CN111469150B - Pneumatic flexible grasping device - Google Patents
Pneumatic flexible grasping device Download PDFInfo
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- CN111469150B CN111469150B CN202010316018.8A CN202010316018A CN111469150B CN 111469150 B CN111469150 B CN 111469150B CN 202010316018 A CN202010316018 A CN 202010316018A CN 111469150 B CN111469150 B CN 111469150B
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- pneumatic
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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
- B25J15/0023—Gripper surfaces directly activated by a fluid
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robot tail end execution devices, in particular to a pneumatic flexible gripping device which comprises a connecting frame arranged on an external suspension structure, a fixing plate fixed at the tail end of the connecting frame and a plurality of pneumatic drivers fixed on the fixing plate, wherein the fixing plate is provided with a plurality of grooves; one ends of the pneumatic drivers are distributed on the fixing plate by taking the connecting frame as a circle center, and the other ends of the pneumatic drivers can bend towards an axis formed by the connecting frame to form a gripper; the pneumatic driver comprises a contraction pneumatic tendon and an extension pneumatic tendon which are arranged side by side; the contracting pneumatic tendon is arranged towards the centripetal side. The invention aims to provide a pneumatic flexible gripping device with good dexterity and high gripping force.
Description
Technical Field
The invention relates to the technical field of robot tail end execution devices, in particular to a pneumatic flexible grasping device.
Technical Field
The end effector is the important media of contact between robot and the operation object, and traditional end effector is mostly rigid structure, can be fast, accurate completion operation, but this type of robot is difficult to adapt to complicated changeable external environment usually. With the development of the robot technology, the flexible actuator is widely applied to the fields of transportation and distribution, automatic mechanical assembly, medical care, smart home and the like due to the advantages of the flexible actuator in the aspects of flexibility, safety and the like.
The flexible actuator comprises modes of motor driving, gas-liquid driving, functional material driving and the like, wherein the control performance of the motor-driven manipulator is better; the flexibility of the gas-liquid driven flexible manipulator is good, the pneumatic gas source is convenient, the weight is light, and the application of the pneumatic power in the light flexible manipulator is wide; the functional material drive is driven by shape memory alloy, ultrasonic waves, high molecular polymer and functional liquid, and has unique advantages in occasions requiring small and portable mechanical arms.
Patent CN201510377294.4 discloses a pneumatic soft gripping device, which comprises a pneumatic soft manipulator, an air guide supporting component, an air guide base, a cover plate and an air source diverter, wherein fingers are designed into a folded flexible structure body arranged in a laminated manner, and the fingers are bent inwards or outwards to grasp an object. Patent CN201810784613.7 discloses a pneumatic soft gripping gripper, which comprises a pneumatic soft driver and a clamping device; the pneumatic soft driver is a hollow columnar structure with an air cavity, the cross section of the pneumatic soft driver is semicircular, the cross section of the pneumatic soft driver is internally provided with a winding wire layer to restrict the radial size, the limiting layer limits the axial extension, the driver is bent through inflation and deflation, and the purpose of grabbing a target object is achieved.
The flexible soft gripping device disclosed in the above patent generally has the problem of good dexterity but insufficient gripping force, and is difficult to grip objects with slightly large volume and weight, so that the flexible gripping device with large gripping force is designed and manufactured to have important application value.
Disclosure of Invention
The invention aims to provide a pneumatic flexible gripping device with good dexterity and high gripping force.
In order to solve the technical problems, the invention provides a pneumatic flexible gripping device, which comprises a connecting frame arranged on an external suspension structure, a fixed plate fixed at the tail end of the connecting frame, and a plurality of pneumatic drivers fixed on the fixed plate; one ends of the pneumatic drivers are distributed on the fixing plate by taking the connecting frame as a circle center, and the other ends of the pneumatic drivers can bend towards an axis formed by the connecting frame to form a gripper; the pneumatic driver comprises a contraction pneumatic tendon and an extension pneumatic tendon which are arranged side by side; the contracting pneumatic tendon is arranged towards the centripetal side.
