CN110697498A - Automatic winding mechanism of pneumatic soft gripper - Google Patents

Automatic winding mechanism of pneumatic soft gripper Download PDF

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Publication number
CN110697498A
CN110697498A CN201910960992.5A CN201910960992A CN110697498A CN 110697498 A CN110697498 A CN 110697498A CN 201910960992 A CN201910960992 A CN 201910960992A CN 110697498 A CN110697498 A CN 110697498A
Authority
CN
China
Prior art keywords
winding
gripper
soft
stepping motor
soft gripper
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910960992.5A
Other languages
Chinese (zh)
Inventor
王延杰
吴兆龙
徐望舒
骆敏舟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hohai University Changzhou Campus
Original Assignee
Hohai University Changzhou Campus
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hohai University Changzhou Campus filed Critical Hohai University Changzhou Campus
Priority to CN201910960992.5A priority Critical patent/CN110697498A/en
Publication of CN110697498A publication Critical patent/CN110697498A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00Winding, coiling, or depositing filamentary material
    • B65H54/02Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
    • B65H54/10Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers for making packages of specified shapes or on specified types of bobbins, tubes, cores, or formers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00Winding, coiling, or depositing filamentary material
    • B65H54/02Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
    • B65H54/28Traversing devices; Package-shaping arrangements
    • B65H54/2848Arrangements for aligned winding

Abstract

The invention discloses an automatic winding mechanism of a pneumatic soft gripper, which comprises a soft gripper connecting device, a first stepping motor, a gripper, a reciprocating mechanism and a second stepping motor, wherein one end of the soft gripper connecting device is detachably connected with the soft gripper, and the other end of the soft gripper connecting device is in transmission connection with the first stepping motor; the second stepping motor drives the reciprocating mechanism to drive the wire holder to reciprocate. A coupling is fixedly connected between the first stepping motor and the soft gripper connecting device. The soft gripper connecting device is a winding framework, and the winding framework comprises a line pressing device and an auxiliary fixing device used for clamping the soft gripper. The wire holder comprises a winding pile, a pulley and a first base for fixing the winding pile and the pulley. The first base is provided with a through hole for the reciprocating mechanism to pass through. The automatic winding mechanism disclosed by the invention realizes spiral winding of the pneumatic soft gripper, improves the speed and quality of winding, and is suitable for automatic winding of soft grippers with different sizes.

