The invention discloses a soft winding robot. The soft winding robot comprises a winding tube, a non-ductile layer, a non-ductile line and an expansion tube, wherein the winding tube is provided withan air charging port, a gripping surface and a connecting surface which abuts upon the gripping surface, the air charging port communicates with an inner cavity of the winding tube, and the gripping surface extends in the axial direction of the winding tube; the non-ductile layer extends in the axial direction of the winding tube and is attached to the gripping surface; the non-ductile line is spirally wound around the outer wall surface of the winding tube in the axial direction of the winding tube so that the winding tube can deform spirally after being charged with air, and the non-ductilelayer faces the spiral center line; and the expansion tube is provided with an air injection port communicating with an inner cavity of the expansion tube, the expansion tube extends in the axial direction of the winding tube and is connected to the connecting surface to deform spirally along with the winding tube, and the expansion tube is charged with air to make contact with a gripped object. According to the soft winding robot, the gripping area on the gripped object can be increased, the gripping force of the expansion tube and the winding tube on the gripped object can be controlled by controlling the pressure of the charged air, and the gripping reliability of the soft robot is improved.
本发明公开一种软体缠绕机器人,包括:缠绕管,具有充气口、抓取面及与抓取面邻接的连接面,充气口与缠绕管的内腔连通,抓取面沿缠绕管的轴向延伸;非延展层,沿缠绕管的轴向延伸并贴合于抓取面;非延展线,沿缠绕管的轴向螺旋绕设于缠绕管的外壁面,以使缠绕管充气后呈螺旋状变形,且非延展层朝向该螺旋状的中心线;膨胀管,具有与其内腔连通的注气口,膨胀管沿缠绕管的轴向延伸并连接于连接面,以随缠绕管螺旋变形,并通过充气膨胀至与被抓取物接触。本发明软体缠绕机器人能增加对被抓取物的抓取面积,并通过控制充气气压能控制膨胀管和缠绕管对被抓取物的抓取力度,提高了软体机器人抓取的可靠性。
Soft winding robot
软体缠绕机器人
2020-05-15
Patent
Electronic Resource
Chinese
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