CN114905539A - Mechanical arm flexible clamping jaw for adjusting clamping force - Google Patents
Mechanical arm flexible clamping jaw for adjusting clamping force Download PDFInfo
- Publication number
- CN114905539A CN114905539A CN202210595888.2A CN202210595888A CN114905539A CN 114905539 A CN114905539 A CN 114905539A CN 202210595888 A CN202210595888 A CN 202210595888A CN 114905539 A CN114905539 A CN 114905539A
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- CN
- China
- Prior art keywords
- clamping jaw
- negative poisson
- clamping
- connecting plate
- adjusting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000000463 material Substances 0.000 claims abstract description 47
- 238000010073 coating (rubber) Methods 0.000 claims description 14
- 230000006835 compression Effects 0.000 abstract description 3
- 238000007906 compression Methods 0.000 abstract description 3
- 210000000078 claw Anatomy 0.000 description 5
- 239000011247 coating layer Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm flexible clamping jaw for adjusting the clamping force, which belongs to the technical field of mechanical equipment and comprises: the clamping jaw device comprises a clamping jaw bracket, a hydraulic pump, a hydraulic cylinder, a telescopic rod and a negative Poisson ratio material finger; a plurality of hydraulic pumps are axially distributed and installed on the clamping jaw support, the hydraulic cylinder is installed at the output end of each hydraulic pump, the hydraulic cylinder is located the bottom of the clamping jaw support, the telescopic rod is connected at the bottom end of the hydraulic cylinder, a first connecting plate is fixedly installed in the middle of the hydraulic cylinder, a second connecting plate is fixedly installed at the bottom end of the telescopic rod, the telescopic rod penetrates through a material finger with a negative poisson ratio, and two ends of the material finger with the negative poisson ratio are fixedly connected to the first connecting plate and the second connecting plate respectively. The clamping device utilizes the material property of the negative Poisson ratio, realizes the grabbing and releasing of the clamping object through the extension and the compression of the material fingers with the negative Poisson ratio, the material fingers with the negative Poisson ratio have flexibility, can avoid the damage of overlarge clamping force to the clamping object and the clamping jaw, and have large movement stroke and strong adaptability.
Description
Technical Field
The invention belongs to the technical field of mechanical equipment, and particularly relates to a flexible clamping jaw of a mechanical arm for adjusting the clamping force.
Background
The mechanical claw is a common mechanical device, can realize automatic grabbing by matching with a mechanical arm, and is widely applied to industrial production. The traditional mechanical claw is complex in mechanical structure, low in transmission efficiency and high in rigidity, the clamping force of the mechanical claw on a clamped object is not easy to detect, and the outer surface of the clamped object is easy to damage. Negative Poisson's Ratio (nbp) material is a new type of metamaterial, which is characterized by shrinkage (expansion) deformation in the transverse direction when subjected to uniaxial compression (stretching). Due to the unique deformation behavior, the negative Poisson ratio material is proved to have the properties of high specific strength, high energy absorption rate and the like, and has wide application prospect in the fields of aerospace, medical health and the like. How to use the material of negative poisson's ratio to apply in the mechanical claw field, propose a simple in construction, can protect the outer surface flexible claw of the clamped thing is the technical matter that the technicians in this field need to solve urgently.
Disclosure of Invention
In view of this, the invention provides a flexible clamping jaw of a mechanical arm for adjusting the magnitude of a clamping force, wherein hydraulic pumps axially distributed on a clamping jaw support control the expansion and contraction of a telescopic rod to realize the extension and compression of a negative poisson's ratio material finger, and the negative poisson's ratio material finger can expand or contract radially when being extended or compressed to realize the grabbing or releasing of a clamped object.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robotic arm flexible clamping jaw for adjusting the amount of clamping force, comprising:
a jaw support;
the hydraulic pumps are axially distributed and installed on the clamping jaw support;
the hydraulic cylinder is mounted at the output end of each hydraulic pump and is positioned at the bottom end of the clamping jaw support;
the telescopic rod is connected to the bottom end of the hydraulic cylinder;
the hydraulic cylinder is characterized in that a first connecting plate is fixedly mounted in the middle of the hydraulic cylinder, a second connecting plate is fixedly mounted at the bottom end of the telescopic rod, the telescopic rod penetrates through the negative poisson ratio material finger, and two ends of the negative poisson ratio material finger are fixedly connected to the first connecting plate and the second connecting plate respectively.
