CN112476472B

CN112476472B - Pneumatic soft gripper with adjustable shape

Info

Publication number: CN112476472B
Application number: CN202011314956.0A
Authority: CN
Inventors: 王朝晖; 王旭东; 周文; 陈恒威; 王燎
Original assignee: Xian Jiaotong University
Current assignee: Xian Jiaotong University
Priority date: 2020-11-21
Filing date: 2020-11-21
Publication date: 2022-08-05
Anticipated expiration: 2040-11-21
Also published as: CN112476472A

Abstract

A pneumatic soft gripper with adjustable shape comprises a gripper fixing frame, wherein a plurality of rotatable gripper rotating frames are mounted on the gripper fixing frame, sliding blocks with changeable positions are connected on the gripper rotating frames, the upper part and the lower part of a connecting block are fixedly mounted below the sliding blocks, and soft fingers are clamped between the upper part and the lower part of the connecting block; the invention can adjust various forms according to the characteristics of the grabbed object, has low manufacturing cost and strong capability of adapting to severe environment.

Description

Pneumatic soft gripper with adjustable shape

Technical Field

The invention relates to the technical field of soft robots, in particular to a pneumatic soft gripper with an adjustable shape.

Background

The soft robot is an emerging hotspot of the current robot technology and the development front in the future, compared with the traditional rigid robot, the soft robot utilizes soft materials to enable the robot to obtain simpler and more efficient motion, shows unprecedented flexibility, interactivity and adaptability, and is an important trend of the development of the robot in the future.

Researchers at home and abroad use various soft materials and driving modes, and design a plurality of soft grippers capable of bending and deforming through structures, and the soft grippers have gripping capability, have small damage to a gripped object, and have great development and application prospects.

However, the positions of the gripping parts of most of the soft grippers are fixed, the gripping parts are not adjustable, and the soft grippers are only suitable for gripping in a single environment, while a small number of the soft grippers can be adjusted, but some of the soft grippers can only adjust the gripping diameter, and others have complicated structures, so that the stability is difficult to ensure in complicated and severe environments.

Disclosure of Invention

In order to overcome the disadvantages of the prior art, the invention aims to provide a pneumatic soft gripper with adjustable shapes, which can adjust various shapes according to the characteristics of a gripped object, has low manufacturing cost and strong capability of adapting to severe environments.

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

a pneumatic soft gripper with adjustable shapes comprises a gripper fixing frame 10, wherein a plurality of rotatable gripper rotating frames 20 are mounted on the gripper fixing frame 10, sliding blocks 30 with changeable positions are connected to the gripper rotating frames 20, an upper connecting block part 40 and a lower connecting block part 50 are fixedly mounted below the sliding blocks 30, and soft fingers 60 are clamped between the upper connecting block part 40 and the lower connecting block part 50.

The gripper fixing frame 10 comprises a fixing frame base body 15, a plurality of gripper rotating frame connecting parts are evenly distributed on the periphery of the fixing frame base body 15, a mounting disc 13 is connected to the upper portion of the middle of the fixing frame base body 15 through a connecting plate 16, 1 first rotating hole 14 is formed in each gripper rotating frame connecting part, and a first limiting structure 11 and a second limiting structure 12 are arranged on two sides of each gripper rotating frame connecting part.

The gripper rotating frame 20 comprises a rotating frame base body 24, a second rotating hole 23 is formed in one side of the rotating frame base body 24, a cavity is formed in the middle of the rotating frame base body 24, a sliding rail 22 is arranged inside the side wall of the cavity, and the sliding block 30 moves on the sliding rail 22; the upper part of the side wall of the cavity is provided with a plurality of rectangular grooves 21, and the sliding block 30 can only stay at a relatively fixed position on the rotating frame base body 24.

