CN111230920B - Pneumatic soft clamping device - Google Patents
Pneumatic soft clamping device Download PDFInfo
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- CN111230920B CN111230920B CN202010061010.1A CN202010061010A CN111230920B CN 111230920 B CN111230920 B CN 111230920B CN 202010061010 A CN202010061010 A CN 202010061010A CN 111230920 B CN111230920 B CN 111230920B
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- clamping
- soft
- pneumatic
- guide rail
- workbench
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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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a pneumatic soft clamping device, which comprises a workbench, a clamping mechanism arranged on the workbench, and a driving mechanism with an output end connected with the clamping mechanism; the clamping mechanism comprises a guide rail fixed on the workbench, a soft clamping assembly arranged on the guide rail in a sliding way, and a connecting plate arranged on the soft clamping assembly; the driving mechanism comprises a first steering engine arranged on the workbench and a flange plate connected with the output end of the first steering engine; one end of the connecting plate is hinged with the end surface of the flange plate, and the other end of the connecting plate is hinged with the soft clamping assembly; the clamping mechanisms are at least two, and all the clamping mechanisms are uniformly distributed along the circumferential direction of the flange plate. The soft clamping assembly comprises a sliding block arranged on the guide rail, a shell fixed on the sliding block and a pneumatic soft finger arranged on the shell; the connecting plate is hinged with the shell. The pneumatic soft clamping device can deform according to different sizes and shapes of the grabbed objects, can grab objects with various sizes, and belongs to the technical field of clamping devices.
Description
Technical Field
The invention relates to the technical field of clamping devices, in particular to a pneumatic soft clamping device.
Background
Along with the improvement of human living standard, also higher and higher to intelligence, automatic demand, in the automation, snatch to article is a very important link, traditional rigidity holder can snatch very heavy article, but adaptability and security are not high, in order to snatch the shape each other with breakable, soft object, the software robot has been given hopefully, receive the influence of bionics, the highly nonlinear superelasticity material that the software robot adopted makes the robot possess continuous unlimited degree of freedom, more friendly interacts with the people, there is very high adaptability to snatching different objects.
In China, the novel clamp holder with the active enveloping and passive shaping functions is developed by combining a compressed air soft body driving technology and a particle shaping technology so as to adapt to workpieces of different shapes, sizes and materials and simultaneously have the flexibility and the reliability of clamping operation. Luoxing of university in Zhejiang industry has provided a novel pneumatic driving finger with both flexibility and rigidity, and the multi-finger dexterous hand has good flexibility and adaptability.
In foreign countries, Yanqiong Fei et al improve adaptability by adding a wrist, the grabbing range is still limited by the wrist, and the grabbing strength is reduced although the adaptability is improved. Guo J et al combine the use of deformable electro-adhesive materials with pneumatics, primarily to enable gripping of objects of small thickness. The Zhong Guoliang et al has four grasping modes by adding a conversion mechanism to enable the fingers to rotate. The Nishimura T controls two fingers to carry out diversified grabbing through a ratchet wheel.
However, the grabbing space of the device is insufficient, hardware cannot provide different positions and directions for grabbing objects with different force, the actual objects are extremely diversified, and each object has the suitable grabbing strategy, grabbing position, grabbing direction and grabbing force, so that a novel mechanism is necessary to be developed, and the grabbing space and grabbing mode can be further expanded through an active adaptation mode.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: the pneumatic soft clamping device is simple in structure, easy to control, capable of being used for grabbing objects which are easy to hurt and have various sizes, and capable of deforming according to different sizes and shapes of the grabbed objects so that the grabbed objects can be grabbed at the optimal positions and directions.
In order to achieve the purpose, the invention adopts the following technical scheme:
a pneumatic soft clamping device comprises a workbench, a clamping mechanism arranged on the workbench, and a driving mechanism with an output end connected with the clamping mechanism; the clamping mechanism comprises a guide rail fixed on the workbench, a soft clamping assembly arranged on the guide rail in a sliding way, and a connecting plate arranged on the soft clamping assembly; the driving mechanism comprises a first steering engine arranged on the workbench and a flange plate fixedly connected with the output end of the first steering engine; one end of the connecting plate is hinged with the end surface of the flange plate, and the other end of the connecting plate is hinged with the soft clamping assembly; the clamping mechanisms are at least two, and all the clamping mechanisms are uniformly distributed along the circumferential direction of the flange plate. The object is clamped by the soft clamping components which are close to each other.