Further, the rubber packing layer is further included, and the rubber packing layer is sleeved at the lower end of the negative Poisson ratio material finger.
Further, still include the slider, be provided with a plurality of slides on the clamping jaw support, the slider slides in the slide, the output of hydraulic pump passes the slider, the hydraulic pump is along with the slider slides in the slide.
Further, still include the cylinder, the middle part of clamping jaw support is provided with the connecting piece, cylinder one end fixed connection be in on the connecting piece, the other end with hydraulic pump fixed connection.
Further, the negative poisson's ratio material finger can be replaced according to different types of clamped objects.
Further, the clamp device further comprises a pressure sensor, wherein the pressure sensor is installed inside the rubber coating layer and used for judging the magnitude of the clamping force.
The invention has the beneficial effects that:
according to the invention, hydraulic pumps axially distributed on a clamping jaw support control extension and contraction of a telescopic rod through a hydraulic cylinder, a second connecting plate drives a negative Poisson ratio material finger to extend and compress, the negative Poisson ratio material finger extends and radially expands, a plurality of negative Poisson ratio material fingers expand to clamp, and the negative Poisson ratio material finger presses, shrinks and contracts; the negative Poisson ratio material has flexibility and can protect the surface of a clamped object; the air cylinder controls the hydraulic pump to slide in the slide way of the clamping jaw support, the rough adjustment of the position of the negative Poisson ratio material finger when grabbing the clamped object is completed, and then the clamped object is grabbed through the radial expansion of the negative Poisson ratio material finger; the rubber coating layer on the negative poisson ratio material finger can further avoid rigid damage to the surface of the clamping object; the pressure sensor inside the rubber coating detects the clamp force in real time, and avoids the clamp force too big.
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 or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a robotic arm flexible jaw for adjusting the amount of clamping force;
FIG. 2 is a front view of a robotic arm flexible jaw for adjusting the amount of clamping force;
FIG. 3 is a top view of a robotic arm flexible jaw for adjusting the amount of clamping force;
FIG. 4 is a schematic diagram of a robotic arm flexible jaw for adjusting the amount of clamping force without a rubber coating;
FIG. 5 is a front view of a robotic arm flexible jaw for adjusting the amount of clamping force without a negative Poisson's ratio material finger;
FIG. 6 is a schematic view of the structure of the jaw housing and slide;
wherein, in the figure:
the device comprises a 10-negative Poisson ratio material finger, a 20-clamping jaw support, a 21-slideway, a 22-connecting piece, a 30-hydraulic pump, a 40-hydraulic cylinder, a 41-first connecting plate, a 42-second connecting plate, a 43-telescopic rod, a 50-sliding block, a 60-air cylinder, a 70-clamping object and an 80-rubber coating layer.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, 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.
Referring to fig. 1-6, the present invention provides a robotic arm flexible jaw for adjusting the amount of clamping force, comprising: the clamping jaw support 20, the hydraulic pump 30, the hydraulic cylinder 40, the telescopic rod 43 and the negative poisson's ratio material finger 10; a plurality of hydraulic pumps 30 are axially distributed and mounted on the clamping jaw support 20, three hydraulic pumps 30 are illustrated in the drawings 1-6 in the specification, and at least three hydraulic pumps 30 are arranged; the output end of each hydraulic pump is provided with a hydraulic cylinder 40, the hydraulic cylinder 40 is positioned at the bottom end of the clamping jaw support, the telescopic rod 43 is connected with the hydraulic cylinder 40, the hydraulic pump 30 pumps oil to the top end of the telescopic rod 43 through the hydraulic cylinder 40, the telescopic rod 43 is extended, and on the contrary, the hydraulic pump is shortened; the middle part of the hydraulic cylinder 40 is fixedly provided with a first connecting plate 41, the bottom end of the telescopic rod 43 is fixedly provided with a second connecting plate 42, the telescopic rod 43 penetrates through the negative poisson ratio material finger 10, two ends of the negative poisson ratio material finger 10 are respectively and fixedly connected to the first connecting plate 41 and the second connecting plate 42, the telescopic rod 43 extends to drive the second connecting plate 42 to move downwards, at the moment, the negative poisson ratio material finger 10 is lengthened, the negative poisson ratio material finger 10 expands radially, and the negative poisson ratio material fingers 10 expand together to clamp the clamping object 70.
