CN107877537A - Soft mechanical hand with elastic web structure between fingers - Google Patents

Abstract

A soft manipulator with an elastic webbed structure between fingers comprises a fixed palm and soft fingers, wherein the soft fingers are connected to the fixed palm, and adjacent soft fingers are connected by elastic webs. The present invention provides a soft manipulator with an elastic webbed structure between fingers that is not easy to slip and has stable grip.

Description

A soft manipulator with elastic webbed structure between fingers

technical field

The invention relates to the technical field of manipulators, in particular to a soft manipulator with elastic webbed structures between fingers.

Background technique

With the development of industry and the concept of "machine replacement", industrial robots have flourished in recent decades, and industrial manipulators are an important branch of industrial robots. In the modern production process, manipulators are widely used in automatic production lines, which can replace human beings in dangerous and repetitive operations, save workers, improve efficiency, and ensure personal safety. At present, most of the traditional manipulators are rigid manipulators made of metal, but the rigid manipulators are not flexible enough to change the environment, and the mechanical structure is complex, the cost is high, and it is easy to cause unnecessary damage and destruction to the grasped objects. In this case, the research on soft manipulators is gradually rising. Various forms of soft manipulators have been designed and developed, and the common ones are three-finger, four-finger and five-finger manipulators. Such as a pneumatic software gripping device disclosed in the Chinese invention patent with the publication number CN104959992A, a software three-finger robot disclosed in the Chinese utility model patent with the publication number CN205704256U, and a Chinese utility model patent with the publication number CN205704258U A public four-fingered soft robot, and the Toshiba four-finger flexible gripper designed and manufactured by Koichi Suzumori of Toshiba Corporation, the Utah/MIT four-finger flexible gripper jointly developed by the Massachusetts Institute of Technology and the University of Utah, Japan's Noritsugu, etc. Three-finger flexible grippers designed and manufactured by human beings, etc. These research results are of great significance to the development of soft manipulators. However, due to the common problems of insufficient rigidity and poor stability of soft materials, it is difficult to adapt to objects with complex shapes, small volumes and high masses. Small objects, etc. Generally speaking, the greater the number of fingers, the stronger the gripping ability of the manipulator, and the more complex the control of the manipulator. Without changing the number of fingers, the gripping ability of the gripper can also be improved by improving the structure of the manipulator.

Contents of the invention

In order to overcome the defects of easy slipping and unstable grasping existing in the existing soft manipulator, the present invention provides a soft manipulator with elastic web structure between fingers which is not easy to slip off and stable in grasping.

The technical solution adopted by the present invention to solve its technical problems is:

A soft manipulator with an elastic web structure between fingers includes a fixed palm and soft fingers, the soft fingers are connected to the fixed palm, and adjacent soft fingers are connected by elastic webs.

Further, there are four soft fingers, and the four soft fingers are evenly distributed on the fixed palm.

The beneficial effects of the present invention are mainly manifested in: without increasing the control difficulty and manufacturing cost, the elastic web structure is added between the fingers, and when the manipulator grasps the article, the elastic web between the fingers can be used to envelop and fix the article, which can It effectively prevents the grasped object from slipping from the fingers, increases the positioning error tolerance of the grasping action, and greatly improves the stability of the grasping action of the soft manipulator.

Description of drawings

Fig. 1 is a schematic structural view of the present invention in an unfolded state.

Fig. 2 is a front view of Fig. 1 .

Fig. 3 is a bottom view of Fig. 1 .

Fig. 4 is a schematic structural view of the present invention in a folded state.

Fig. 5 is a front view of Fig. 4 .

FIG. 6 is a bottom view of FIG. 4 .

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

Referring to Figures 1 to 6, a soft manipulator with an elastic web structure between fingers includes a fixed palm 1 and soft fingers 2, the soft fingers 2 are connected to the fixed palm 1, and the adjacent soft fingers 2 are connected by elastic webs 3 connect.

Further, four soft fingers 2 are provided, and the four soft fingers are evenly distributed on the fixed palm 1 .

In this embodiment, the elastic webs between the soft fingers 2 are made of soft materials and have a certain tension and elasticity. When the driving fingers open outward, the elastic webs 3 will also open under the action of tension. When the driving fingers grasp inward When holding an item, the item is wrapped by the elastic web 3, which can prevent the item from slipping between the two fingers. When grasping an item with a large mass, the elastic web 3 can also provide a part of friction and grip to prevent the item from falling.

As shown in Figure 1, the four soft fingers 2 are connected to the fixed palm 1 and are evenly distributed in space with the center of symmetry of the fixed palm 1 as the axis, and the soft fingers 2 are simultaneously opened outwards in a certain driving form. The web 3 will also open outward under the action of tension; control the soft finger 2 to grab the item, at this time, the elastic web 3 will wrap the item inward under the elastic force of its own material, preventing the item from slipping from the fingers, increasing the manipulator. Reliability of grasping action.

The present invention provides a soft manipulator claw structure with elastic webs, which is similar in shape to a duck's paw. When the manipulator grasps an item, the elastic web 3 between the soft fingers 2 can envelop and fix the item, and has a complex appearance. Items of smaller volume or mass are more adaptable, improving the stability of the grasping action.

Although an implementation form of the present invention has been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific implementation, which is only illustrative and not restrictive. Under the enlightenment of the present invention, without departing from the gist of the present invention and the protection scope of the claims, the skilled person can also make many specific transformations, all of which belong to the protection scope of the present invention.

The description and drawings of this case take the four-finger type elastic web soft manipulator as an example, but the present invention is not limited to the four-finger structure, and any number of fingers combined elastic web soft manipulator also belongs to the technical category of the present invention and is regarded as the scope of rights of the present invention within.

Claims (2)

1. the software manipulator with elastic web structure between a kind of finger, including fixed palm and software finger, the software finger with Fixed palm connection, it is characterised in that：Connected between adjacent software finger by elastic web.

2. the software manipulator with elastic web structure between a kind of finger as claimed in claim 1, it is characterised in that：The software hand Finger is provided with four, and four software fingers are distributed on fixed palm.