313, the cavity 321, two of second joint 32, two hole
322, third joint 33, three cavity 331, rubber feeler 332, cylinder shape groove 333, buffer spring 34.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Specific embodiment is closed, the present invention is further explained.
As shown in Figures 1 to 4, a kind of apery of the present invention refer to inflation soft body three refer to clamper, including controller 1,
Fixed frame 2 and bionic finger 3；The controller 1 is fixed on the top of fixed frame 2；The bionic finger 3 is connected to fixed frame 2
Bottom end, bionic finger 3 includes the first joint 31, second joint 32 and third joint 33, and the first joint 31, second joint 32
It is connected between third joint 33 by torsional spring；No.1 cavity 311 is equipped in first joint 31；The No.1 cavity 311
It is interior to be equipped with piston rod 312, and No.1 cavity 311 is connect by hose with controller 1, so that controller 1 can be by hose to one
Number cavity 311 is ventilated, so that piston rod 312 be released；No. two cavitys 321, and No. two cavitys are equipped in the second joint 32
321 are connected with No.1 cavity 311, so that piston rod 312 is can extend into push in No. two cavitys 321, thus will
Second joint 32 stretches；No. three cavitys 331 are equipped in the third joint 33, and No. three cavitys 331 are connected with No. two cavitys 321
Logical, when so that piston rod 312 protruding into No. two cavitys 321, the gas in No. two cavitys 321 is able to enter in No. three cavitys 331, from
And third joint 33 is stretched；The clamping to article is realized by the cooperation of controller 1, fixed frame 2 and bionic finger 3；Work
When, when controller 1 does not generate air pressure to No.1 cavity 311, bionic finger 3 is under the action of torsional spring torsion closes up shape
State, when needing to grab article, controller 1 applies pressure into No.1 cavity 311 by hose, so that piston rod 312 is being pressed
It is protruded into No. two cavitys 321 under the action of power from No.1 cavity 311, and 312 pressure of piston rod is greater than spring force, so that
Second joint 32 stretches under the action of piston rod 312, after piston rod 312 protrudes into No. two cavity 321 in No. two cavitys 321
Gas enters in No. three cavitys 331, then third joint 33 is stretched under the effect of the pressure, and bionic finger 3 is in open shape at this time
State, when clamper is located above article, controller 1 carries out pressure release to No.1 cavity 311 by hose, then 32 He of second joint
Third joint 33 bends under the action of torsional spring torsion, and piston rod 312 retracts No.1 cavity 311 after being squeezed again
Interior, then bionic finger 3 restores closed configuration again at this time, realizes the crawl to article.
As one embodiment of the present invention, first joint 31 is provided with No.1 hole on the side wall close to article
313, and No.1 hole 313 is connected with No.1 cavity 311；The second joint 32 is provided with No. two holes on the side wall close to article
322, and No. two holes 322 are connected with No. two cavitys 321；Pass through No.1 cavity 311, No. two cavitys 321, No.1 holes 313 and two
So that during clamping to article, the side wall of bionic finger 3 can generate adsorption capacity to article for the cooperation in number hole 322, from
And enhance the using effect of clamper；When work, after bionic finger 3 is in the open state, when clamper is located above article,
Controller 1 carries out pressure release to No.1 cavity 311 by hose, then the effect of second joint 32 and third joint 33 in torsional spring torsion
Under bend, piston rod 312 retracts in No.1 cavity 311 again after being squeezed, then at this time bionic finger 3 restore again close
Hold together state, realize the crawl to article, during the pressure relief process, No.1 cavity 311 and No. two cavitys 321 pass through 313 He of No.1 hole
No. two holes 322 generate adsorption capacity to article side wall, to enhance the load capacity of clamper, improve clamper in clamping article
Stability in the process, to be brought to staff greatly easy.