The utility model provides an adjust flexible clamping jaw of arm of clamp force size still includes rubber coating 80, and rubber coating 80 suit is at the lower extreme that negative poisson ratio material indicated 10, and rubber coating 80 texture is soft, has elasticity, and coefficient of friction is higher for it is firm to snatch centre gripping thing 70 after negative poisson ratio material indicated 10 radial expansion.
The mechanical arm flexible clamping jaw capable of adjusting the clamping force further comprises a sliding block 50, a plurality of sliding ways 21 are arranged on the clamping jaw support 20, the number of the sliding ways 21 corresponds to that of the hydraulic pumps 30, the sliding block 50 slides in the sliding ways 21, the output end of the hydraulic pump 30 penetrates through the sliding block 50 to be connected with the hydraulic cylinder 40, the hydraulic cylinder 40 is not in contact with the bottom end of the clamping jaw support 20, and the hydraulic pumps 30 slide in the sliding ways 21 along with the sliding block 50.
The utility model provides an adjust flexible clamping jaw of arm of clamp force size still includes cylinder 60, the middle part of clamping jaw support 20 is provided with connecting piece 22, be connected with external structure device through the flange on the connecting piece 22, and external drive device passes through connecting piece 22 and is connected with cylinder 60 one end, the cylinder 60 other end and hydraulic pump 30 fixed connection, cylinder 60 is flexible to be promoted hydraulic pump 30 and slider 50 and slides in slide 21, accomplish the position coarse adjustment when negative poisson ratio material indicates 10 and snatchs centre gripping thing 70, rethread negative poisson ratio material indicates 10 radial expansion and snatchs centre gripping thing 70.
The material with the negative Poisson ratio 10 expands radially when being stretched, has certain axial rigidity, can generate larger contact area with a grabbed object, provides certain clamping force without bending, and simultaneously generates certain deformation when the clamping force is too large, so that the clamped object 70 and the clamping jaw are not damaged; the negative poisson's ratio material fingers 10 may be changed for different types of grips 70 to accommodate different clamping forces or requirements of the grips 70.
The utility model provides an adjust flexible clamping jaw of arm of clamp force size still includes pressure sensor, and pressure sensor installs in the inside of rubber coating 80, and the pressure sensor of rubber coating 80 internally mounted is used for carrying out the judgement of clamp force size, simultaneously indicates the clamp force that 10 need provide to cylinder 60 and negative poisson's ratio material and provides the reference.
The working process of the invention is as follows: the mechanical arm provided with the flexible clamping jaw moves above a clamped object 70, the air cylinder 60 moves to enable the negative Poisson ratio material finger 10 to be expanded to the maximum, when the clamping jaw reaches a grabbing position, the air cylinder 60 retracts to drive the hydraulic pump 30 and the negative Poisson ratio material finger 10 to axially move along the air cylinder 60, a certain clamping force is provided, and the rubber coating layer 80 is enabled to be tightly attached to the clamped object 70; then the hydraulic pump 30 pumps oil into the hydraulic cylinder 40, the telescopic rod 43 extends to drive the second connecting plate 42 to move downwards, at the moment, the negative poisson's ratio material fingers 10 are lengthened, the negative poisson's ratio material fingers 10 expand radially, the negative poisson's ratio material fingers 10 expand together to clamp the clamped object 70, after the pressure sensor detects that the clamping force distributed in advance is achieved, the hydraulic pump 30 stops pumping oil, the mechanical arm places the clamped object 70 at a corresponding position, the air cylinder 60 pushes the hydraulic pump 30 outwards, the clamped object 70 is released, and the cycle is repeated.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A flexible clamping jaw of arm of adjusting clamp force size, its characterized in that includes:
a jaw support;
the hydraulic pumps are axially distributed and installed on the clamping jaw support;
the hydraulic cylinder is mounted at the output end of each hydraulic pump and is positioned at the bottom end of the clamping jaw support;
the telescopic rod is connected to the bottom end of the hydraulic cylinder;
the hydraulic cylinder is characterized in that a first connecting plate is fixedly mounted in the middle of the hydraulic cylinder, the second connecting plate is fixedly mounted at the bottom end of the telescopic rod, the telescopic rod penetrates through the negative poisson ratio material finger, and two ends of the negative poisson ratio material finger are fixedly connected to the first connecting plate and the second connecting plate respectively.