Description

Automatic winding mechanism of pneumatic soft gripper
Technical Field
The invention relates to an automatic winding mechanism, in particular to an automatic winding mechanism of a pneumatic soft gripper, and belongs to the technical field of automatic operation of soft robots.
Background
With the continuous popularization and promotion of soft robots, the development of soft grippers is faster and faster, and a plurality of different types of grippers are already appeared. Among them, there is a pneumatic soft gripper that needs to control the deformation of the gripper after inflation by winding during the manufacturing process, and the quality of the winding greatly affects the performance of the pneumatic soft gripper. The traditional winding mode of the pneumatic soft gripper is mainly manual winding, the problems of complex winding process, low winding efficiency, uneven winding and the like exist, a large amount of time is spent, the winding quality cannot be accurately controlled, and the development of the pneumatic soft gripper is limited to a certain extent.
In order to ensure the quality of wire winding when the wire winding is more even, quick, need to design an automatic wire winding mechanism who is applicable to pneumatic software tongs urgently to expect to replace traditional manual wire winding mode through the machine wire winding, improve wire winding efficiency.
Disclosure of Invention
The invention aims to overcome the defect of low manual winding efficiency of a pneumatic soft gripper in the prior art, and provides an automatic winding mechanism of the pneumatic soft gripper, which has the following technical scheme:
an automatic winding mechanism of a pneumatic soft gripper comprises a soft gripper connecting device, a first stepping motor, a gripper, a reciprocating mechanism and a second stepping motor,
one end of the soft gripper connecting device is detachably connected with the soft gripper, and the other end of the soft gripper connecting device is in transmission connection with the first stepping motor;
the second stepping motor drives the reciprocating mechanism to drive the wire holder to reciprocate.
Further, a coupling is fixedly connected between the first stepping motor and the soft gripper connecting device.
Further, reciprocating motion mechanism includes ball, and ball drives the line ware reciprocating motion of holding under the drive of second step motor, and the ball erects on ball screw frame after passing the through-hole on the line ware.
Furthermore, the soft gripper connecting device is a winding framework, and the winding framework comprises a wire pressing device and an auxiliary fixing device for clamping the soft gripper.
In the automatic winding mechanism of the pneumatic soft gripper, the wire holder comprises a winding pile, a pulley, and a first base for fixing the winding pile and the pulley.
Furthermore, a through hole for the reciprocating mechanism to pass through is formed in the first base.
Compared with the prior art, the invention has the following beneficial effects:
the automatic winding mechanism can replace complicated and time-consuming manual winding, realizes spiral winding of the pneumatic soft gripper, and improves the speed and quality of winding. Meanwhile, the invention is suitable for automatic winding of soft grippers with different sizes by replacing the fixing device at the joint of the winding framework and the soft gripper.
Drawings
FIG. 1 is a schematic structural diagram of an automatic winding mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a first stepping motor;
FIG. 3 is a schematic structural view of a thread holder;
FIG. 4 is a schematic view showing the assembly of the second stepping motor and the ball screw;
FIG. 5 is a schematic structural view of the coupling;
FIG. 6 is a schematic diagram of a wound bobbin;
FIG. 7 is a schematic view of a wound carcass fixed soft grip;
in the figure: 1-soft gripper connecting device, 11-winding framework, 111-rotating shaft, 112-circular table, 112 a-clamping groove, 13-wire pressing device, 14-auxiliary fixing device, 2-first step motor, 3-wire holding device, 31-winding pile, 32-pulley, 33-first base, 331-boss, 34-second base, 341-groove, 35-through hole, 4-reciprocating mechanism, 41-ball screw, 42-ball screw frame, 5-second step motor, 6-coupler, 7-soft gripper, 8-total base and 81-support.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1
As shown in fig. 1 to 7, the automatic winding mechanism of the pneumatic soft gripper comprises a soft gripper connecting device 1, a first stepping motor 2, a thread holding device 3, a reciprocating mechanism 4 and a second stepping motor 5,
one end of the soft gripper connecting device 1 is detachably connected with the soft gripper 7, and the other end is in transmission connection with the first stepping motor 2; the soft hand grip connecting device 1 is the same as an inner die for manufacturing the soft hand grip 7 so as to be matched with the hand grip 7, and the hand grip 7 can be sleeved on the soft hand grip connecting device 1 to play a role in fixing.
The second stepping motor 5 drives the reciprocating mechanism 4 to drive the thread holder 3 to reciprocate. When winding, the first stepping motor 2 controls the soft gripper connecting device 1 to rotate, so as to drive the soft gripper 7 fixed with the soft gripper connecting device 1 to rotate. The second stepping motor 5 controls the wire holder 3 to move horizontally through the reciprocating mechanism 4, and the spiral winding of the soft gripper 7 is realized. Specifically, a coupling 6 is fixedly connected between the first stepping motor 2 and the soft gripper connecting device 1. In this embodiment, the coupling 6 is a cam coupling, the driving end of the coupling 6 is fixedly connected to the first stepping motor 2 in a matching manner, and the driven end of the coupling 6 is fixedly matched to the soft gripper connecting device 1, because the requirement for the coaxiality of the axes at the two ends of the coupling 6 is high, the coaxiality between the first stepping motor 2 and the soft gripper connecting device 1 can be ensured, so that the gripper 7 can rotate around the axis when rotating.