As one embodiment of the present invention, it is equipped with sliding slot 21 in the fixed frame 2, is equipped with sliding block 22 in sliding slot 21,
And gear 23 is being equipped at sliding slot 21；The sliding block 22 is equipped with rack gear 221, and rack gear on the side wall close to gear 23
221 are meshed with gear 23；The controller 1 passes through the rotation of motor control gear 23；First joint 31 is fixed on cunning
On block 22；The clamping range of clamper is adjusted by the cooperation of controller 1, gear 23, rack gear 221 and sliding block 22；When work, when
When the article for needing to clamp is smaller or larger, in order to improve the stability in clamping process, controller 1 can pass through motor control tooth
23 rotation of wheel controls the distance between bionic finger 3 to slide in sliding slot 21 with movable slider 22, adjust clamper
Clamping range, expand the use scope of clamper, so that clamper can clamp different size of article, substantially increase folder
The using effect of holder.
As one embodiment of the present invention, 21 side wall of sliding slot is equipped with opening 24, is slided in opening 24 by spring
It is dynamic to be connected with rubbing table 241；The sliding block 22 is arc groove shape close to the end of rubbing table 241；Pass through sliding block 22 and friction
The cooperation of platform 241 is so that sliding block 22 in sliding process, can generate extruding to rubbing table 241, so that the stretching of rubbing table 241 is opened
Mouthfuls 24, to generate fixed function to article, when work, when sliding block 22 is in sliding slot 21 in sliding process, 22 end energy of sliding block
Enough movements with sliding block 22, which generate rubbing table 241, to be squeezed, so that rubbing table 241 stretches out opening 24 under the effect of the pressure,
To be contacted with the surface of article, stability of article during clamped is substantially increased, the shaking of article is reduced, thus
The using effect for improving clamper, saves a large amount of manpower and material resources.
As one embodiment of the present invention, the third joint 33 is equipped with rubber feeler on the side wall close to article
332；It is equipped with cylinder shape groove 333 in the rubber feeler 332, when squeezing rubber feeler 332 in the clamping process to article,
Air in cylinder shape groove 333 is extruded away, to generate adsorption capacity to article；When work, when clamper is in clamping object
When product, article can generate extruding to the rubber feeler 332 on 33 surface of third joint, so that the cylinder in rubber feeler 332 is recessed
After slot 333 is squeezed, internal gas is extruded away, so that rubber feeler 332 generates adsorption capacity to article side wall, into
One step improves stability of article during clamped, improves the degree of balance of article, prevents article in clamped moving process
In fall off from clamper, cause the damage of article, reduce the probability that article is fallen during clamped, improve clamper
Using effect.
As one embodiment of the present invention, first joint 31 is closed with the contact position of second joint 32 and second
Section 32 and the contact position in third joint 33 are equipped with buffer spring 34, when controller 1 loses heart to No.1 cavity 311 by hose
Afterwards, bionic finger 3 can revert to clamp position under the action of torsional spring torsion, and buffer spring 34 can generate buffering and make at this time
With reduction bionic finger 3 is injured caused by article；When work, when controller 1 lets out No.1 cavity 311 by hose
When pressure, then second joint 32 and third joint 33 bend under the action of torsional spring torsion, weight after piston rod 312 can be squeezed
New to retract in No.1 cavity 311, then bionic finger 3 restores closed configuration again at this time, realizes the crawl to article, and due to
First joint 31 and the contact position of the contact position of second joint 32 and second joint 32 and third joint 33 are equipped with buffering elastic
Spring 34, so that certain delay can be generated by buffer spring 34 during the distortion in second joint 32 and third joint 33
Punching, avoids the torsion of torsional spring larger, thus in the discouraged moment second joint 32 of No.1 cavity 311 and the meeting of third joint 33 to object
Product surface generates biggish pressure, will cause article and generates biggish damage, therefore buffer spring 34 can reduce second joint
32 and the reagency in third joint 33 avoid clamper damage caused by article to improve the clamping effect of clamper.