2. The manipulator flexible clamping jaw for adjusting the magnitude of a clamping force as claimed in claim 1, further comprising a rubber coating, wherein said rubber coating is sleeved on the lower end of said negative poisson's ratio material fingers.
3. The manipulator flexible clamping jaw for adjusting the magnitude of a clamping force as claimed in claim 1, further comprising a slide block, wherein a plurality of slide ways are provided on the clamping jaw support, the slide block slides in the slide ways, an output end of the hydraulic pump passes through the slide block, and the hydraulic pump slides in the slide ways along with the slide block.
4. The mechanical arm flexible clamping jaw for adjusting the clamping force as claimed in claim 1, further comprising a cylinder, wherein a connecting piece is arranged in the middle of the clamping jaw support, one end of the cylinder is fixedly connected to the connecting piece, and the other end of the cylinder is fixedly connected to the hydraulic pump.
5. The robotic arm flexible clamping jaw for adjusting the magnitude of a clamping force of claim 1, wherein said negative poisson's ratio material fingers are replaceable according to different types of clamped objects.
6. The mechanical arm flexible clamping jaw for adjusting the clamping force is characterized in that the mechanical arm flexible clamping jaw further comprises a pressure sensor, the pressure sensor is installed inside the rubber coating, and the pressure sensor is used for judging the clamping force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210595888.2A CN114905539B (en) | 2022-05-30 | 2022-05-30 | Mechanical arm flexible clamping jaw capable of adjusting clamping force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210595888.2A CN114905539B (en) | 2022-05-30 | 2022-05-30 | Mechanical arm flexible clamping jaw capable of adjusting clamping force |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114905539A true CN114905539A (en) | 2022-08-16 |
| CN114905539B CN114905539B (en) | 2024-03-22 |
Family
ID=82768843
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210595888.2A Active CN114905539B (en) | 2022-05-30 | 2022-05-30 | Mechanical arm flexible clamping jaw capable of adjusting clamping force |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114905539B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015196111A1 (en) * | 2014-06-20 | 2015-12-23 | The Regents Of The University Of California | Actively controlled microarchitectures with programmable bulk material properties |
| CN112549057A (en) * | 2020-12-23 | 2021-03-26 | 山东理工大学 | Novel mechanical arm flexible clamping jaw for sorting and recycling garbage |
| CN212859152U (en) * | 2020-06-04 | 2021-04-02 | 广州市虹利自动化科技有限公司 | Small-size clamping device |
| CN113199464A (en) * | 2021-05-21 | 2021-08-03 | 燕山大学 | Modular high-expansion-ratio robot based on paper folding mechanism |
| CN114434484A (en) * | 2022-02-22 | 2022-05-06 | 浙江理工大学 | Variable grabbing mode universal pneumatic soft manipulator |
-
2022
- 2022-05-30 CN CN202210595888.2A patent/CN114905539B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015196111A1 (en) * | 2014-06-20 | 2015-12-23 | The Regents Of The University Of California | Actively controlled microarchitectures with programmable bulk material properties |
| CN212859152U (en) * | 2020-06-04 | 2021-04-02 | 广州市虹利自动化科技有限公司 | Small-size clamping device |
| CN112549057A (en) * | 2020-12-23 | 2021-03-26 | 山东理工大学 | Novel mechanical arm flexible clamping jaw for sorting and recycling garbage |
| CN113199464A (en) * | 2021-05-21 | 2021-08-03 | 燕山大学 | Modular high-expansion-ratio robot based on paper folding mechanism |
| CN114434484A (en) * | 2022-02-22 | 2022-05-06 | 浙江理工大学 | Variable grabbing mode universal pneumatic soft manipulator |
Non-Patent Citations (1)
| Title |
|---|
| 孙阳，等: "六自由度机器人的运动学分析及码垛轨迹规划", 《机床与液压》, vol. 49, no. 21, pages 33 - 37 * |
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| Publication number | Publication date |
|---|---|
| CN114905539B (en) | 2024-03-22 |
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