Specifically, the reciprocating mechanism comprises a ball screw 41, the ball screw 41 drives the wire holder 3 to reciprocate under the driving of the second stepping motor 5, and the ball screw 41 passes through a through hole 35 on the wire holder 3 and then is erected on a ball screw frame 42. The ball screw 41 realizes conversion of the rotational motion of the second stepping motor 5 into the translational motion.
Specifically, the soft grip connecting device 1 is a winding frame 11, and the winding frame 11 comprises a line pressing device 13 and an auxiliary fixing device 14 for clamping the soft grip 7. The first stepping motor 2 controls the gripper 7 to rotate by transmitting motion through the winding framework 11, the second stepping motor 5 converts rotation into translation for controlling the wire holder 3 through the ball screw 41, and the two motions are combined together to realize spiral winding of the soft gripper 7.
In this embodiment, preferably, one end of the winding frame 11 is a circular truncated cone 112, and a plurality of slots 112a for accommodating the wire pressing device 13 and the auxiliary fixing device 14 are formed in the circular truncated cone 112 along the circumferential direction. The line pressing device 13 and the auxiliary fixing device 14 are detachable, and therefore the hand grip is more convenient and rapid to replace. The auxiliary fixing device 14 at the joint of the winding framework 11 and the soft hand grip 7 can be adjusted according to the size of the soft hand grip 7, so that the soft hand grip 7 with different sizes can be adapted. The other end of the winding framework 11 is a rotating shaft 111 connected with the first stepping motor 2.
In this embodiment, it is preferable that the plurality of slots 112a are distributed in an annular array along the axis of the circular truncated cone 112. In this embodiment, preferably, 4 sets of 16 equally spaced slots 112a are respectively provided in the four directions of the circular truncated cone 112, and the slots 112a are uniformly distributed in the circumferential direction. The thread pressing device 13 can press the thread on the soft hand grip 7 while fixing the soft hand grip 7. The clamping of the thread pressing device 13 and the auxiliary fixing device 14 in the clamping groove 112a on the outer circumference can be adapted to the soft hand grip 7 with a larger diameter.
In the automatic winding mechanism of the pneumatic soft gripper, the wire holder 3 includes a winding pile 31, a pulley 32, and a first base 33 for fixing the winding pile 31 and the pulley 32. The wire holder 3 can control the tightness degree of the wire winding, so that the wire can be tightly wound on the hand grip 7. The wire rod (such as narrow cloth strips and the like) can be replaced on the winding pile 31 of the wire holder 3, so that more complicated winding is realized. Specifically, the wiring pile is a cylinder, and the tightness of the wire is controlled by the pulley 32.
Specifically, the device further comprises a second base 34 detachably connected with the first base 33, and the second base 34 is provided with a through hole 35 for the reciprocating mechanism 4 to pass through.
In this embodiment, the bottom of the first base 33 has a boss 331, and the second base 34 has a groove 341 matching with the boss 331. The components used in this embodiment are fixed to the main base 8, and a support 81 for supporting the winding frame 11 is fixed to the main base 8. When the wire rod is replaced by the automatic wire winding mechanism in the embodiment, only the first base 33 needs to be replaced, so that the wire winding mechanism is more convenient and faster.
In this embodiment, different rotation speed matches exist between the first stepping motor 2 and the second stepping motor 5, and winding with different densities can be performed on the gripper 7. The second stepping motor 5 can control the wire holder 3 to reciprocate by the ball screw 41, thereby changing the winding manner, such as double-helix winding.
The working principle of the automatic winding mechanism of the pneumatic soft gripper of the invention is specifically explained by combining with the embodiment 1 as follows:
firstly, the state of each part is determined to be good, the operation can be carried out, then each part is fixed on the main base 8 of the winding mechanism, the soft hand grip 7 is fixed on the winding framework 11 after the fixing is well carried out, the auxiliary fixing device 14 of the winding framework 11 for fixing the hand grip 7 can be adjusted according to the size of the hand grip 7, the winding mechanism can adapt to the hand grips 7 with different sizes, and the universality of the winding mechanism is improved.
The winding framework 11 and the first stepping motor 2 are in transmission connection through the coupler 6, the coaxiality of the winding framework and the first stepping motor is guaranteed by attention during connection, and the winding framework 11 is prevented from being eccentrically rotated, so that winding is caused to be problematic.
The wire is sleeved on the winding pile 31 of the wire holder 3, the initial position of the wire holder 3 is adjusted to be parallel to the soft gripper 7, the wire end is tied on the soft gripper 7, the tightness degree of the wire on the wire holder 3 is adjusted to ensure that the wire can be tightly wound on the gripper 7, and the wire winding effect is ensured.
According to an expected winding mode, the rotating speed relation of the first stepping motor 2 and the second stepping motor 5 is set, the first stepping motor 2 is started first, then the second stepping motor 5 is started immediately, the wire holder 3 reaches the tail end of the soft hand grip 7, namely the second stepping motor 5 is closed first, and then the first stepping motor 2 is closed after the winding is finished. The thread is then cut off, and after tying, the soft gripper 7 is removed and the components are repositioned.
Example 2
As shown in fig. 1 to 7, the automatic winding mechanism of the pneumatic soft gripper comprises a soft gripper connecting device 1, a first stepping motor 2, a thread holding device 3, a reciprocating mechanism 4 and a second stepping motor 5,
