CN109968386A - A kind of flexible gripper with surface micro-structure - Google Patents
A kind of flexible gripper with surface micro-structure Download PDFInfo
- Publication number
- CN109968386A CN109968386A CN201910412345.0A CN201910412345A CN109968386A CN 109968386 A CN109968386 A CN 109968386A CN 201910412345 A CN201910412345 A CN 201910412345A CN 109968386 A CN109968386 A CN 109968386A
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- gas
- connector
- air bag
- filled cavity
- air
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- 229920001971 elastomer Polymers 0.000 claims abstract description 16
- 239000000806 elastomer Substances 0.000 claims abstract description 16
- 238000005452 bending Methods 0.000 claims abstract description 10
- 230000003247 decreasing effect Effects 0.000 claims abstract description 4
- 230000007423 decrease Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003351 stiffener Substances 0.000 description 1
- 230000000007 visual effect Effects 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
- B25J15/0023—Gripper surfaces directly activated by a fluid
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of flexible gripper with surface micro-structure, including motor, output shaft end are connected with bending grasping mechanism by connector；Air guide path is equipped with inside connector, one end is connected to the air inflation nozzle being arranged on one side surface of connector, and the other end is connected to bending grasping mechanism；It is bent the structure of grasping mechanism are as follows: including flexible finger fingerboard, its top and the bottom surface of connector connect, bottom end is free end, elastomer is connected on flexible finger fingerboard one side, successively drop-over is integral along its length by multiple interconnected air bags for elastomer, the inside of each air bag has gas-filled cavity, is connected between the gas-filled cavity of adjacent two air bag by gas channels, the gas-filled cavity positioned at the air bag of top is connected to the air guide path；Under unaerated state, the gas-filled cavity volume of air bag is successively successively decreased along the direction far from connector.The present invention can satisfy with complex-shaped, tactical rule object effective crawl.
Description
Technical field
The present invention relates to robot technical field, especially a kind of flexible gripper with surface micro-structure.
Background technique
Use most robot hands for rigid gripper in industrial application at present, but there are principle offices for rigid gripper
Limit, can only grasp a small number of regular shape objects, and it is at high cost, control difficulty is big, to environmental requirement harshness, far from meeting object
The demand of the new industries such as stream, household services, rescue.Traditional flexible gripper is the company using multiple small stiffeners mostly
It connects, is achieved the purpose that " flexibility " with this, but its essence remains rigid gripper.In today of flexibility manufacture, these are all
It is difficult to meet effective crawl of the products such as complex-shaped, wide variety.
Summary of the invention
For the applicant for the disadvantage in above-mentioned existing production technology, providing a kind of structurally reasonable has surface micro-structure
Flexible gripper, realize not high to surface friction factor and article in irregular shape effective crawl, while improving crawl effect
Rate and grasp stability.
The technical solution adopted in the present invention is as follows:
A kind of flexible gripper with surface micro-structure, including motor, output shaft end are connected with curved by connector
Bent grasping mechanism；Air guide path is equipped with inside the connector, one end of air guide path and setting are on one side surface of connector
Air inflation nozzle connection, the other end is connected to the bending grasping mechanism；The structure of the bending grasping mechanism are as follows: including flexible hand
Refer to fingerboard, the bottom surface connection on top and connector, bottom end is free end, is connected on the one side of flexible finger fingerboard flexible
Body, successively drop-over is integral along its length by multiple interconnected air bags for the elastomer, and the inside of each air bag has
Gas-filled cavity is connected between the gas-filled cavity of adjacent two air bag, positioned at the inflatable chamber of the air bag of top by gas channels
Body is connected to the air guide path；Under unaerated state, direction of the gas-filled cavity volume edge far from connector of air bag is successively
Successively decrease.
Its further technical solution is:
The longitudinal section of elastomer is in half bellows-like structure, and the radius of half bellows-like structure successively decreases along axial direction.
The gas channels are located on the two sidewalls of the gas-filled cavity of each air bag.
Uniform intervals are equipped with multiple bulge-structures on the another side of flexible finger fingerboard.
The bulge-structure is arranged at intervals with multiple groups along its length, every group of bulge-structure include multiple first boss and
Multiple second boss, first boss and the spaced and parallel arrangement of second boss, first boss and second boss are the different circle of volume
Platform shape or conical structure.
The motor is connected by key on the top of connector, and the air inflation nozzle is fixedly connected on the surface of connector, is used
It is connect in external air pump.