Preferably, the contraction type pneumatic tendon comprises an elastic latex tube sleeved with a woven mesh, and a ventilation joint and a sealing joint which are respectively fixed at two ends of the elastic latex tube; the elongated pneumatic tendon comprises a corrugated pipe, and a ventilation joint and a sealing joint which are respectively fixed at two ends of the corrugated pipe; the contraction type pneumatic tendon and the extension type pneumatic tendon are fixed on the fixing plate through the ventilation joint.
Preferably, the air vent joint and/or the sealing joint of the contraction type pneumatic tendon are/is fixed at the end part of the elastic latex tube through a clamping hoop; the air joints and/or sealing joints of the elongated pneumatic tendons are fixed to the ends of the corrugated pipe by clamps.
Preferably, the outer circumferential surface of one end of the ventilation joint and/or the sealing joint is provided with a convex rib for sleeving the elastic latex tube and the corrugated tube, and the outer circumferential surface of the other end of the ventilation joint and/or the sealing joint is provided with a smooth shaft section and a shaft shoulder for being mounted on the fixing plate.
Preferably, the device also comprises an upper disc and a lower disc; the upper disc is provided with a flange type structure for installing a fixing plate and a ventilation joint; and a flange type structure for installing a sealing joint is arranged on the lower disc.
Preferably, a corrugated pipe shell is sleeved outside each pneumatic driver; and a rubber bottom cover is arranged at the tail end of the corrugated pipe shell.
Preferably, the rubber bottom cover is a hemispherical rubber cover, a flange structure is arranged around the upper end face of the rubber bottom cover, and the rubber bottom cover is fixedly connected with the lower disc through a bolt.
Preferably, the fixing plate is of a plurality of branch plate-shaped structures; the branch supporting plates of the fixed plate are folded back to the pneumatic driver, so that the pneumatic driver is unfolded to form an open structure.
Preferably, the connecting frame and the fixing plate and the pneumatic driver are connected through flange structures.
According to the technical scheme, the pneumatic flexible grabbing device for the large load can be used for a large-load pneumatic flexible grabbing device, a novel driver formed by two pneumatic drivers is used as a pneumatic finger, the contraction type pneumatic tendon and the extension type pneumatic tendon supplement each other, and the device can be pressurized simultaneously in the device during working to generate large bending force, so that the device has the flexibility and the flexibility of the flexible grabbing device, enhances the grabbing force during working to a certain extent, further improves the grabbing capacity, and has good flexibility, man-machine cooperation and environmental adaptability of the flexible robot. Therefore, the invention has the advantages of good characteristics of the flexible robot, cleanness, safety, strong environment adaptability and high automation degree, and is suitable for a plurality of fields of transportation assembly, medical care and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments of the present invention or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is an overall schematic view of the present invention
FIG. 2 is a schematic internal perspective view of the present invention
FIG. 3 is a perspective view of a fixing plate according to the present invention
FIG. 4 is a perspective view of the connecting frame of the present invention
FIG. 5 is a cross-sectional view of the main surface of the pneumatic tendon of the present invention
FIG. 6 is a main surface cross-sectional view of an elongated pneumatic tendon according to the present invention
FIG. 7 is a perspective view of the grasping state of the present invention
In the figure: 1-connecting frame, 2-fixing plate, 3-protective cover, 4-upper disk, 5-lower disk, 6-air pipe, 7-ventilation joint, 8-sealing joint, 9-latex tube, 10-woven net, 11-nylon rope, 12-corrugated tube shell, 13-rubber bottom cover, 14-hoop and 15-corrugated tube.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope 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.
Example 1
The existing flexible soft body gripping device generally has the problem of good dexterity but insufficient gripping force, and is difficult to grip objects with slightly large volume and weight.
In order to solve the above technical problem, the present embodiment provides a pneumatic flexible grasping device with good dexterity and large grasping force, which belongs to the category of flexible robots, and has good flexibility, dexterity, man-machine cooperation and environmental suitability of the flexible robot.
