CN112060111A - Self-adaptive winding type large-bearing software gripping device - Google Patents
Self-adaptive winding type large-bearing software gripping device Download PDFInfo
- Publication number
- CN112060111A CN112060111A CN201910495730.6A CN201910495730A CN112060111A CN 112060111 A CN112060111 A CN 112060111A CN 201910495730 A CN201910495730 A CN 201910495730A CN 112060111 A CN112060111 A CN 112060111A
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- China
- Prior art keywords
- air pipe
- flexible sleeve
- hoop
- air
- pipe joint
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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
-
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a device is grabbed to big software of bearing weight of self-adaptation wound form, its mainly includes connecting seat, flexible cover, pneumatic artificial muscle, gasbag and each trachea and mounting constitution, and flexible cover is installed on the connecting seat, and pneumatic artificial muscle twines on the surface of flexible cover, through aerifing the shrink that can flexible cover inner chamber, and the gasbag is installed in the inner chamber of flexible cover, snatchs the extrusion of snatching the object through aerifing the realization. The invention is mainly made of flexible materials such as silica gel, latex tubes and fibers, and can realize the lossless grasping of articles by contacting the articles through the air bags when the articles are grasped. 4 air bags are arranged in the inner surface of the flexible sleeve, so that the grabbing range of the inner cavity of the closed paw is effectively enlarged. In addition, the spiral winding structure is designed on the outer side of the flexible sleeve, when the air bag extrudes objects, the pneumatic artificial muscle is inflated and contracted, the flexible sleeve is further wound tightly, and the large bearing capacity of the invention is enhanced.
Description
Technical Field
The invention relates to a soft body grasping device.
Background
In industrial automatic production, the processes of fixing and transferring intermediate products by robots and the like all need to hold and hold devices. The conventional grasping apparatus is mainly composed of a rigid link mechanism, and is driven by a driving device such as a motor. The rigid grasping device has the advantages of flexible and accurate movement, large bearing capacity and the like, and is widely applied to modern industrial production. However, the traditional rigid gripping device is difficult to realize the requirements of gripping fragile articles and human-computer safety interaction tasks, and the soft gripping device can better meet the requirements and has important application prospect and research value. At present, in the research of promoting a soft body gripping device, German FESTO company successively promotes multiple novel products such as MultiChoiceGripper, FlexShapeGripper and the like, and domestic Beijing software robot science and technology limited company also promotes SFG series flexible clamping jaws, so that the soft body gripping device has good gripping effect and market potential. However, most of the existing flexible soft grasping devices have the problem of insufficient grasping force, so that the application range and the popularization prospect of the soft grasping devices are greatly restricted, and the research on the soft grasping devices with the characteristics of large load has great research significance.
Disclosure of Invention
In order to take the characteristics of flexible gripping and large force bearing of the soft gripping device into consideration, the invention provides a winding type large-bearing soft gripping device which can conform to the surface of a gripped object.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a self-adaptive winding type large-bearing-capacity soft body gripping device which mainly comprises a connecting seat, a flexible sleeve, pneumatic artificial muscles, an air bag, air pipes and fixing pieces, wherein the flexible sleeve is arranged on the connecting seat, the pneumatic artificial muscles are wound on the outer surface of the flexible sleeve and can contract an inner cavity of the flexible sleeve through inflation, the air bag is arranged in the inner cavity of the flexible sleeve, and the object to be gripped is squeezed and gripped through inflation.
The connecting seat be the syllogic gyration shell type structure of metal material, the less one end of upper portion diameter is equipped with the ring flange, is equipped with 4 circular through-holes of circumference equipartition on this ring flange for be connected with the arm. The middle part is provided with a circular through hole for the penetration of an air pipe A, and the end with larger diameter at the lower part is connected with the flexible sleeve through a clamp A. The flexible sleeve is a tubular rotary structure which is made of silica gel materials and is provided with openings at two ends, the tubular rotary structure at the upper section has a smaller diameter and is fixedly connected with the lower part of the connecting seat through a hoop A, the middle part is a truncated cone shell structure, the lower part is a hollow round tube structure, the outer side surface of the round tube is provided with a spiral pipeline structure for the pneumatic artificial muscle to pass through, the outlets at two sides of the spiral pipeline structure are respectively provided with an inclined plane boss, the middle of the boss is provided with a clamping groove structure for being matched and connected with the air tube connector A and the air tube connector B; the inner side of the opening at the lowest part of the flexible sleeve is provided with a rotary structure with the shape of an inverted trapezoid in section. The air pipe connector A is of a T-shaped tubular structure, a semicircular boss structure is arranged on one side of the air pipe connector A, which is connected with an upper inclined plane boss of the flexible sleeve, a circular through hole is formed in the position of the circle center, the air pipe connector A is bound on the upper inclined plane boss of the flexible sleeve through a rope, and the other two sides of the air pipe connector A are of an L-shaped air pipe structure and are fixedly connected with the air pipe B and the pneumatic artificial muscle through the clamp B and the clamp C respectively. The air pipe connector B is of a circular boss structure, a semicircular boss structure is arranged on one side of the air pipe connector B connected with a lower inclined plane boss of the flexible sleeve, a circular through hole is formed in the position of the circle center, the air pipe connector B is bound on the lower inclined plane boss of the flexible sleeve through a rope, the other side of the air pipe connector B is of a solid cylindrical structure, and the air pipe connector B is fixedly connected with the other end of the pneumatic artificial muscle through a hoop D. The pneumatic artificial muscle mainly comprises a latex tube and a woven mesh, the woven mesh is sleeved on the outer side of the latex tube, and two ends of the pneumatic artificial muscle are fixed on an air pipe connector A and an air pipe connector B through a clamp C and a clamp D respectively.
