CN110587650A - SMA snatchs subassembly based on it is pneumatic - Google Patents
SMA snatchs subassembly based on it is pneumatic Download PDFInfo
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- CN110587650A CN110587650A CN201910760888.1A CN201910760888A CN110587650A CN 110587650 A CN110587650 A CN 110587650A CN 201910760888 A CN201910760888 A CN 201910760888A CN 110587650 A CN110587650 A CN 110587650A
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- end cover
- sma
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a SMA grabbing assembly based on pneumatics, and belongs to the technical field of robots. The pneumatically based SMA grasping assembly includes a housing member, a telescoping member, and a clamping member. The shell part encloses and closes and form the cavity, and flexible part sets up in the cavity, and flexible part and clamping component are connected, and flexible part is set up and is used for controlling clamping component's motion. The clamping component at least comprises a first clamping part and a second clamping part, and the first clamping part and the second clamping part are oppositely arranged. The flexible part comprises a plurality of flexible cell cube, and flexible cell cube all includes both sides end cover and SMA spring, and the SMA spring sets up between the end cover of both sides. This snatch subassembly is as flexible cell cube through the structural style that sets up both sides end cover and SMA spring, and realizes freely snatching of robot through setting up at least three flexible cell cube for this snatch subassembly based on pneumatics SMA has the characteristics that lightweight and drive are succinct, this structural design is reasonable, and the practicality is strong.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an SMA grabbing assembly based on pneumatics.
Background
The SMA spring is a memory spring, which utilizes the two-way memory of shape memory alloy and is a temperature-sensing driving element capable of automatically extending and contracting along with the change of temperature. Such springs are well-suited to represent the typical structural form of industrial shape memory alloy elements. The Al memory alloy wire is made by winding, and also utilizes the two-way memory effect of the shape memory alloy, and is a temperature sensing driving element which can automatically stretch and contract along with the change of temperature.
At present, common driving modes of the grabbing robot include motor driving, air pressure driving and hydraulic driving. However, the grabbing robot manufactured in the traditional driving mode is complex in driving system, large in occupied size and heavy in weight, and light in weight and modularization are difficult to achieve. The existing pneumatic soft robot is controlled by an air pump, is large in size and is not easy to move.
The inventor finds in research that at least the following disadvantages exist in the prior related art:
the driving system is complex, occupies large volume and has heavy weight, and light weight and modularization are difficult to realize.
Disclosure of Invention
The invention aims to provide a pneumatic SMA grabbing assembly, which improves the innovativeness, adopts the structural forms of end covers at two sides and SMA springs as telescopic unit bodies, and realizes the free grabbing of a robot by arranging at least three telescopic unit bodies, so that the pneumatic SMA grabbing assembly has the characteristics of light weight and concise driving, and has reasonable structural design and strong practicability.
The embodiment of the invention is realized by the following steps:
an embodiment of the present invention provides a pneumatically based SMA grasping assembly comprising:
a shell component, a telescopic component and a clamping component,
the shell component encloses to form a cavity, the telescopic component is arranged in the cavity and is connected with the clamping component, and the telescopic component is used for controlling the movement of the clamping component;
the clamping component at least comprises a first clamping part and a second clamping part, and the first clamping part and the second clamping part are oppositely arranged;
the telescopic component is composed of a plurality of telescopic unit bodies, the telescopic component at least comprises a first telescopic unit body, a second telescopic unit body and a third telescopic unit body, the first telescopic unit body, the second telescopic unit body and the third telescopic unit body are sequentially connected and arranged in the cavity, the telescopic unit bodies all comprise end covers at two sides and SMA springs, the SMA springs are arranged between the end covers at two sides,
the joint of the first telescopic unit body and the second telescopic unit body is a first movable end cover which is connected with the first clamping part and drives the first clamping part to move,
the joint of the second telescopic unit body and the third telescopic unit body is a second movable end cover, and the second movable end cover is connected with the second clamping part and drives the second clamping part to move.