Beneficial effects of the present invention are as follows:
Structure of the invention is compact, reasonable, easy to operate, drives the rotation of flexible crawl mechanism by motor, external air pump mentions
The compressed gas of confession is inflated by air inflation nozzle, air guide channel, then by gas channels into the gas-filled cavity of entire elastomer, from
And realize curving inwardly for flexible finger fingerboard, it realizes crawl function, using bulge-structure, increases flexible finger fingerboard and object
Between frictional force, and bulge-structure can be embedded into the article with groove of some surfaces, to realize to surface friction factor
It is not high and and article in irregular shape effective crawl.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention.
Fig. 2 is partial sectional view of the invention.
Fig. 3 is another visual angle of Fig. 1.
Fig. 4 is the partial enlarged view of bulge-structure of the present invention.
Schematic diagram of the present invention of Fig. 5 in working condition.
Wherein: 1, gas channels；2, bulge-structure；3, air bag；4, flexible finger fingerboard；5, air guide path；6, air inflation nozzle；
7, connector；8, motor；9, gas-filled cavity；10, elastomer；21, first boss；22, second boss.
Specific embodiment
Specific embodiments of the present invention will be described below with reference to the accompanying drawings.
As depicted in figs. 1 and 2, the flexible gripper with surface micro-structure of the present embodiment, including motor 8, output shaft
End is connected with bending grasping mechanism by connector 7；Inside connector 7 be equipped with air guide path 5, one end of air guide path 5 with
The air inflation nozzle 6 being arranged on 7 one side surface of connector is connected to, and the other end is connected to bending grasping mechanism；It is bent grasping mechanism
Structure are as follows: including flexible finger fingerboard 4, top is connect with the bottom surface of connector 7, and bottom end is free end, flexible finger fingerboard 4
One side on be connected with elastomer 10, elastomer 10 by multiple interconnected air bags 3 along its length successively drop-over at whole
Body, the inside of each air bag 3 have gas-filled cavity 9, are connected between the gas-filled cavity 9 of adjacent two air bag 3 by gas channels 1
Logical, the gas-filled cavity 9 positioned at the air bag 3 of top is connected to air guide path 5；Under unaerated state, the gas-filled cavity of air bag 3
9 volumes are successively successively decreased along the direction far from connector 7.Motor 8 is connected by key on the top of connector 7, and air inflation nozzle 6 is fixed to be connected
It connects on the surface of connector 7, for being connect with external air pump.
The longitudinal section of elastomer 10 is in half bellows-like structure, and the radius of half bellows-like structure successively decreases along axial direction.
Gas channels 1 are located on the two sidewalls of the gas-filled cavity 9 of each air bag 3.
As shown in Figure 3 and Figure 4, uniform intervals are equipped with multiple bulge-structures 2 on the another side of flexible finger fingerboard 4.It is convex
It plays structure 2 and is arranged at intervals with multiple groups along its length, every group of bulge-structure 2 includes multiple first boss 21 and multiple second convex
Platform 22, first boss 21 and the spaced and parallel arrangement of second boss 22, first boss 21 and second boss 22 are the different circle of volume
Platform shape or conical structure.
Implementation process of the invention is as follows:
Body 7 is drivingly connected by motor 8 to rotate, and realizes that bending grasping mechanism using motor output shaft as central axes, carries out 360 degree
Rotation；Air guide channel 5 is passed through by air inflation nozzle 6 by the compressed gas that external air pump provides, to positioned at 10 top of elastomer
Entire elastomer 10 is inflated by inflation in the gas-filled cavity 9 of air bag 3, gas by the gas channels 1 in each air bag 3,
Since the volume of gas-filled cavity 9 is successively successively decreased along its length (in Fig. 3 for from top to bottom), the air bag 3 of bottom compared to
The air bag 3 of upper part deforms first, meanwhile, air bag 3 by internal compressed gas effect along its length, to upper and lower ends
Expansion causes entire 10 length of elastomer to increase, and 4 length of flexible finger fingerboard is constant, thus realize flexible finger fingerboard 4 to
Curving far from elastomer 10, and achieve the purpose that grab object (as shown in Figure 5).Bulge-structure 2 plays increase and rubs
Power is wiped, the fluted article Shi Keyu groove cooperation in surface is being encountered, is playing the role of improving grasp stability.
Above description is explanation of the invention, is not intended to limit the invention, and limited range of the present invention is referring to right
It is required that within protection scope of the present invention, any type of modification can be made.