4 air bags are uniformly adhered to the inner surface of the flexible sleeve in the circumferential direction, the four sides of each air bag are provided with a fold structure, and the air bags can be expanded greatly after being inflated, wherein 2 air bags are connected through an air pipe A, and the rest air bags are connected through an air pipe C. Trachea A for "T" type silica gel tubular structure, wherein both ends link to each other with the gasbag, the other end stretches out from the circular through-hole of connecting seat after the inner wall bonding of flexible cover, connecting seat.
The hoop A, the hoop B, the hoop C and the hoop D are sheet metal structures with tightening devices.
Compared with the prior art, the invention has the following technical effects:
the whole soft grasping device is mainly made of flexible materials such as silica gel, latex tubes and fibers, and when the soft grasping device grasps an article, the article is contacted through the air bag, so that the article can be grasped without damage.
Secondly, the inner cavity grabbing range of the closed claw is effectively improved through the design that the air bag is arranged in the inner surface of the flexible sleeve.
And thirdly, a spiral winding structure is designed on the outer side of the flexible sleeve to form a force closed type grabbing structure, when the air bag extrudes objects, pneumatic artificial muscles are inflated and contracted to further wind the flexible sleeve tightly, and the large bearing capacity of the pneumatic artificial muscle is enhanced.
Drawings
FIG. 1 is an external perspective view of the present invention.
Fig. 2 is a schematic internal perspective view of the present invention.
Fig. 3 is a sectional view showing the internal structure of the present invention.
In the figure: 1-connecting seat, 2-trachea A, 3-clamp A, 4-trachea B, 5-clamp B, 6-clamp C, 7-trachea joint A, 8-rope, 9-flexible sleeve, 10-trachea joint B, 11-clamp D, 12-pneumatic artificial muscle, 13-air bag and 14-trachea C.
Detailed Description
The self-adaptive winding type large-load-bearing software gripping device as shown in fig. 1-3 mainly comprises a connecting seat 1, a flexible sleeve 9, a pneumatic artificial muscle 12, an air bag 13, air pipes and fixing pieces, wherein the flexible sleeve 9 is installed on the connecting seat 1, the pneumatic artificial muscle 12 is wound on the outer surface of the flexible sleeve 9, the inner cavity of the flexible sleeve 9 can be contracted through inflation, the air bag 13 is installed in the inner cavity of the flexible sleeve 9, and the object to be gripped is squeezed and gripped through inflation.