The sliding block 30 comprises a sliding block base body 34, the middle part of the sliding block base body 34 is provided with an air guide hole 33, and four corners of the sliding block base body 34 are provided with first connecting holes 32; the third limit structure 31 is equipped with to sliding block base member 34 one end both sides, and the third limit structure 31 is outwards extended by sliding block base member 34, and the third limit structure 31 is thinner by the inner segment, and it is slightly thick and both sides have the fillet to lean on the outer segment, and the thick section of third limit structure 31 can block in the rectangular channel 21 of tongs rotating turret 20.

The upper part 40 of the connecting block comprises an upper base body 44, one side of the upper base body 44 is provided with a second connecting hole 41, the upper base body 44 is provided with a clamping groove, a first clamping surface 43 is arranged in the clamping groove, and two sides of the clamping groove are provided with third connecting holes 42;

the lower connecting block part 50 comprises a lower base body 54, the lower base body 54 is provided with a fourth connecting hole 51, one side of the lower base body 54 is a second clamping surface 53, a fifth connecting hole 52 is arranged beside the second clamping surface 53, the third connecting hole 42 is matched and connected with the fifth connecting hole 52, the connected first clamping surface 43 and the second clamping surface 53 clamp a soft finger 60, and the upper surfaces of the upper base body 44 and the lower base body 54 are tightly attached to the lower surface of the sliding rail 22.

The end part of the soft finger 60 is provided with a concave structure, so that the upper part 40 and the lower part 50 of the connecting block are just clamped.

The soft finger 60 consists of an upper finger layer 61 and a lower finger layer 62, the upper finger layer 61 is internally provided with a plurality of communicated air cavities and air guide holes, and the elasticity of the material is good; the lower finger layer 62 is a hard rubber layer; the upper and

lower finger layers

61, 62 are manufactured separately and finally glued together.

The lower surface of the lower finger layer 62 is provided with a plurality of protruding structures, so that when the soft fingers are in contact with an object, better friction force is achieved, and the gripping capacity of the pneumatic soft gripper is enhanced.

The invention has the following beneficial effects:

1. the gripper fixing frame 10 and the gripper rotating frame 20 can rotate, so that the direction of the soft fingers 60 can be conveniently adjusted, and the surface of a gripped object can be better attached;

2. the limiting structure of the gripper fixing frame 10 limits the maximum rotation angle of the gripper rotating frame 20, and ensures that the position of the gripper rotating frame 20 is fixed during spherical gripping and cylindrical gripping;

3. the sliding rails 22 are arranged on the gripper rotating frame 20, so that the distance between the soft fingers 60 can be adjusted to better adapt to the size of a gripped object;

4. the rectangular groove 21 at the top of the gripper rotating frame 20 can accommodate the limiting structure 31 of the sliding block 30, so that the positions of each soft finger 60 from the center can be completely consistent;

5. due to the concave structure at the end part of the soft finger 60, the upper connecting block part 40 and the lower connecting block part 50 are just clamped, so that the mounting stability is ensured;

6. overall structure can rapid Assembly, and does not include accurate structure, circuit etc. can disassemble, install, change, maintain fast under adverse conditions.

Drawings

Fig. 1 is a perspective view of a spherical grasping state according to an embodiment of the present invention.

Fig. 2 is a perspective view of a cylindrical grasping state according to an embodiment of the present invention.

Fig. 3 is a three-dimensional structure diagram of the gripper fixing frame according to the embodiment of the invention.

Fig. 4 is a three-dimensional structure view of the gripper rotating frame according to the embodiment of the invention.

FIG. 5 is a perspective view of a slider according to an embodiment of the present invention.

Fig. 6 is a perspective view of the upper portion of the connection block according to the embodiment of the present invention.

Fig. 7 is a perspective view of the lower portion of the connecting block according to the embodiment of the present invention.

FIG. 8 is a cross-sectional view of the inside of a soft finger according to an embodiment of the present invention.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments and the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 and 2, the pneumatic soft gripper with adjustable shape comprises a gripper fixing frame 10, wherein 4 rotatable gripper rotating frames 20 are mounted on the gripper fixing frame 10, a sliding block 30 with a changeable position is connected to the gripper rotating frames 20, an upper connecting block part 40 and a lower connecting block part 50 are fixedly mounted below the sliding block 30, and a soft finger 60 is clamped between the upper connecting block part 40 and the lower connecting block part 50.