Specifically, this subassembly is snatched based on pneumatic SMA is as flexible cell cube through the structural style that sets up both sides end cover and SMA spring, and realizes freely snatching of robot through setting up at least three flexible cell cube for this subassembly is snatched based on pneumatic SMA has the characteristics that the lightweight and drive are succinct, and this structural design is reasonable, and the practicality is strong.
Optionally, the housing part includes an upper housing and a lower housing, the surfaces of the upper housing and the lower housing connected to each other are provided with an inner concave surface, and the two inner concave surfaces form the cavity.
Optionally, the concave surfaces of the upper shell and the lower shell are symmetrical to each other, and both the concave surfaces are semicircular and have the same size.
Optionally, the first telescopic unit body comprises a left shell end cover, a first movable end cover and a first SMA spring component, the left shell end cover and the first movable end cover are arranged oppositely, the first SMA spring component is arranged between the left shell end cover and the first movable end cover, the second telescopic unit body comprises a first movable end cover, a second movable end cover and a second SMA spring component, the first movable end cover and the second movable end cover are arranged oppositely, the second SMA spring component is arranged between the first movable end cover and the second movable end cover, the third telescopic unit body comprises a right shell end cover, a second movable end cover and a third SMA spring component, the right shell end cover and the second movable end cover are arranged oppositely, and the third SMA spring component is arranged between the right shell end cover and the second movable end cover, first flexible unit body with the flexible unit body of second is through adjacent two first activity end cover interconnect, the flexible unit body of second with the flexible unit body of third is through adjacent two second activity end cover interconnect.
Optionally, the housing part comprises an upper housing and a lower housing, the connecting surfaces of the upper housing and the lower housing are provided with an inner concave surface, the two inner concave surfaces form the cavity,
the left shell end cover and the right shell end cover are respectively arranged on two sides of the shell component, the left shell end cover comprises a left upper end cover and a left lower end cover, the left upper end cover is connected with the upper shell, and the left lower end cover is connected with the upper shell;
the right shell end cover comprises a right upper end cover and a right lower end cover, the right upper end cover is connected with the upper shell, and the right lower end cover is connected with the upper shell.
Optionally, when the upper housing and the lower housing are closed, the left upper end cover and the left lower end cover are fixedly connected through a bolt, and the right upper end cover and the right lower end cover are fixedly connected through a bolt.
Optionally, the first clamping portion and the second clamping portion are both L-shaped, and the first clamping portion and the second clamping portion are both connected to the lower housing and arranged oppositely.
Optionally, the SMA grabbing assembly based on pneumatics further comprises a clamping piece, the clamping piece comprises an installation portion and a clamping claw, the clamping piece passes through the installation portion is sleeved on the first clamping portion and the second clamping portion, and the clamping angle is a saw-toothed shape.
Optionally, the clamping piece is made of rubber material.
Optionally, the second SMA spring assembly includes seven SMA springs uniformly spaced between the first movable end cap and the second movable end cap.
Compared with the prior art, the beneficial effects of the embodiment of the invention include, for example:
this subassembly is snatched to SMA based on pneumatics is through the structural style who sets up both sides end cover and SMA spring as flexible cell cube, and realizes freely snatching of robot through setting up at least three flexible cell cube for this subassembly is snatched to SMA based on pneumatics has the characteristics that the lightweight and drive are succinct, and this structural design is reasonable, and the practicality is strong.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a pneumatically-based SMA grasping assembly provided by an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a lower housing of a pneumatic-based SMA grasping assembly according to an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a clamping sheet of the SMA grabbing assembly based on pneumatics, provided by an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an upper housing of a pneumatically based SMA grasping assembly provided by an embodiment of the invention;
FIG. 5 is a schematic structural diagram of a left shell end cap of a pneumatic-based SMA grasping assembly according to an embodiment of the invention;
FIG. 6 is a schematic structural diagram of a first movable end cap of a pneumatic-based SMA grasping assembly according to an embodiment of the invention.
