Title:
GRIPPING AND SENSING DEVICE BASED ON PNEUMATIC SOFT BODY
Document Type and Number:
WIPO Patent Application WO/2024/027024
Kind Code:
A1
Abstract:
A gripping and sensing device based on a pneumatic soft body, comprising: a support member (1); a flexible gripping mechanism, wherein the flexible gripping mechanism comprises at least two flexible jaws (2), the at least two flexible jaws are arranged on the support member along the circumferential direction, each flexible jaw comprises a telescopic airbag (201), an adapter mechanism (202), and a flexible plate (203) connected to the adapter mechanism (202), the interior of the telescopic airbag is hollow and elongated, the telescopic airbag comprises a closed end (204), an open end (205), and an airbag connected between the closed end and the open end, the airbag comprises at least two airbag bodies (206) and joint portions (207) formed between adjacent airbag bodies, and the adapter mechanism is connected to the joint portion, the closed end, and the open end; and a sensing mechanism, the sensing mechanism comprising at least two sensing members (3), and the sensing members being arranged on the inner sides of the corresponding flexible plates. According to the device, the telescopic airbags are deflated and inflated to change the bending direction of the airbags, so that flexible gripping of an object is achieved; and the magnitude of a gripping force of the device is controlled by changing the amount of air inflated and the amount of air deflated.
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Inventors:
CHEN TAO (CN)
DAI ZHIWEI (CN)
ZHU MINGLU (CN)
JIA HUIBIN (CN)
SUN LINING (CN)
DAI ZHIWEI (CN)
ZHU MINGLU (CN)
JIA HUIBIN (CN)
SUN LINING (CN)
Application Number:
PCT/CN2022/127632
Publication Date:
February 08, 2024
Filing Date:
October 26, 2022
Export Citation:
Assignee:
UNIV SOOCHOW (CN)
International Classes:
B25J15/10; B25J15/00
Foreign References:
| US20190202070A1 | 2019-07-04 | |||
| JPH10235586A | 1998-09-08 | |||
| CN104959992A | 2015-10-07 | |||
| CN206484587U | 2017-09-12 | |||
| CN111687870A | 2020-09-22 | |||
| CN114434471A | 2022-05-06 | |||
| CN108326833A | 2018-07-27 | |||
| CN110625641A | 2019-12-31 |
Attorney, Agent or Firm:
SUZHOU JIANSHAN INTELLECTUAL PROPERTY AGENCY (SPECIAL GENERAL PARTNERSHIP) (CN)
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