The pneumatic soft gripper in this embodiment can adjust the positions of the four soft fingers 60 to realize gripping in various forms: as shown in fig. 1, when the four gripper rotating frames 20 are cross-shaped, the pneumatic soft gripper is in a spherical gripping state, and is easy to grip the objects in a ball shape; as shown in fig. 2, when the four gripper rotating frames 20 are in a two-sided shape, the pneumatic soft gripper is in a cylindrical gripping state, and is easy to grip a long strip-shaped object.

As shown in fig. 3, the gripper fixing frame 10 comprises a fixing frame base body 15, 4 gripper rotating frame connecting parts are uniformly distributed on the periphery of the fixing frame base body 15, a mounting disc 13 is connected above the middle part of the fixing frame base body 15 through a connecting plate 16, and the mounting disc 13 can fix the pneumatic soft gripper in a specific use place;

each gripper rotating frame connecting part is provided with 1 first rotating hole 14, the gripper rotating frames 20 are connected through the first rotating holes 14, two sides of each gripper rotating frame connecting part are provided with a first limiting structure 11 and a second limiting structure 12, and the limiting structures limit the gripper rotating frames 20 not to rotate continuously after reaching a spherical gripping state or a cylindrical gripping state.

As shown in fig. 4, the gripper rotating frame 20 includes a rotating frame base 24, one side of the rotating frame base 24 is provided with a second rotating hole 23, and the rotating frame base 24 is connected with the first rotating hole 14 of the gripper fixing frame 10 through the second rotating hole 23; the middle part of the rotating frame base body 24 is a cavity, a slide rail 22 is arranged inside the side wall of the cavity, and the slide block 30 moves on the slide rail 22; in order to ensure that the distance between the sliding block 30 on each gripper rotating frame 20 and the central point is consistent, a plurality of rectangular grooves 21 are arranged on the upper part of the side wall of the cavity, and the sliding block 30 can only stay at a relatively fixed position on the rotating frame base body 24.

As shown in fig. 5, the sliding block 30 includes a sliding block base 34, an air guide hole 33 is formed in the middle of the sliding block base 34, and an air pipe can be placed in the air guide hole 33; four corners of the sliding block base body 34 are provided with first connecting holes 32, and the first connecting holes 32 are used for being connected with the connecting block upper part 40 and the connecting block lower part 50; sliding block base member 34 one end both sides are equipped with third limit structure 31, and third limit structure 31 is outwards extended by sliding block base member 34, and third limit structure 31 is thinner by the inner segment, and it is slightly thick and both sides have the fillet to lean on the outer segment, and the thick section of third limit structure 31 can block in the rectangular channel 21 of tongs rotating turret 20 to the design of fillet can directly promote sliding block 30 from a rectangular channel to next rectangular channel, need not pull down completely.

As shown in fig. 6, the connecting block upper part 40 includes an upper base 44, and a second connecting hole 41 is formed on one side of the upper base 44, and the second connecting hole 41 is used for being matched with the first connecting hole 32 of the sliding block base 34 to realize connection; a clamping groove is formed in the upper base body 44, a first clamping surface 43 is arranged in the clamping groove, and third connecting holes 42 are formed in two sides of the clamping groove;

as shown in fig. 7, the lower connecting block part 50 includes a lower base 54, the lower base 54 is provided with a fourth connecting hole 51, and the fourth connecting hole 51 is used for being matched with the first connecting hole 32 of the sliding block base 34 to realize connection; one side of the lower base 54 is a second clamping surface 53, a fifth connecting hole 52 is arranged beside the second clamping surface 53, the third connecting hole 42 is connected with the fifth connecting hole 52 in a matching way, the connected first clamping surface 43 and the second clamping surface 53 clamp a soft finger 60, and the upper surfaces of the upper base 44 and the lower base 54 are tightly attached to the lower surface of the slide rail 22.