Icon: 100-a pneumatically based SMA grasping assembly; 10-a housing part; 101-a cavity; 102-an upper housing; 103-a lower shell; 104-a concave inner surface; 105-left housing end cap; 1051-left upper end cap; 1052-left lower end cap; 106-right housing end cap; 1061-right upper end cap; 1062-right lower end cap; 111-a first telescoping unit body; 112-a second telescopic unit body; 113-a third telescopic unit body; 114-a first movable end cap; 115-a second removable end cap; 121-a first clamping part; 122-a second clamping portion; 13-clamping piece.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "first", "second", "third", etc. are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
The terms "upper", "lower", "left", "right", "inner", "outer", and the like, refer to orientations or positional relationships based on orientations or positional relationships illustrated in the drawings or orientations and positional relationships that are conventionally used in the practice of the products of the present invention, and are used for convenience in describing and simplifying the invention, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the invention.
Furthermore, the terms "vertical" and the like do not require absolute perpendicularity between the components, but may be slightly inclined. Such as "vertical" merely means that the direction is relatively more vertical and does not mean that the structure must be perfectly vertical, but may be slightly inclined.
In the description of the present invention, it is also to be noted that the terms "disposed," "mounted," "connected," and the like are to be construed broadly unless otherwise specifically stated or limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Examples
Fig. 1 is a pneumatic-based SMA grasping assembly 100 according to an embodiment of the present invention, and referring to fig. 1, a pneumatic-based SMA grasping assembly 100 includes a housing member 10, a telescopic member and a clamping member,
the shell component 10 encloses a cavity 101, the telescopic component is arranged in the cavity 101 and is connected with the clamping component, and the telescopic component is used for controlling the movement of the clamping component;
the clamping component at least comprises a first clamping part 121 and a second clamping part 122, and the first clamping part 121 and the second clamping part 122 are oppositely arranged;
the telescopic component is composed of a plurality of telescopic unit bodies, the telescopic component at least comprises a first telescopic unit body 111, a second telescopic unit body 112 and a third telescopic unit body 113, the first telescopic unit body 111, the second telescopic unit body 112 and the third telescopic unit body 113 are sequentially connected and arranged in the cavity 101, the telescopic unit bodies all comprise end covers at two sides and SMA springs, the SMA springs are arranged between the end covers at two sides,
the joint of the first telescopic unit body 111 and the second telescopic unit body 112 is a first movable end cover 114, the first movable end cover 114 is connected with the first clamping part 121 and drives the first clamping part to move,
the joint of the second telescopic unit body 112 and the third telescopic unit body 113 is a second movable end cap 115, and the second movable end cap 115 is connected with the second clamping part 122 and drives the second clamping part to move.
It is worth explaining that this subassembly 100 is grabbed to SMA based on pneumatics is through setting up the structural style of both sides end cover and SMA spring as flexible unit body, and realizes freely grabbing of robot through setting up at least three flexible unit body for this subassembly 100 is grabbed to SMA based on pneumatics has the characteristics that the lightweight and drive are succinct, and this structural design is reasonable, and the practicality is strong.
Referring to fig. 1 again, the first telescopic unit body 111 includes a left shell end cover 105, a first movable end cover 114 and a first SMA spring component, the left shell end cover 105 and the first movable end cover 114 are disposed oppositely, the first SMA spring component is disposed between the left shell end cover 105 and the first movable end cover 114, the second telescopic unit body 112 includes a first movable end cover 114, a second movable end cover 115 and a second SMA spring component, the first movable end cover 114 and the second movable end cover 115 are disposed oppositely, the second SMA spring component is disposed between the first movable end cover 114 and the second movable end cover 115, the third telescopic unit body 113 includes a right shell end cover 106, a second movable end cover 115 and a third SMA spring component, the right shell end cover 106 and the second movable end cover 115 are disposed oppositely, the third SMA spring component is disposed between the right shell end cover 106 and the second movable end cover 115, the first telescopic unit body 111 and the second telescopic unit body 112 are connected to each other through two adjacent first movable end caps 114, and the second telescopic unit body 112 and the third telescopic unit body 113 are connected to each other through two adjacent second movable end caps 115.
Referring again to fig. 1, the second SMA spring assembly includes seven SMA springs uniformly spaced between the first movable end cap 114 and the second movable end cap 115.