Connecting seat 1 be the syllogic gyration shell type structure of metal material, the less one end of upper portion diameter is equipped with the ring flange, is equipped with 4 circular through-holes of circumference equipartition on this ring flange for be connected with the arm. The middle part is provided with a circular through hole for the penetration of an air pipe A2, and the end with larger diameter at the lower part is connected with the flexible sleeve 9 through a clamp A3. The flexible sleeve 9 is a tubular rotary structure made of silica gel material and provided with openings at two ends, the tubular rotary structure at the upper section has a smaller diameter and is fixedly connected with the lower part of the connecting seat 1 through a hoop A3, the middle part of the flexible sleeve is of a truncated cone shell structure, the lower part of the flexible sleeve is of a hollow round tube structure, a spiral pipeline structure is arranged on the outer side surface of the round tube and used for the penetration of a pneumatic artificial muscle 12, inclined plane bosses are respectively arranged at the outlets at two sides of the spiral pipeline structure, and a clamping groove structure is arranged in the middle of each boss and used for being matched and connected with a gas pipe connector A36; a rotary structure with an inverted trapezoidal cross section is arranged on the inner side of the opening at the lowest part of the flexible sleeve 9. The air pipe connector A7 is of a T-shaped tubular structure, a semicircular boss structure is arranged on one side of the air pipe connector A7 connected with an upper inclined plane boss of the flexible sleeve 9, a circular through hole is formed in the position of the center of a circle and is bound on the upper inclined plane boss of the flexible sleeve 9 through a rope 8, and the other two sides of the air pipe connector A7 are of an L-shaped air pipe structure and are fixedly connected with an air pipe B4 and a pneumatic artificial muscle 12 through a clamp B5 and a clamp C6 respectively. The air pipe connector B10 is a circular boss structure, one side of the air pipe connector B10, which is connected with a lower inclined plane boss of the flexible sleeve 9, is provided with a semicircular boss structure, a circular through hole is arranged at the position of the circle center, the air pipe connector B10 is bound on the lower inclined plane boss of the flexible sleeve 9 through a rope 8, the other side of the air pipe connector B10 is of a solid cylindrical structure, and the air pipe connector B11 is fixedly connected with the other end of the pneumatic artificial muscle. The pneumatic artificial muscle 12 mainly comprises a latex tube and a woven mesh, the woven mesh is sleeved outside the latex tube, and two ends of the woven mesh are fixed on an air pipe connector A7 and an air pipe connector B10 through a hoop C6 and a hoop D11 respectively.
4 air bags 13 are uniformly adhered to the inner surface of the flexible sleeve 9 in the circumferential direction, the four sides of each air bag 13 are provided with folded structures, and large expansion can be realized after inflation, wherein 2 air bags 13 are connected through an air pipe A2, and the rest air bags 13 are connected through an air pipe C14. Trachea A2 be "T" type silica gel tubular structure, wherein both ends are connected with gasbag 13, and the other end stretches out from the circular through-hole of connecting seat 1 after bonding along the inner wall of flexible cover 9, connecting seat 1. The clamp A3, the clamp B5, the clamp C6 and the clamp D11 are of a metal sheet structure with a tightening device.
The working process of the invention is as follows: when grabbing article, at first aerify 4 gasbags 13 of equipartition at flexible cover 9 internal surface through trachea A2, the gasbag 13 inflates and expands the back extrusion article surface, forms the parcel formula and snatchs the state, then aerifys pneumatic artificial muscle 12 through trachea B4, shortens after pneumatic artificial muscle 12 inflates and becomes thick, twines tight flexible cover 9, increases the power of grabbing of flexible cover 9. When the object is released, the air bag 13 and the pneumatic artificial muscle 12 are deflated, and the soft grasping and holding device is restored to the initial state under the action of the flexible sleeve 9.
Claims (2)
1. The utility model provides a big software of bearing weight of self-adaptation wound form is grabbed and is held device which characterized in that: the pneumatic artificial muscle is wound on the outer surface of the flexible sleeve and can contract the inner cavity of the flexible sleeve through inflation, and the air bag is arranged in the inner cavity of the flexible sleeve to realize extrusion and grabbing of grabbed objects through inflation; the connecting seat is of a three-section type rotary shell-shaped structure made of metal, a flange is arranged at one end with a smaller diameter at the upper part, and 4 circular through holes are uniformly distributed in the circumferential direction and used for being connected with the mechanical arm; the middle part is provided with a circular through hole for the penetration of an air pipe A, and the end with larger diameter at the lower part is connected with the flexible sleeve through a clamp A; the flexible sleeve is a tubular rotary structure which is made of silica gel materials and is provided with openings at two ends, the tubular rotary structure at the upper section has a smaller diameter and is fixedly connected with the lower part of the connecting seat through a hoop A, the middle part is a truncated cone shell structure, the lower part is a hollow round tube structure, the outer side surface of the round tube is provided with a spiral pipeline structure for the pneumatic artificial muscle to pass through, the outlets at two sides of the spiral pipeline structure are respectively provided with an inclined plane boss, the middle of the boss is provided with a clamping groove structure for being matched and connected with the air tube connector A and the air tube connector B; a rotary structure with an inverted trapezoidal cross section is arranged on the inner side of the opening at the lowest part of the flexible sleeve; the air pipe joint A is of a T-shaped tubular structure, a semicircular boss structure is arranged on one side of the air pipe joint A, which is connected with an upper inclined plane boss of the flexible sleeve, a circular through hole is arranged at the position of the circle center, the air pipe joint A is bound on the upper inclined plane boss of the flexible sleeve through a rope, and the other two sides of the air pipe joint A are of an L-shaped air pipe structure and are fixedly connected with the air pipe B and the pneumatic artificial muscle through a hoop B and a hoop C respectively; the air pipe joint B is of a circular boss structure, a semicircular boss structure is arranged on one side of the air pipe joint B, which is connected with a lower inclined plane boss of the flexible sleeve, a circular through hole is arranged at the position of the circle center, the air pipe joint B is bound on the lower inclined plane boss of the flexible sleeve through a rope, and the other side of the air pipe joint B is of a solid cylindrical structure and is fixedly connected with the other end of the pneumatic artificial muscle through a hoop D; the pneumatic artificial muscle mainly comprises a latex tube and a woven mesh, the woven mesh is sleeved on the outer side of the latex tube, and two ends of the woven mesh are fixed on an air pipe joint A and an air pipe joint B through a hoop C and a hoop D respectively; 4 air bags are uniformly adhered to the inner surface of the flexible sleeve in the circumferential direction, the four sides of each air bag are provided with a fold structure, and the air bags can realize larger expansion after being inflated, wherein 2 air bags are connected through an air pipe A, and the rest air bags are connected through an air pipe C; trachea A for "T" type silica gel tubular structure, wherein both ends link to each other with the gasbag, the other end stretches out from the circular through-hole of connecting seat after the inner wall bonding of flexible cover, connecting seat.