Further, the method comprises the following steps: the soft clamping assembly comprises a sliding block arranged on the guide rail in a sliding way, a shell fixed on the sliding block and a pneumatic soft finger arranged on the shell; the connecting plate is hinged with the shell. Pneumatic soft fingers can be used to grasp objects of various sizes that are susceptible to damage.
Further, the method comprises the following steps: a second steering engine is arranged in the shell; the output of second steering wheel is equipped with the mounting, and pneumatic software finger passes through the mounting and installs on the casing. The pneumatic soft finger can adjust the air pressure range, and the hardness of the pneumatic soft finger can be adjusted according to the properties of the clamped object.
Further, the method comprises the following steps: the pneumatic soft clamping device also comprises a pneumatic control mechanism; the pneumatic control mechanism comprises a bottom plate fixed on the workbench, an air pump and a controller which are arranged on the bottom plate; the first steering engine, the second steering engine and the air pump are all in signal connection with the controller, and the output end of the air pump is communicated with the pneumatic soft finger. The controller controls the air pump so as to control the inflation quantity of the pneumatic soft finger.
Further, the method comprises the following steps: the bottom plate is fixedly provided with a mounting plate used for being connected with external equipment, the mounting plate is provided with a connecting threaded hole, and the air pump and the controller are both positioned between the bottom plate and the mounting plate. The pneumatic soft clamping device can be arranged on external equipment such as a manipulator and the like through the mounting plate.
Further, the method comprises the following steps: one part of the guide rail is fixed on the workbench, the other part of the guide rail is suspended, the soft clamping assembly is positioned at the suspended end of the guide rail, and the shell is sleeved on the sliding block and the guide rail. The soft clamping component moves at the suspended end of the guide rail.
Further, the method comprises the following steps: the guide rails and the clamping mechanisms are four in number, the four guide rails and the four clamping mechanisms are uniformly distributed along the circumferential direction of the flange plate, and the extension lines of the four guide rails penetrate through the circle center of the flange plate. The four clamping mechanisms are simultaneously close to each other to realize clamping.
Further, the method comprises the following steps: the connecting plate is C-shaped, and the direction of the circular arcs of all the connecting plates is the same. The connecting plate flange plate is driven to rotate without mutual interference.
Further, the method comprises the following steps: the connecting part of the connecting plate and the shell is provided with a clamping piece, and one end of the connecting plate is hinged with the shell through the clamping piece. The link plate is rotatable about the housing.
Further, the method comprises the following steps: the output end of the air pump is connected with a plurality of air pipes which are respectively communicated with different pneumatic soft fingers, and all the air pipes are provided with electromagnetic directional valves. The air pressure range of the pneumatic soft finger is adjusted through the electromagnetic directional valve.
In summary, the present invention has the following advantages:
the pneumatic soft body clamping device has passive adaptive grabbing capacity and active adaptive capacity, the first steering engine controls the scaling of the pneumatic soft body fingers to adapt to objects with different sizes, the second steering engine rotates to drive the pneumatic soft body fingers to rotate to change contact surfaces with the objects to adapt to the objects with different shapes, and the pneumatic soft fingers are made of super-elastic materials and can adapt to different rigidities. Therefore, the pneumatic soft body clamping device has multiple clamping strategies, has higher safety and reliability, and can be used for grabbing the object with proper strength at the optimal position and direction by matching with the adjustable air pressure range of the pneumatic soft body finger. The pneumatic soft clamping device can be used for grabbing objects which are easy to damage and have various sizes. The pneumatic soft clamping device has simple design and manufacturing process, so the device has great application prospect.
Drawings
FIG. 1 is a schematic view of a pneumatic soft clamp.
Fig. 2 is a schematic structural view of the gripping mechanism and the driving mechanism.
Fig. 3 is a sectional view of the gripping mechanism and the driving mechanism.
Fig. 4 is an operational principle diagram of the clamping mechanism approaching the flange.
Fig. 5 is an operation principle diagram of the clamping mechanism moving away from the flange plate.
Figures 6 to 12 are schematic views of the operation of the pneumatic soft clamp.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
To facilitate a uniform view of the various reference numbers within the drawings, reference numbers appearing in the drawings are now described collectively as follows:
the clamping device comprises a workbench 1, a guide rail 2, a soft clamping component 3, a connecting plate 4, a first steering engine 5, a flange 6, a sliding block 7, a shell 8, a pneumatic soft finger 9, a second steering engine 10, a bottom plate 11, an air pump 12, a controller 13, an installation plate 14, a connecting threaded hole 15, a clamping component 16 and a fixing component 17.