It is worth noting that in the present embodiment, arranging the second SMA spring portions into seven SMA springs can avoid a gripping failure caused by failure of some SMA springs due to too long energization time. It should also be noted that in this embodiment, the second SMA spring element may be energized sequentially 4 times when it is fixed for a long time, so as to avoid failure due to failure of the SMA spring. It will be appreciated that the second SMA spring means may also be arranged with another number of springs, for example 5, 6, etc., and that the present embodiment does not constitute a limitation on the specific number of SMA springs in the second SMA spring means.
In this embodiment, the first SMA spring element and the third SMA spring element may be divided into two groups to reduce the lag time.
Fig. 2 is a schematic structural diagram of the lower housing 103 of the SMA gripping assembly 100 based on pneumatics according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of the upper housing 102 of the pneumatic-based SMA grasping assembly 100 according to an embodiment of the present invention.
Referring to fig. 2 and 4, the housing member 10 includes an upper housing 102 and a lower housing 103, the surfaces of the upper housing 102 and the lower housing 103, which are connected to each other, are provided with an inner concave surface 104, and the two inner concave surfaces 104 form the cavity 101.
It should be noted that, in this embodiment, the concave surfaces 104 of the upper shell 102 and the lower shell 103 are symmetrical to each other, and both concave surfaces 104 are semicircular and have the same size. It is understood that the concave surface 104 may be square, triangular or other shapes to seal the chamber body 101, depending on the particular implementation. The semi-circular inner concave surface 104 in this embodiment is only a preferred embodiment, which has the advantage of making the telescopic unit body operate stably. The present embodiment is not limited to a specific type of configuration of the concave surface 104.
Referring to fig. 1, 2 and 4, the left and right case covers 105 and 106 are respectively disposed at both sides of the case member 10, the left case cover 105 includes a left upper cover 1051 and a left lower cover 1052, the left upper cover 1051 is connected to the upper case 102, and the left lower cover 1052 is connected to the upper case 102;
the right housing end cover 106 includes a right upper end cover 1061 and a right lower end cover 1062, the right upper end cover 1061 is connected to the upper housing 102, and the right lower end cover 1062 is connected to the upper housing 102.
It should be noted that, in the present embodiment, when the upper case 102 and the lower case 103 are closed, the left upper end cover 1051 and the left lower end cover 1052 are fixedly connected by bolts, and the right upper end cover 1061 and the right lower end cover 1062 are fixedly connected by bolts. It is understood that the left upper end cover 1051 and the left lower end cover 1052 may be connected by other means, such as adhesive bonding, etc., and the right upper end cover 1061 and the right lower end cover 1062 may be connected by other means, such as adhesive bonding, etc., to achieve structural stability of the left housing end cover 105 and the right housing end cover 106. The present embodiment does not constitute a limitation on the manner of connection thereof.
Fig. 3 is a schematic structural diagram of the clamping sheet 13 of the SMA gripping assembly 100 based on pneumatics according to an embodiment of the present invention.
Referring to fig. 1 and 3, the first clamping portion 121 and the second clamping portion 122 are both L-shaped, and the first clamping portion 121 and the second clamping portion 122 are both connected to the lower housing 103 and are disposed opposite to each other.
The SMA grabbing assembly 100 based on the pneumatic property further comprises a clamping piece 13, wherein the clamping piece 13 comprises an installation part and a clamping claw, the clamping piece 13 is sleeved on the first clamping part 121 and the second clamping part 122 through the installation part, and the clamping angle is a saw-toothed shape.
It should be noted that the holding piece 13 is made of rubber material in this embodiment. It can be understood that the rubber material has high elasticity, it has a buffering effect on the propagation of sound and vibration, and has a buffering and shock-absorbing effect, and the selection of rubber as the material of the clamping piece 13 can make the clamping and grasping process more stable.
Fig. 5 is a schematic structural diagram of the left shell end cover 105 of the SMA gripping assembly 100 based on pneumatics according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of the first movable end cap 114 of the pneumatic-based SMA grasping assembly 100 according to an embodiment of the present invention.