The pneumatic flexible gripping device provided by the embodiment mainly comprises three parts, namely a connecting frame 1, a fixing plate 2 and a plurality of pneumatic drivers. The connecting frame 1 is arranged on an external suspension structure, and the structure provided by the embodiment belongs to a flexible robot, so that the external suspension structure can be a robot arm; the fixing plate 2 is fixed at the tail end of the connecting frame 1 and used for fixing the pneumatic driver; one ends of the pneumatic drivers are distributed on the fixing plate 2 by taking the connecting frame 1 as a circle center, and the other ends of the pneumatic drivers can bend towards an axis formed by the connecting frame 1 to form a gripper. The connecting frame 1 is of a thin-wall cylindrical structure, a flange type structure at the upper end of the connecting frame 1 is connected with the tail end of the mechanical arm, and the flange type structure is arranged at the lower end of the connecting frame 1 and connected with the fixing plate 2 through bolts.
In order to improve the gripping force on the basis of good dexterity, the embodiment provides the gripping device, the pneumatic driver of which comprises a contraction type pneumatic tendon and an extension type pneumatic tendon which are arranged side by side, wherein the contraction type pneumatic tendon is arranged centripetally.
Specifically, the pneumatic tendon of contraction type and the pneumatic tendon of elongation type all are middle flexible segment, and both ends are the stereoplasm section, and the stereoplasm section at both ends is ventilating joint 7 and sealing joint 8 respectively to can be through clamp 14 with ventilating joint 7 and/or sealing joint 8 fastening at the both ends of flexible segment.
It is also possible that the parts of the vent fitting 7 and the sealing fitting 8 that are located within the flexible section are provided with ridges to prevent the flexible section from disengaging from the fitting. Optionally, a smooth shaft section and a shoulder are provided at the axial middle of the ventilation joint 7 and the sealing joint 8 for fixing with the fixing plate 2.
In the above-mentioned joint 7 of ventilating, its center is equipped with the axial through-hole, and one end communicates with flexible section, and the other end links to each other with trachea 6, and trachea 6 then is connected with pneumatic control system, and the inflation and deflation passageway that is regarded as pneumatic tendon. In the above-mentioned sealing joint 8, one end thereof is connected with the flexible section, and the other end is of a closed structure.
In the pneumatic tendon of contraction type and the pneumatic tendon of extension type, the difference is that, the flexible section of the pneumatic tendon of contraction type is the elasticity emulsion tube 9 that is equipped with woven mesh 10, and the flexible section of the pneumatic tendon of extension type is long and thin bellows 15.
In the above-described mounting structure for the pneumatic tendons, the pneumatic tendons are fixed to the fixed plate 2 by the air-vent joints 7. In particular, an upper disc 4 and a lower disc 5 of circular sheet structure may be included.
Wherein, the upper disc 4 is provided with a flange structure for installing the fixed plate 2 and an installation hole for fixing the ventilation joint 7; the lower disc 5 is provided with a mounting hole for mounting the sealing joint 8. The number of the mounting holes is equal to the number of the contraction type pneumatic tendons and the extension type pneumatic tendons, namely, each pneumatic tendon corresponds to one mounting hole.
The pneumatic flexible gripping device provided by the embodiment can face to a heavy load, the pneumatic control system drives the pneumatic driver, the elongated pneumatic tendon which is positioned outside the connecting frame 1 as the circle center finishes the elongation action, the contracted pneumatic tendon which is positioned inside the connecting frame 1 as the circle center finishes the contraction action, the pneumatic driver formed by the two pneumatic drivers bends towards the axis formed by the connecting frame 1 to form a gripper, the gripping action is finished, the two pneumatic drivers are utilized to form a novel driver as a pneumatic finger, the contracted pneumatic tendon and the elongated pneumatic tendon supplement each other, and the pneumatic driver and the contracted pneumatic tendon boost pressure is simultaneously applied to the pneumatic driver and the elongated pneumatic tendon during working, so that a large bending force can be generated, the flexibility and the flexibility of the flexible gripping device are achieved, the gripping force during working is enhanced to a certain degree, the gripping capability of the pneumatic flexible robot is further improved, and the pneumatic flexible robot has good performance, Dexterity, human-computer cooperation and environmental adaptability. Therefore, the invention has the advantages of good characteristics of the flexible robot, cleanness, safety, strong environment adaptability and high automation degree, and is suitable for a plurality of fields of transportation assembly, medical care and the like.