Referring to fig. 1, 2 and 3, a pneumatic soft clamping device includes a worktable, a clamping mechanism mounted on the worktable, and a driving mechanism with an output end connected with the clamping mechanism; the gripping mechanism is driven by the driving mechanism to grip the object. The clamping mechanism comprises a guide rail fixed on the workbench, a soft clamping assembly arranged on the guide rail in a sliding way, and a connecting plate arranged on the soft clamping assembly; the workbench is horizontally arranged, the guide rail is fixed on the workbench, the soft clamping assembly is slidably mounted on the guide rail, and the soft clamping assembly moves linearly on the horizontal plane along the guide rail. The driving mechanism comprises a first steering engine arranged on the workbench and a flange plate fixedly connected with the output end of the first steering engine; the organism of first steering wheel is installed in the below of workstation, and the output of first steering wheel is from down up passing the workstation after with ring flange fixed connection, and first steering wheel drives the ring flange and rotates. One end of the connecting plate is hinged with the end surface of the flange plate, and the other end of the connecting plate is hinged with the soft clamping assembly; when the flange plate rotates, one end of the connecting plate can be driven to rotate around the center of the flange plate, so that the soft clamping component connected with the other end of the connecting plate slides on the guide rail. The clamping mechanisms are at least two, and all the clamping mechanisms are uniformly distributed along the circumferential direction of the flange plate. The movement of the soft clamping components on all the clamping mechanisms is synchronous, and the soft clamping components on all the clamping mechanisms are simultaneously close to the flange or simultaneously far away from the flange. Realize the underactuated control through first steering wheel, not need so many controllers, only need middle steering wheel just can realize that all clamps get the expansion or the shrink of mechanism.
The soft clamping assembly comprises a sliding block arranged on the guide rail in a sliding way, a shell fixed on the sliding block and a pneumatic soft finger arranged on the shell; the connecting plate is hinged with the shell. When the flange plate rotates, the connecting plate drives the shell to move, the shell is guided by the sliding block to move linearly along the guide rail, and therefore the soft clamping assembly is driven to move close to or away from each other, and clamping of objects is achieved. The pneumatic soft finger is manufactured by pouring silica gel into a 3D printing mold. The side surface of the pneumatic soft finger is provided with a vertical plane and an arc surface, and the inside of the pneumatic soft finger is provided with a cavity, so that the pneumatic soft finger can be bent due to inflation. When the pneumatic soft finger is inflated, the tail end (lower end) of the pneumatic soft finger can be bent towards the direction of the arc surface.
A second steering engine is arranged in the shell; the output of second steering wheel is equipped with the mounting, and pneumatic software finger passes through the mounting and installs on the casing. Can control pneumatic software finger through the second steering wheel and rotate, when pneumatic software finger gets the object with the clamp of object contact, pneumatic software finger is through arc surface and object contact, at first because fingertip pressure compresses tightly the object, pick up the back with the object, because the pneumatic software finger is the arc after aerifing, can produce ascending component force to the object, the object is in the arc surface that starts the software finger afterwards, so when the arc surface of pneumatic software finger and object in close contact with come the clamp object tightly, the lower extreme of pneumatic software finger is crooked slightly and is held the object, thereby prevent the object landing downwards. No matter what shape the object is grabbed can all be adjusted through the second steering wheel and make the arc surface contact with the object all the time, has also guaranteed that the lower extreme of pneumatic software finger can crooked support the object.
The pneumatic soft clamping device also comprises a pneumatic control mechanism; the pneumatic control mechanism comprises a bottom plate fixed on the workbench, an air pump and a controller which are arranged on the bottom plate; the bottom plate is arranged above the workbench, and the flange plate is arranged between the workbench and the bottom plate. The first steering engine, the second steering engine and the air pump are in signal connection with the controller, the output end of the air pump is communicated with the pneumatic soft finger, and the first steering engine, the second steering engine and the air pump can be controlled through the controller. The air pump is used as an actuator, when the controller gives an air pump signal, the air pump is driven to supply positive air pressure to the pneumatic soft finger, the pneumatic soft finger can bend inwards (bend towards the arc surface of the pneumatic soft finger), when the controller gives an air pump signal, the air pump does not work, the air pressure of the pneumatic soft finger cannot be kept, the original vertical state can be recovered, and the bending of the pneumatic soft finger depends on the size of the internal air pressure.
The bottom plate is fixedly provided with a mounting plate used for being connected with external equipment, the mounting plate is positioned above the bottom plate, and the air pump and the controller are both positioned between the mounting plate and the bottom plate. The mounting plate is provided with a connecting threaded hole, and the air pump and the controller are both positioned between the bottom plate and the mounting plate. The mounting plate is mounted on external equipment such as a mechanical arm or a robot through a connecting threaded hole.