When work, when controller 1 does not generate air pressure to No.1 cavity 311, effect of the bionic finger 3 in torsional spring torsion
It is in closed configuration down, when needing to grab article, controller 1 applies pressure into No.1 cavity 311 by hose, so that living
Stopper rod 312 protrudes into No. two cavitys 321 from No.1 cavity 311 under the effect of the pressure, and 312 pressure of piston rod is greater than bullet
Spring force, so that second joint 32 stretches under the action of piston rod 312, No. two after piston rod 312 protrudes into No. two cavity 321
Gas in cavity 321 enters in No. three cavitys 331, then third joint 33 is stretched under the effect of the pressure, at this time bionic finger 3
In the open state, when clamper is located above article, controller 1 carries out pressure release to No.1 cavity 311 by hose, then and the
Two joints 32 and third joint 33 bend under the action of torsional spring torsion, and piston rod 312 retracts one after being squeezed again
In number cavity 311, then bionic finger 3 restores closed configuration again at this time, realizes the crawl to article；When bionic finger 3 is in
After opening state, when clamper is located above article, controller 1 carries out pressure release to No.1 cavity 311 by hose, then second closes
Section 32 and third joint 33 bend under the action of torsional spring torsion, and piston rod 312 retracts No.1 sky again after being squeezed
In chamber 311, then bionic finger 3 restores closed configuration again at this time, realizes the crawl to article, and during the pressure relief process, No.1 is empty
Chamber 311 and No. two cavitys 321 pass through No.1 hole 313 and No. two holes 322 and generate adsorption capacity to article side wall, to enhance clamping
The load capacity of device improves stability of clamper during clamping article, to bring to staff greatly easy；
When the article for needing to clamp is smaller or larger, in order to improve the stability in clamping process, controller 1 can pass through motor control
Gear 23 rotates, to slide in sliding slot 21 with movable slider 22, that is, controls the distance between bionic finger 3, adjusts clamping
The clamping range of device expands the use scope of clamper, so that clamper can clamp different size of article, substantially increases
The using effect of clamper；When sliding block 22 is in sliding slot 21 in sliding process, 22 end of sliding block can be with the movement of sliding block 22
Extruding is generated to rubbing table 241, so that rubbing table 241 stretches out opening 24 under the effect of the pressure, so that the surface with article connects
Touching substantially increases stability of article during clamped, reduces the shaking of article, to improve the use effect of clamper
Fruit saves a large amount of manpower and material resources；When clamper is when clamping article, article can be to the rubber feeler on 33 surface of third joint
332 generate extruding, so that internal gas is extruded away after the cylinder shape groove 333 in rubber feeler 332 is squeezed, from
And rubber feeler 332 is made to generate adsorption capacity to article side wall, stability of article during clamped is further increased, is mentioned
The degree of balance of high article prevents article from falling off from clamper in clamped moving process, causes the damage of article, reduces object
The probability that product are fallen during clamped, improves the using effect of clamper；When controller 1 passes through hose to No.1 cavity
When 311 progress pressure release, then second joint 32 and third joint 33 bend under the action of torsional spring torsion, 312 meeting of piston rod
It is retracted in No.1 cavity 311 again after being squeezed, then bionic finger 3 restores closed configuration again at this time, and article is grabbed in realization
It takes, and due to equal in the first joint 31 and the contact position of second joint 32 and second joint 32 and the contact position in third joint 33
Equipped with buffer spring 34, so that can be generated by buffer spring 34 during the distortion in second joint 32 and third joint 33
Certain buffering avoids the torsion of torsional spring larger, thus in the discouraged moment second joint 32 of No.1 cavity 311 and third joint
33 can generate biggish pressure to article surface, will cause article and generate biggish damage, therefore buffer spring 34 can reduce
The reagency of second joint 32 and third joint 33 avoids clamper from causing article to improve the clamping effect of clamper
Damage.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (6)
1. a kind of apery refers to that inflation soft body three refers to clamper, it is characterised in that: including controller (1), fixed frame (2) and bionic hand
Refer to (3)；The controller (1) is fixed on the top of fixed frame (2)；The bionic finger (3) is connected to the bottom of fixed frame (2)
End, bionic finger (3) include the first joint (31), second joint (32) and third joint (33), and the first joint (31), second
It is connected between joint (32) and third joint (33) by torsional spring；No.1 cavity (311) are equipped in first joint (31)；Institute
It states in No.1 cavity (311) and is equipped with piston rod (312), and No.1 cavity (311) is connect by hose with controller (1), so that
Controller (1) can be ventilated by hose to No.1 cavity (311), so that piston rod (312) be released；The second joint (32)
No. two cavitys (321) are inside equipped with, and No. two cavitys (321) are connected with No.1 cavity (311), so that piston rod (312) is pushing away
It can extend into during out in No. two cavitys (321), so that second joint (32) be stretched；It is equipped in the third joint (33)
No. three cavitys (331), and No. three cavitys (331) are connected with No. two cavitys (321), so that piston rod (312) protrudes into No. two skies
When chamber (321), the gas in No. two cavitys (321) is able to enter in No. three cavitys (331), so that third joint (33) be stretched
Directly；The clamping to article is realized by the cooperation of controller (1), fixed frame (2) and bionic finger (3).