Example 2
The pneumatic flexible gripping device provided by the embodiment comprises three parts, namely a connecting frame 1, a fixing plate 2 and a plurality of pneumatic drivers. Wherein the connecting frame 1 is arranged on an external suspension structure; the fixing plate 2 is fixed at the tail end of the connecting frame 1; one ends of the pneumatic drivers are distributed on the fixing plate 2 by taking the connecting frame 1 as a circle center, and the other ends of the pneumatic drivers can bend towards an axis formed by the connecting frame 1 to form a gripper.
The pneumatic driver also comprises a contraction type pneumatic tendon and an extension type pneumatic tendon which are arranged side by side, wherein the contraction type pneumatic tendon is arranged towards the centripetal side. In the above-described mounting structure for the pneumatic tendons, the pneumatic tendons are fixed to the fixed plate 2 by the air-vent joints 7. The fixation is accomplished in particular by an upper disc 4 and a lower disc 5 of circular sheet structure.
In order to improve the safety and the operation stability of the pneumatic flexible gripping device, as a further improvement of the technical solution, a bellows 15 outer shell 12 is sleeved outside each pneumatic driver, a rubber bottom cover 13 is arranged at the tail end of the bellows 15 outer shell 12, and a protective cover 3 is covered on the fixed plate 2. The outer side of the upper disc 4 is provided with a flange structure connected with a shell 12 of a corrugated pipe 15, and the outer side of the lower disc 5 is provided with a flange structure for installing the shell 12 of the corrugated pipe 15 and a rubber bottom cover 13.
Wherein 15 shells 12 of bellows are the rubber material, and the parcel is in the outside of pneumatic tendon, prevents to be snatched the object and causes the destruction to pneumatic tendon to the increase with the frictional force of snatching the object, strengthened and snatched the ability. The rubber bottom cover 13 is of a hemispherical structure, the upper end face of the rubber bottom cover is provided with a flange type structure, and the rubber bottom cover is connected with the lower disc 5 through bolts, so that damage can be prevented, and grabbing force can be enhanced.
The protection casing 3 is the shell structure matched with the fixed plate 2, a plurality of unthreaded holes uniformly distributed according to the circumference are arranged at the bottom end of the protection casing, the protection casing is mounted on the fixed plate 2 through bolts, and a rectangular through hole is formed in one side of the protection casing 3, so that the air pipe 6 penetrates out of the through hole to be connected with an external pneumatic control system.
Example 3
The pneumatic flexible gripping device provided by the embodiment comprises three parts, namely a connecting frame 1, a fixing plate 2 and a plurality of pneumatic drivers. Wherein the connecting frame 1 is arranged on an external suspension structure; the fixing plate 2 is fixed at the tail end of the connecting frame 1; one ends of the pneumatic drivers are distributed on the fixing plate 2 by taking the connecting frame 1 as a circle center, and the other ends of the pneumatic drivers can bend towards an axis formed by the connecting frame 1 to form a gripper.
The pneumatic driver also comprises a contraction type pneumatic tendon and an extension type pneumatic tendon which are arranged side by side, wherein the contraction type pneumatic tendon is arranged towards the centripetal side. In the above-described mounting structure for the pneumatic tendons, the pneumatic tendons are fixed to the fixed plate 2 by the air-vent joints 7. The fixation is accomplished in particular by an upper disc 4 and a lower disc 5 of circular sheet structure.
In this embodiment, the fixing plate 2 is a three-branch plate structure, and the branch plates of the fixing plate 2 are folded back to the pneumatic driver, so that the pneumatic driver is unfolded to form an open structure.
The opening is grabbed in the increase, all is equipped with flange formula structure at the branch end in the equal certain angle of folding upward of 2 three branches of fixed plate, links to each other with last disc 4 through the bolt, all installs a pneumatic driver at every branch end promptly, and the pneumatic tendon one side of the contraction type of three pneumatic driver is installed centripetally during the installation.