Claims (6)
1. a kind of flexible gripper with surface micro-structure, it is characterised in that: including motor (8), output shaft end passes through company
Junctor (7) is connected with bending grasping mechanism；
Air guide path (5) are equipped with inside the connector (7), one end of air guide path (5) and setting are in connector (7) side table
Air inflation nozzle (6) connection on face, the other end are connected to the bending grasping mechanism；The structure of the bending grasping mechanism are as follows: packet
Flexible finger fingerboard (4) are included, top is connect with the bottom surface of connector (7), and bottom end is free end, flexible finger fingerboard (4)
Be connected on one side elastomer (10), the elastomer (10) by multiple interconnected air bags (3) along its length successively
Drop-over is integral, and the inside of each air bag (3) has gas-filled cavity (9), leads between the gas-filled cavity (9) of adjacent two air bag (3)
It crosses gas channels (1) to be connected, the gas-filled cavity (9) positioned at the air bag (3) of top is connected to the air guide path (5)；
Under unaerated state, gas-filled cavity (9) volume of air bag (3) is successively successively decreased along the direction far from connector (7).
2. a kind of flexible gripper with surface micro-structure as described in claim 1, it is characterised in that: elastomer (10) is indulged
Section is in half bellows-like structure, and the radius of half bellows-like structure successively decreases along axial direction.
3. a kind of flexible gripper with surface micro-structure as described in claim 1, it is characterised in that: the gas channels
(1) on the two sidewalls of the gas-filled cavity (9) of each air bag (3).
4. a kind of flexible gripper with surface micro-structure as described in claim 1, it is characterised in that: flexible finger fingerboard
(4) uniform intervals are equipped with multiple bulge-structures (2) on another side.
5. a kind of flexible gripper with surface micro-structure as claimed in claim 4, it is characterised in that: the bulge-structure
(2) multiple groups are arranged at intervals with along its length, every group of bulge-structure (2) includes multiple first boss (21) and multiple second convex
Platform (22), first boss (21) and second boss (22) spaced and parallel arrangement, first boss (21) and second boss (22) are body
Product different truncated cone-shaped or conical structure.
6. a kind of flexible gripper with surface micro-structure as described in claim 1, it is characterised in that: the motor (8) is logical
Key connection is crossed on the top of connector (7), the air inflation nozzle (6) is fixedly connected on the surface of connector (7), is used for and external gas
Pump connection.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910412345.0A CN109968386A (en) | 2019-05-17 | 2019-05-17 | A kind of flexible gripper with surface micro-structure |
| PCT/CN2019/094794 WO2020232802A1 (en) | 2019-05-17 | 2019-07-05 | Flexible gripper having surface microstructure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910412345.0A CN109968386A (en) | 2019-05-17 | 2019-05-17 | A kind of flexible gripper with surface micro-structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109968386A true CN109968386A (en) | 2019-07-05 |
Family
ID=67073744
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910412345.0A Pending CN109968386A (en) | 2019-05-17 | 2019-05-17 | A kind of flexible gripper with surface micro-structure |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109968386A (en) |
| WO (1) | WO2020232802A1 (en) |
Cited By (6)
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|---|---|---|---|---|
| CN111098322A (en) * | 2020-01-07 | 2020-05-05 | 中国石油大学(北京) | Software execution device, preparation method and clamping mechanism |
| CN111390899A (en) * | 2020-03-28 | 2020-07-10 | 徐州柚创谷智能科技有限公司 | Flexible pneumatic arm for intelligent manufacturing equipment |
| CN111660317A (en) * | 2020-05-29 | 2020-09-15 | 清华大学 | Gripper module and pneumatic universal gripper capable of continuously adjusting gripping posture |
| CN112130254A (en) * | 2020-09-22 | 2020-12-25 | 沈泽锋 | But quick peeling device of optical cable of automatically regulated different specifications optical cable |
| CN113069313A (en) * | 2021-03-19 | 2021-07-06 | 重庆医科大学附属第三医院(捷尔医院） | Auxiliary fistula strengthening instrument |
| CN111457028B (en) * | 2020-03-12 | 2021-09-14 | 华中科技大学鄂州工业技术研究院 | Pneumatic clutch and wearable rehabilitation assistance device |
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| CN113172653B (en) * | 2021-05-22 | 2023-06-13 | 苏州科技大学 | Flexible clamping jaw and automation equipment |
| CN115533954B (en) * | 2022-10-24 | 2023-04-21 | 北京电子科技职业学院 | Two-finger self-adaptive mechanical arm structure and multi-shaft mechanical arm with same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111457028B (en) * | 2020-03-12 | 2021-09-14 | 华中科技大学鄂州工业技术研究院 | Pneumatic clutch and wearable rehabilitation assistance device |
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| CN112130254A (en) * | 2020-09-22 | 2020-12-25 | 沈泽锋 | But quick peeling device of optical cable of automatically regulated different specifications optical cable |
| CN113069313A (en) * | 2021-03-19 | 2021-07-06 | 重庆医科大学附属第三医院(捷尔医院） | Auxiliary fistula strengthening instrument |
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| WO2020232802A1 (en) | 2020-11-26 |
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