One part of the guide rail is fixed on the workbench, the other part of the guide rail is suspended, the soft clamping assembly is positioned at the suspended end of the guide rail, and the shell is sleeved on the sliding block and the guide rail. The side of guide rail is equipped with the spout, is equipped with the lug on the slider, and the slider passes through the lug and installs on the guide rail with the spout cooperation slidingtype, and the casing is fixed at the upper surface of slider.
The guide rails and the clamping mechanisms are four in number, the four guide rails and the four clamping mechanisms are uniformly distributed along the circumferential direction of the flange plate, and the extension lines of the four guide rails penetrate through the circle center of the flange plate. Two adjacent guide rails are distributed at 90 degrees, and the four clamping mechanisms are respectively arranged on the four guide rails.
The connecting part of the connecting plate and the shell is provided with a clamping piece, and one end of the connecting plate is hinged with the shell through the clamping piece. The clamping piece is used for clamping the connecting plate, the connecting plate and the shell rotate relatively, and the connecting plate is prevented from shaking in the moving process to cause falling.
The output end of the air pump is connected with a plurality of air pipes which are respectively communicated with different pneumatic soft fingers, and all the air pipes are provided with electromagnetic directional valves. Different pneumatic soft fingers are communicated through different air pipes, under the independent control of the electromagnetic directional valve, the independent operation of the different pneumatic soft fingers can be ensured, different forces can be provided for different surfaces of an object according to actual requirements, if a certain surface of the object does not need to be or cannot be contacted with the pneumatic soft fingers, the pneumatic soft fingers on the surface can not be inflated, the energy for driving the air pump to inflate the pneumatic soft fingers is saved, and the interference on the grabbing of other soft fingers is prevented.
As shown in fig. 4 and 5, both fig. 4 and 5 are plan views of the gripping mechanism and the driving mechanism. The connecting plate is C shape, and the orientation of the circular arc of all connecting plates is the same, takes place to interfere when preventing to rotate. Fig. 4 shows a state when the four soft clamping members are farthest away from the flange, and at this time, the hinge point between the connecting plate of each clamping mechanism and the flange is located at the position closest to the end of the guide rail, and the flange is rotated clockwise, and the four soft clamping members are all close to the center of the flange, and when the four soft clamping members are closest to the flange (as shown in fig. 5), the hinge point between the connecting plate of each clamping mechanism and the flange rotates to the opposite clamping mechanism (i.e., the hinge point rotates 180 °). The flange of figure 5 is rotated 180 in the reverse (counterclockwise) direction to return to the position where the four soft gripping members are furthest from the flange.
With reference to fig. 6 to 12, the working principle of the pneumatic soft clamping device is as follows: the pneumatic soft clamping device is arranged on equipment such as a mechanical arm, and the pneumatic soft clamping device is moved to the clamped object through the mechanical arm. When the periphery of the object needs to be clamped, the object to be clamped is positioned in the middle of the four pneumatic soft fingers. And then the flange plate turnplate is driven by the first steering engine, so that the four pneumatic soft hands are close to the grabbed object. When needing to press from both sides and getting object inner circle, for example objects such as ring, move to the intra-annular of ring after four pneumatic software fingers are close to each other earlier through the ring flange rotation, then rotate the ring flange and make four pneumatic software fingers keep away from each other to the inside of realizing following the object is pressed from both sides and is got. The arc surfaces of the four pneumatic soft fingers are contacted with the grabbed object. The orientation and the inflation amount of each pneumatic soft finger can be adjusted according to the shape of the grasped object in the process that the four pneumatic soft fingers are close to the grasped object, so that the contact surface of the pneumatic soft fingers can be tightly attached to the contact surface of the grasped object, and the pneumatic soft fingers can clamp the grasped object. After the clamping work is finished, the pneumatic soft fingers are deflated, so that the gripped object can be loosened.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (6)
1. The utility model provides a pneumatic software clamping device which characterized in that: comprises a workbench, a clamping mechanism arranged on the workbench, and a driving mechanism with an output end connected with the clamping mechanism; the clamping mechanism comprises a guide rail fixed on the workbench, a soft clamping assembly arranged on the guide rail in a sliding way, and a connecting plate arranged on the soft clamping assembly; the driving mechanism comprises a first steering engine arranged on the workbench and a flange plate fixedly connected with the output end of the first steering engine; one end of the connecting plate is hinged with the end surface of the flange plate, and the other end of the connecting plate is hinged with the soft clamping assembly; the number of the clamping mechanisms is at least two, and all the clamping mechanisms are uniformly distributed along the circumferential direction of the flange plate;
the four guide rails and the four clamping mechanisms are uniformly distributed along the circumferential direction of the flange plate, and the extension lines of the four guide rails penetrate through the circle center of the flange plate;
the connecting plates are C-shaped, and the arc directions of all the connecting plates are the same;
the soft clamping assembly comprises a sliding block arranged on the guide rail in a sliding way, a shell fixed on the sliding block and a pneumatic soft finger arranged on the shell; the connecting plate is hinged with the shell;
one part of the guide rail is fixed on the workbench, the other part of the guide rail is suspended, the soft clamping assembly is positioned at the suspended end of the guide rail, and the shell is sleeved on the sliding block and the guide rail.