The embodiment adopts a three-branch type grabbing structure, is flexible and changeable, and is suitable for grabbing objects with various shapes. The three novel drivers are utilized to form the flexible gripping device, compared with the prior art, the flexible gripping device has the flexibility and the flexibility of the flexible gripping device, the gripping force during working is enhanced to a certain extent, the gripping capability of the flexible gripping device is further improved, a three-branch type gripping structure is adopted, the flexible gripping device is flexible and changeable, is suitable for gripping objects with various shapes, and is wider in application range.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (8)
1. A pneumatic flexible gripping device, characterized by: the pneumatic device comprises a connecting frame arranged on an external suspension structure, a fixed plate fixed at the tail end of the connecting frame and a plurality of pneumatic drivers fixed on the fixed plate; one ends of the pneumatic drivers are distributed on the fixing plate by taking the connecting frame as a circle center, and the other ends of the pneumatic drivers can bend towards an axis formed by the connecting frame to form a gripper; the pneumatic driver comprises a contraction pneumatic tendon and an extension pneumatic tendon which are arranged side by side; the contracting pneumatic tendon is arranged towards the centripetal side; the contraction type pneumatic tendon comprises an elastic latex tube sleeved with a woven mesh, and a ventilation joint and a sealing joint which are respectively fixed at two ends of the elastic latex tube; the elongated pneumatic tendon comprises a corrugated pipe, and a ventilation joint and a sealing joint which are respectively fixed at two ends of the corrugated pipe; the contraction type pneumatic tendon and the extension type pneumatic tendon are fixed on the fixing plate through the ventilation joint.
2. The pneumatic flexible gripping device of claim 1, wherein: the air joint and/or the sealing joint of the contraction type pneumatic tendon are/is fixed at the end part of the elastic latex tube through a hoop; the air joints and/or sealing joints of the elongated pneumatic tendons are fixed to the ends of the corrugated pipe by clamps.
3. A pneumatic flexible gripping device according to claim 1 or 2, characterized in that: the outer peripheral surface of one end part of the ventilation joint and/or the sealing joint is provided with a convex edge for sleeving the elastic latex tube and the corrugated tube, and the outer peripheral surface of the other end is provided with a smooth shaft section and a shaft shoulder which are used for being installed on the fixing plate.
4. The pneumatic flexible gripping device of claim 3, wherein: also comprises an upper disc and a lower disc; the upper disc is provided with a flange type structure for installing a fixing plate and a ventilation joint; and a flange type structure for installing a sealing joint is arranged on the lower disc.
5. The pneumatic flexible grip device of claim 4, wherein: a corrugated pipe shell is sleeved outside each pneumatic driver; and a rubber bottom cover is arranged at the tail end of the corrugated pipe shell.
6. The pneumatic flexible gripping device of claim 5, wherein: the rubber bottom cover is a hemispherical rubber cover, a flange structure is arranged around the upper end face of the rubber bottom cover, and the rubber bottom cover is fixedly connected with the lower disc through bolts.
7. The pneumatic flexible gripping device of claim 1, wherein: the fixed plate is of a plurality of branch plate-shaped structures; the branch supporting plates of the fixed plate are folded back to the pneumatic driver, so that the pneumatic driver is unfolded to form an open structure.
8. The pneumatic flexible gripping device of claim 1, wherein: the connecting frame is connected with the fixed plate and the fixed plate is connected with the pneumatic driver through flange structures.
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| CN202010316018.8A CN111469150B (en) | 2020-04-21 | 2020-04-21 | Pneumatic flexible grasping device |
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| CN111469150B true CN111469150B (en) | 2022-04-29 |
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| CN112976031B (en) * | 2021-03-23 | 2022-09-30 | 青岛双瑞海洋环境工程股份有限公司 | Pneumatic flexible driver and net-catching type pneumatic grabbing device |
| CN113119155A (en) * | 2021-04-06 | 2021-07-16 | 江苏科技大学 | Flexible mechanical gripper and control method thereof |
| CN113370242B (en) * | 2021-06-28 | 2022-08-30 | 燕山大学 | Horizontal-longitudinal coupling pneumatic type multi-finger soft manipulator |
| CN114954727B (en) * | 2022-06-14 | 2023-09-12 | 吉林大学 | Driving bionic crawling robot based on paper folding structure |
| CN117381819B (en) * | 2023-12-12 | 2024-02-23 | 泓浒(苏州)半导体科技有限公司 | Edge clamping type wafer taking and placing mechanical arm for operation in ultra-vacuum environment |
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