As shown in fig. 8, the end of the soft finger 60 is provided with a concave structure, so that the upper connecting block part 40 and the lower connecting block part 50 are just clamped.

lower finger layers

61, 62 are manufactured separately and finally glued together.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a pneumatic software tongs of adjustable form which characterized in that: the gripper fixing frame (10) is provided with a plurality of rotatable gripper rotating frames (20), the gripper rotating frames (20) are connected with sliding blocks (30) with changeable positions, an upper connecting block part (40) and a lower connecting block part (50) are fixedly arranged below the sliding blocks (30), and soft fingers (60) are clamped between the upper connecting block part (40) and the lower connecting block part (50);

the gripper fixing frame (10) comprises a fixing frame base body (15), a plurality of gripper rotating frame connecting parts are uniformly distributed on the periphery of the fixing frame base body (15), a mounting disc (13) is connected to the upper portion of the middle of the fixing frame base body (15) through a connecting plate (16), 1 first rotating hole (14) is formed in each gripper rotating frame connecting part, and a first limiting structure (11) and a second limiting structure (12) are arranged on two sides of each gripper rotating frame connecting part;

the gripper rotating frame (20) comprises a rotating frame base body (24), a second rotating hole (23) is formed in one side of the rotating frame base body (24), a cavity is formed in the middle of the rotating frame base body (24), a sliding rail (22) is arranged inside the side wall of the cavity, and a sliding block (30) moves on the sliding rail (22); the upper part of the side wall of the cavity is provided with a plurality of rectangular grooves (21);

the sliding block (30) comprises a sliding block base body (34), air guide holes (33) are formed in the middle of the sliding block base body (34), and first connecting holes (32) are formed in four corners of the sliding block base body (34); third limiting structures (31) are arranged on two sides of one end of the sliding block base body (34), the third limiting structures (31) extend outwards from the sliding block base body (34), the third limiting structures (31) are thinner near the inner section, thicker near the outer section and provided with round corners on two sides, and the thicker sections of the third limiting structures (31) can be clamped in rectangular grooves (21) of the gripper rotating frame (20);

the soft finger (60) consists of an upper finger layer (61) and a lower finger layer (62), the upper finger layer (61) is internally provided with a plurality of communicated air cavities and air guide holes, and the elasticity of the material is good; the lower finger layer (62) is a hard rubber layer; the upper finger layer (61) and the lower finger layer (62) are manufactured separately and finally adhered together;

the lower surface of the lower finger layer (62) is provided with a plurality of protruding structures, so that when the soft fingers are in contact with an object, better friction force is achieved, and the gripping capacity of the pneumatic soft gripper is enhanced.

2. The adjustable configuration pneumatic soft gripper of claim 1, wherein: the upper part (40) of the connecting block comprises an upper base body (44), one side of the upper base body (44) is provided with a second connecting hole (41), the upper base body (44) is provided with a clamping groove, a first clamping surface (43) is arranged in the clamping groove, and the two sides of the clamping groove are provided with third connecting holes (42);

connecting block lower part (50) include lower part base member (54), lower part base member (54) are equipped with fourth connecting hole (51), one side of lower part base member (54) is the second and presss from both sides tight face (53), second presss from both sides and is equipped with fifth connecting hole (52) next door, third connecting hole (42) are connected with fifth connecting hole (52) cooperation, the first clamp face (43) of connection, second press from both sides tight face (53) and can press from both sides tight software finger (60), and upper portion base member (44), the lower surface of slide rail (22) can be hugged closely to the upper surface of lower part base member (54).

3. The adjustable configuration pneumatic soft gripper of claim 1, wherein: the end part of the soft finger (60) is provided with a concave structure, so that the upper part (40) and the lower part (50) of the connecting block are just clamped.