Referring to fig. 1, 5 and 6, in the present embodiment, a sealing ring is disposed at a joint of the left housing end cover 105 and the housing component 10, and a sealing ring is disposed at a joint of the right housing end cover 106 and the housing component 10, so as to achieve a stable sealing effect. It can be understood that, in this embodiment, the sealing ring is a rubber sealing ring, and the rubber sealing ring has good tensile strength performance and hardness resistance, and has the characteristics of simple structure, convenience in use and maintenance, and long service life.
In summary, the present invention provides a pneumatically based SMA grasping assembly 100. It comprises a housing part 10, a telescopic part and a clamping part. The connecting shell part 10 encloses a cavity 101, the connecting telescopic part is arranged in the connecting cavity 101, the connecting telescopic part is connected with the connecting clamping part, and the connecting telescopic part is used for controlling the movement of the connecting clamping part. The connecting clamping member includes at least a first clamping portion 121 and a second clamping portion 122, and the first clamping portion 121 and the second clamping portion 122 are oppositely disposed. Connect flexible part and constitute by a plurality of flexible unit bodies, and connect flexible part and include first flexible unit body 111, the flexible unit body 112 of second and the flexible unit body 113 of third at least, connect first flexible unit body 111, connect the flexible unit body 112 of second and connect the flexible unit body 113 of third and connect in proper order and arrange and locate and connect cavity 101, connect flexible unit body and all include both sides end cover and SMA spring, connect the SMA spring and set up between the end cover is connected to both sides. The joint connecting the first telescopic unit body 111 and the second telescopic unit body 112 is a first movable end cover 114, and the first movable end cover 114 is connected with the first clamping part 121 and drives the first clamping part to move. The joint connecting the second telescopic unit body 112 and the third telescopic unit body 113 is a second movable end cap 115, and the second movable end cap 115 is connected with the second clamping portion 122 and drives the second clamping portion to move. This snatch subassembly is as flexible cell cube through the structural style that sets up both sides end cover and SMA spring, and realizes freely snatching of robot through setting up at least three flexible cell cube for this subassembly 100 is snatched to SMA based on pneumatics has the characteristics that the lightweight and drive are succinct, this structural design is reasonable, and the practicality is strong.
The motion mode of the SMA grabbing assembly 100 based on pneumatics is as follows: first, when the first telescopic unit body 111 and the second telescopic unit body 112 are in the power-on contraction state, the two end caps in the housing are respectively moved to the left and right to the limit positions (fixed initial positions), at this time, the clamping piece 13 is sleeved on the clamping part at the lower part of the lower housing 103, the second telescopic unit body 112 is powered on to bend the clamping piece 13 inwards, and the first telescopic unit body 111 and the third telescopic unit body 113 are powered on to realize the gripping after the second telescopic unit body 112 is powered off. The clamping sheet 13 is replaced by different gas driving units, and then the driving and grabbing of different objects can be realized by combining the control of the first telescopic unit body 111, the second telescopic unit body 112 and the third telescopic unit body 113.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An SMA grabbing assembly based on pneumatics, which is characterized by comprising a shell component (10), a telescopic component and a clamping component,
the shell component (10) encloses a cavity (101), the telescopic component is arranged in the cavity (101), the telescopic component is connected with the clamping component, and the telescopic component is used for controlling the movement of the clamping component;
the clamping component at least comprises a first clamping part (121) and a second clamping part (122), and the first clamping part (121) and the second clamping part (122) are arranged oppositely;
the telescopic component is composed of a plurality of telescopic unit bodies, the telescopic component at least comprises a first telescopic unit body (111), a second telescopic unit body (112) and a third telescopic unit body (113), the first telescopic unit body (111), the second telescopic unit body (112) and the third telescopic unit body (113) are sequentially connected and arranged in the cavity (101), the telescopic unit bodies all comprise end covers at two sides and SMA springs, the SMA springs are arranged between the end covers at two sides,
the joint of the first telescopic unit body (111) and the second telescopic unit body (112) is a first movable end cover (114), the first movable end cover (114) is connected with the first clamping part (121) and drives the first clamping part to move,
the joint of the second telescopic unit body (112) and the third telescopic unit body (113) is a second movable end cover (115), and the second movable end cover (115) is connected with the second clamping part (122) and drives the second clamping part to move.