one end of the soft gripper connecting device 1 is detachably connected with the soft gripper 7, and the other end is in transmission connection with the first stepping motor 2; the soft hand grip connecting device 1 is the same as an inner die for manufacturing the soft hand grip 7 so as to be matched with the hand grip 7, and the hand grip 7 can be sleeved on the soft hand grip connecting device 1 to play a role in fixing.
The second stepping motor 5 drives the reciprocating mechanism 4 to drive the thread holder 3 to reciprocate. When winding, the first stepping motor 2 controls the soft gripper connecting device 1 to rotate, so as to drive the soft gripper 7 fixed with the soft gripper connecting device 1 to rotate. The second stepping motor 5 controls the wire holder 3 to move horizontally through the reciprocating mechanism 4, and the spiral winding of the soft gripper 7 is realized. Specifically, a coupling 6 is fixedly connected between the first stepping motor 2 and the soft gripper connecting device 1. In this embodiment, the coupling 6 is a cam coupling, the driving end of the coupling 6 is fixedly connected to the first stepping motor 2 in a matching manner, and the driven end of the coupling 6 is fixedly matched to the soft gripper connecting device 1, because the requirement for the coaxiality of the axes at the two ends of the coupling 6 is high, the coaxiality between the first stepping motor 2 and the soft gripper connecting device 1 can be ensured, so that the gripper 7 can rotate around the axis when rotating.
Specifically, the reciprocating mechanism comprises a ball screw 41, the ball screw 41 drives the wire holder 3 to reciprocate under the driving of the second stepping motor 5, and the ball screw 41 passes through a through hole 35 on the wire holder 3 and then is erected on a ball screw frame 42. The ball screw 41 realizes conversion of the rotational motion of the second stepping motor 5 into the translational motion.
Specifically, the soft grip connecting device 1 is a winding frame 11, and the winding frame 11 comprises a line pressing device 13 and an auxiliary fixing device 14 for clamping the soft grip 7. The first stepping motor 2 controls the gripper 7 to rotate by transmitting motion through the winding framework 11, the second stepping motor 5 converts rotation into translation for controlling the wire holder 3 through the ball screw 41, and the two motions are combined together to realize spiral winding of the soft gripper 7.
In this embodiment, preferably, one end of the winding frame 11 is a circular truncated cone 112, and a plurality of slots 112a for accommodating the wire pressing device 13 and the auxiliary fixing device 14 are formed in the circular truncated cone 112 along the circumferential direction. The line pressing device 13 and the auxiliary fixing device 14 are detachable, and therefore the hand grip is more convenient and rapid to replace. The auxiliary fixing device 14 at the joint of the winding framework 11 and the soft hand grip 7 can be adjusted according to the size of the soft hand grip 7, so that the soft hand grip 7 with different sizes can be adapted. The other end of the winding framework 11 is a rotating shaft 111 connected with the first stepping motor 2.
In this embodiment, it is preferable that the plurality of slots 112a are distributed in an annular array along the axis of the circular truncated cone 112. In this embodiment, preferably, 4 sets of 16 equally spaced slots 112a are respectively provided in the four directions of the circular truncated cone 112, and the slots 112a are uniformly distributed in the circumferential direction. The thread pressing device 13 can press the thread on the soft hand grip 7 while fixing the soft hand grip 7. The clamping of the thread pressing device 13 and the auxiliary fixing device 14 in the clamping groove 112a on the outer circumference can be adapted to the soft hand grip 7 with a larger diameter.
In the automatic winding mechanism of the pneumatic soft gripper, the wire holder 3 includes a winding pile 31, a pulley 32, and a first base 33 for fixing the winding pile 31 and the pulley 32. The wire holder 3 can control the tightness degree of the wire winding, so that the wire can be tightly wound on the hand grip 7. The wire rod (such as narrow cloth strips and the like) can be replaced on the winding pile 31 of the wire holder 3, so that more complicated winding is realized. Specifically, the wiring pile is a cylinder, the tightness of the line is controlled by the pulley 32,
specifically, the first base 33 is provided with a through hole through which the reciprocating mechanism 4, i.e., the ball screw 41, passes.
In this embodiment, all the components are preferably fixed to the overall base 8, and the support 81 for supporting the winding bobbin 11 is fixed to the overall base 8.
In this embodiment, different rotation speed matches exist between the first stepping motor 2 and the second stepping motor 5, and winding with different densities can be performed on the gripper 7. The second stepping motor 5 can control the wire holder 3 to reciprocate by the ball screw 41, thereby changing the winding manner, such as double-helix winding.
In fact, persons skilled in the same field can make various equivalent substitutions for the invention, for example, the wire used on the wire holder 3 can be replaced by various different types of wires, and can be a common thin wire or a narrow cloth; the wire holder 3 can return to the initial position after reaching the tail end of the soft hand grip 7, so that the winding is more compact and the like. The wire holder 3 and the winding framework 11 only can relatively realize reciprocating motion, and in the invention, the wire holder 3 is in reciprocating translation, and the winding framework 11 rotates.
The embodiment is an automatic winding mechanism for a winding type pneumatic soft gripper. The winding mechanism can automatically help the pneumatic soft gripper to wind the wire, and is used for replacing manual winding, so that the performance of the pneumatic soft gripper is improved. Compared with manual winding, the automatic winding mechanism can enable the winding of the wire to be more uniform through motor control, thereby improving the service performance of the soft gripper, saving complex manual winding steps and improving the efficiency. And different winding densities and even winding methods can be realized by controlling the rotating speeds of the two motors.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (10)