2. a kind of apery according to claim 1 refers to that inflation soft body three refers to clamper, it is characterised in that: first joint
(31) it is provided with No.1 hole (313) on the side wall close to article, and No.1 hole (313) are connected with No.1 cavity (311)；It is described
Second joint (32) is provided with No. two holes (322), and No. two holes (322) and No. two cavity (321) phases on the side wall close to article
Connection；By the cooperation of No.1 cavity (311), No. two cavitys (321), No.1 hole (313) and No. two holes (322) so as to object
During product clamp, the side wall of bionic finger (3) can generate adsorption capacity to article, to enhance the use effect of clamper
Fruit.
3. a kind of apery according to claim 1 refers to that inflation soft body three refers to clamper, it is characterised in that: the fixed frame
(2) sliding slot (21) are equipped in, are equipped with sliding block (22) in sliding slot (21), and are being equipped with gear (23) at sliding slot (21)；It is described
Sliding block (22) is equipped with rack gear (221) on the side wall close to gear (23), and rack gear (221) is meshed with gear (23)；It is described
Controller (1) passes through the rotation of motor control gear (23)；First joint (31) is fixed on sliding block (22)；Pass through control
The clamping range for cooperating adjusting clamper of device (1), gear (23), rack gear (221) and sliding block (22).
4. a kind of apery according to claim 3 refers to that inflation soft body three refers to clamper, it is characterised in that: the sliding slot (21)
Side wall is equipped with opening (24), and opening (24) is interior to be connected with rubbing table (241) by spring slide；The sliding block (22) is close to friction
The end of platform (241) is arc groove shape；By the cooperation of sliding block (22) and rubbing table (241) so that sliding block (22) was sliding
Cheng Zhong can generate extruding to rubbing table (241), so that rubbing table (241) stretches out opening (24), to generate fixation to article
Effect.
5. a kind of apery according to claim 1 refers to that inflation soft body three refers to clamper, it is characterised in that: the third joint
(33) rubber feeler (332) are equipped on the side wall close to article；Cylinder shape groove is equipped in the rubber feeler (332)
(333), when squeezing rubber feeler (332) in the clamping process to article, the air in cylinder shape groove (333) is squeezed out
It goes, to generate adsorption capacity to article.
6. a kind of apery according to claim 1 refers to that inflation soft body three refers to clamper, it is characterised in that: first joint
(31) contact position with the contact position of second joint (32) and second joint (32) and third joint (33) is equipped with buffering elastic
Spring (34), after controller (1) loses heart to No.1 cavity (311) by hose, bionic finger (3) can be in the effect of torsional spring torsion
Under revert to clamp position, buffer spring (34) can generate buffer function at this time, reduce bionic finger (3) caused by article
Injury.
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| CN113681581A (en) * | 2021-08-20 | 2021-11-23 | 浙江大学 | High-speed response soft finger |
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| CN114670227A (en) * | 2022-04-12 | 2022-06-28 | 刘少林 | Integrated vision robot clamping jaw and using method thereof |
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