2. A pneumatic soft body gripping device as defined in claim 1, wherein: a second steering engine is arranged in the shell; the output of second steering wheel is equipped with the mounting, and pneumatic software finger passes through the mounting and installs on the casing.
3. A pneumatic soft body gripping device according to claim 2, wherein: the pneumatic soft clamping device also comprises a pneumatic control mechanism; the pneumatic control mechanism comprises a bottom plate fixed on the workbench, an air pump and a controller which are arranged on the bottom plate; the first steering engine, the second steering engine and the air pump are all in signal connection with the controller, and the output end of the air pump is communicated with the pneumatic soft finger.
4. A pneumatic soft body gripping device according to claim 3, wherein: the bottom plate is fixedly provided with a mounting plate used for being connected with external equipment, the mounting plate is provided with a connecting threaded hole, and the air pump and the controller are both positioned between the bottom plate and the mounting plate.
5. A pneumatic soft body gripping device as defined in claim 1, wherein: the connecting part of the connecting plate and the shell is provided with a clamping piece, and one end of the connecting plate is hinged with the shell through the clamping piece.
6. A pneumatic soft body gripping device according to claim 3, wherein: the output end of the air pump is connected with a plurality of air pipes which are respectively communicated with different pneumatic soft fingers, and all the air pipes are provided with electromagnetic directional valves.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010061010.1A CN111230920B (en) | 2020-01-19 | 2020-01-19 | Pneumatic soft clamping device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010061010.1A CN111230920B (en) | 2020-01-19 | 2020-01-19 | Pneumatic soft clamping device |
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| CN111230920A CN111230920A (en) | 2020-06-05 |
| CN111230920B true CN111230920B (en) | 2021-10-26 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745681A (en) * | 2020-06-10 | 2020-10-09 | 上海工程技术大学 | Multi-degree-of-freedom pneumatic soft manipulator with accurate positioning function |
| CN111702791A (en) * | 2020-07-01 | 2020-09-25 | 浙江铁流离合器股份有限公司 | Clutch case assembly robot end effector with adjustable function |
| CN111844119A (en) * | 2020-08-21 | 2020-10-30 | 福州大学 | Variable-stroke soft pneumatic clamping device and working method thereof |
| CN112091856A (en) * | 2020-10-09 | 2020-12-18 | 颜育返 | Fixture for machining that adaptability is strong |
| CN112413322A (en) * | 2020-11-25 | 2021-02-26 | 杜伟超 | Photogrammetry fixing device with stable lens and fixing method |
| CN112692863B (en) * | 2020-12-07 | 2022-04-12 | 杭州电子科技大学 | But automatically regulated interval's software hand claw anchor clamps |
| CN114147752B (en) * | 2021-11-05 | 2023-10-03 | 燕山大学 | Self-adaptive rigidity-variable flexible gripper |
| CN114030877A (en) * | 2021-11-22 | 2022-02-11 | 查雷波 | Grabbing mechanism for manipulator |
| CN114434484B (en) * | 2022-02-22 | 2022-09-30 | 浙江理工大学 | Variable grabbing mode universal pneumatic soft manipulator |
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| CN108275464A (en) * | 2018-03-16 | 2018-07-13 | 重庆大学 | Pneumatic software manipulator |
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| US10189168B2 (en) * | 2014-11-18 | 2019-01-29 | Soft Robotics, Inc. | Soft robotic actuator enhancements |
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| CN108275464A (en) * | 2018-03-16 | 2018-07-13 | 重庆大学 | Pneumatic software manipulator |
| CN109048896A (en) * | 2018-08-10 | 2018-12-21 | 江苏大学 | A kind of atmospheric control for soft robot |
| CN109605417A (en) * | 2018-11-28 | 2019-04-12 | 重庆大学 | More structure state software handgrips |
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