2. The parallel platform drive based rope traction robot of claim 1, wherein: the hoop A, the hoop B, the hoop C and the hoop D are sheet metal structures with tightening devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910495730.6A CN112060111A (en) | 2019-06-10 | 2019-06-10 | Self-adaptive winding type large-bearing software gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910495730.6A CN112060111A (en) | 2019-06-10 | 2019-06-10 | Self-adaptive winding type large-bearing software gripping device |
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| Publication Number | Publication Date |
|---|---|
| CN112060111A true CN112060111A (en) | 2020-12-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910495730.6A Pending CN112060111A (en) | 2019-06-10 | 2019-06-10 | Self-adaptive winding type large-bearing software gripping device |
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| CN (1) | CN112060111A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146629A (en) * | 2021-04-14 | 2021-07-23 | 杭州职业技术学院 | Manipulator accurate control system and control device thereof |
| US20220361291A1 (en) * | 2021-05-06 | 2022-11-10 | Dupont Electronics, Inc. | Moveable gripper for gripping a container and heating contents of the container through dynamically controlled thermal contact and heat settings |
| US20220361294A1 (en) * | 2021-05-06 | 2022-11-10 | Dupont Electronics, Inc. | Moveable gripper for gripping a container and heating contents of the container through dynamically controlled thermal contact and heat settings |
| CN115367161A (en) * | 2022-07-18 | 2022-11-22 | 北京精密机电控制设备研究所 | Device for reliably transferring and storing space debris |
| WO2022263456A1 (en) * | 2021-06-14 | 2022-12-22 | Fieldwork Robotics Limited | An end-effector |
-
2019
- 2019-06-10 CN CN201910495730.6A patent/CN112060111A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146629A (en) * | 2021-04-14 | 2021-07-23 | 杭州职业技术学院 | Manipulator accurate control system and control device thereof |
| CN113146629B (en) * | 2021-04-14 | 2023-07-07 | 杭州职业技术学院 | Accurate control system and control device of manipulator |
| US20220361291A1 (en) * | 2021-05-06 | 2022-11-10 | Dupont Electronics, Inc. | Moveable gripper for gripping a container and heating contents of the container through dynamically controlled thermal contact and heat settings |
| WO2022235740A1 (en) * | 2021-05-06 | 2022-11-10 | Dupont Electronics, Inc. | Moveable gripper for gripping a container and heating contents of the container through dynamically controlled thermal contact and heat settings |
| US20220361294A1 (en) * | 2021-05-06 | 2022-11-10 | Dupont Electronics, Inc. | Moveable gripper for gripping a container and heating contents of the container through dynamically controlled thermal contact and heat settings |
| WO2022235742A1 (en) * | 2021-05-06 | 2022-11-10 | Dupont Electronics, Inc. | Moveable gripper for gripping a container and heating contents of the container through dynamically controlled thermal contact and heat settings |
| WO2022263456A1 (en) * | 2021-06-14 | 2022-12-22 | Fieldwork Robotics Limited | An end-effector |
| CN115367161A (en) * | 2022-07-18 | 2022-11-22 | 北京精密机电控制设备研究所 | Device for reliably transferring and storing space debris |
| CN115367161B (en) * | 2022-07-18 | 2023-12-12 | 北京精密机电控制设备研究所 | Device for reliably transferring and storing space fragments |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20201211 |
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| WD01 | Invention patent application deemed withdrawn after publication |