2. The pneumatic-based SMA grasping assembly according to claim 1, wherein the housing component (10) comprises an upper housing (102) and a lower housing (103), the faces of the upper housing (102) and the lower housing (103) that are connected each being provided with an internal concave face (104), both of the internal concave faces (104) forming the cavity (101).
3. The pneumatic-based SMA grasping assembly according to claim 2, wherein the concave surfaces (104) of the upper and lower housings (102, 103) are symmetrical to each other, both concave surfaces (104) being semicircular and uniform in size.
4. The pneumatic-based SMA grasping assembly according to claim 1, wherein the first telescoping unit body (111) comprises a left shell end cover (105), a first movable end cover (114) and a first SMA spring component, the left shell end cover (105) and the first movable end cover (114) are oppositely disposed, the first SMA spring component is disposed between the left shell end cover (105) and the first movable end cover (114), the second telescoping unit body (112) comprises a first movable end cover (114), a second movable end cover (115) and a second SMA spring component, the first movable end cover (114) and the second movable end cover (115) are oppositely disposed, the second SMA spring component is disposed between the first movable end cover (114) and the second movable end cover (115), and the third telescoping unit body (113) comprises a right shell end cover (106), Second activity end cover (115) and third SMA spring part, right side casing end cover (106) with second activity end cover (115) sets up relatively, third SMA spring part set up in right side casing end cover (106) with between second activity end cover (115), first flexible unit body (111) with second flexible unit body (112) is through adjacent two first activity end cover (114) interconnect, second flexible unit body (112) with third flexible unit body (113) is through adjacent two second activity end cover (115) interconnect.
5. The pneumatic-based SMA grasping assembly according to claim 4, wherein the shell member (10) comprises an upper shell (102) and a lower shell (103), the faces where the upper shell (102) and the lower shell (103) are connected are each provided with an inner concave face (104), both inner concave faces (104) forming the cavity (101),
the left shell end cover (105) and the right shell end cover (106) are respectively arranged at two sides of a shell component (10), the left shell end cover (105) comprises a left upper end cover (1051) and a left lower end cover (1052), the left upper end cover (1051) is connected with the upper shell (102), and the left lower end cover (1052) is connected with the upper shell (102);
the right casing end cover (106) comprises a right upper end cover (1061) and a right lower end cover (1062), the right upper end cover (1061) is connected with the upper casing (102), and the right lower end cover (1062) is connected with the upper casing (102).
6. The pneumatic-based SMA grasping assembly according to claim 5, wherein when the upper housing (102) and the lower housing (103) are closed, the left upper end cap (1051) and the left lower end cap (1052) are fixedly connected by bolts, and the right upper end cap (1061) and the right lower end cap (1062) are fixedly connected by bolts.
7. The pneumatic-based SMA grasping assembly according to claim 2, wherein the first and second clamping portions (121, 122) are both "L" shaped, and the first and second clamping portions (121, 122) are both connected with the lower housing (103) and disposed opposite.
8. The pneumatic SMA grabbing assembly based on claim 7, further comprising a clamping sheet (13), wherein the clamping sheet (13) comprises an installation part and a clamping claw, the clamping sheet (13) is sleeved on the first clamping part (121) and the second clamping part (122) through the installation part, and the clamping angle is a sawtooth shape.
9. Pneumatic-based SMA grabbing assembly according to claim 8, wherein the clamping pieces (13) are of rubber material.
10. The pneumatic-based SMA grasping assembly according to claim 4, wherein the second SMA spring component comprises seven SMA springs evenly spaced between the first movable end cap (114) and the second movable end cap (115).
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| CN201910760888.1A CN110587650A (en) | 2019-08-16 | 2019-08-16 | SMA snatchs subassembly based on it is pneumatic |
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| CN201910760888.1A CN110587650A (en) | 2019-08-16 | 2019-08-16 | SMA snatchs subassembly based on it is pneumatic |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111482948A (en) * | 2020-04-03 | 2020-08-04 | 中国科学技术大学 | Pneumatic bionic tongue based on shape memory alloy |
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