1. The automatic winding mechanism of the pneumatic soft gripper is characterized by comprising a soft gripper connecting device, a first stepping motor, a thread holding device, a reciprocating mechanism and a second stepping motor,
one end of the soft gripper connecting device is detachably connected with the soft gripper, and the other end of the soft gripper connecting device is in transmission connection with the first stepping motor;
the second stepping motor drives the reciprocating mechanism to drive the wire holder to reciprocate.
2. The automatic winding mechanism for the pneumatic soft hand grip according to claim 1, wherein a coupling is fixedly connected between the first stepping motor and the soft hand grip connecting device.
3. The automatic winding mechanism of the pneumatic soft gripper as claimed in claim 1, wherein the reciprocating mechanism comprises a ball screw, the ball screw is driven by the second stepping motor to drive the gripper to reciprocate, and the ball screw passes through a through hole in the gripper and then is mounted on a ball screw frame.
4. The automatic winding mechanism for the pneumatic soft hand grip according to claim 1, wherein the soft hand grip connecting device is a winding frame, and the winding frame comprises a line pressing device and an auxiliary fixing device for clamping the soft hand grip.
5. The automatic winding mechanism of the pneumatic soft gripper as claimed in claim 4, wherein one end of the winding framework is a circular truncated cone, and a plurality of clamping grooves for accommodating the line pressing device and the auxiliary fixing device are formed in the circular truncated cone along the circumferential direction.
6. The automatic winding mechanism for the pneumatic soft gripper of claim 5, wherein a plurality of the slots are distributed in an annular array along the axis of the circular table.
7. The automatic winding mechanism of the pneumatic soft gripper of any one of claims 1 to 6, wherein the gripper comprises a winding peg, a pulley, and a first base to secure the winding peg and the pulley.
8. The automatic winding mechanism for the pneumatic soft gripper of claim 7, wherein the first base is provided with a through hole for the reciprocating mechanism to pass through.
9. The automatic winding mechanism for the pneumatic soft gripper as claimed in claim 7, further comprising a second base detachably connected to the first base, wherein the second base is provided with a through hole for the reciprocating mechanism to pass through.
10. The automatic winding mechanism for the pneumatic soft gripper of claim 9, wherein the first base has a boss at a bottom thereof, and the second base has a recess formed therein for engaging the boss.
CN201910960992.5A 2019-10-11 2019-10-11 Automatic winding mechanism of pneumatic soft gripper Pending CN110697498A (en)

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Application Number Priority Date Filing Date Title
CN201910960992.5A CN110697498A (en) 2019-10-11 2019-10-11 Automatic winding mechanism of pneumatic soft gripper

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910960992.5A CN110697498A (en) 2019-10-11 2019-10-11 Automatic winding mechanism of pneumatic soft gripper

Publications (1)

Publication Number Publication Date
CN110697498A true CN110697498A (en) 2020-01-17

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CN106744005A (en) * 2016-12-14 2017-05-31 安徽莎沃斯服饰有限公司 A kind of yarn coiling counting device
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GB1385725A (en) * 1971-06-04 1975-02-26 Schweiter Ag Maschf Pirn tube holder
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CN106744005A (en) * 2016-12-14 2017-05-31 安徽莎沃斯服饰有限公司 A kind of yarn coiling counting device
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