CN114905539B - Mechanical arm flexible clamping jaw capable of adjusting clamping force - Google Patents
Mechanical arm flexible clamping jaw capable of adjusting clamping force Download PDFInfo
- Publication number
- CN114905539B CN114905539B CN202210595888.2A CN202210595888A CN114905539B CN 114905539 B CN114905539 B CN 114905539B CN 202210595888 A CN202210595888 A CN 202210595888A CN 114905539 B CN114905539 B CN 114905539B
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- CN
- China
- Prior art keywords
- negative poisson
- clamping jaw
- poisson ratio
- clamping
- ratio material
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- 239000000463 material Substances 0.000 claims abstract description 56
- 238000010073 coating (rubber) Methods 0.000 claims description 15
- 239000011247 coating layer Substances 0.000 claims description 13
- 238000005086 pumping Methods 0.000 claims description 2
- 230000006835 compression Effects 0.000 abstract description 3
- 238000007906 compression Methods 0.000 abstract description 3
- 210000000078 claw Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method 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
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 following components: the hydraulic device comprises a clamping jaw support, a hydraulic pump, a hydraulic cylinder, a telescopic rod and a negative poisson ratio material finger; the hydraulic pumps are axially distributed and mounted on the clamping jaw support, the hydraulic cylinder is mounted at the output end of each hydraulic pump and located at the bottom end of the clamping jaw support, the telescopic rod is connected to the bottom end of the hydraulic cylinder, the 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 the two ends of the negative poisson ratio material finger are fixedly connected to the first connecting plate and the second connecting plate respectively. According to the invention, the gripping and releasing of the clamping object are realized by the extension and compression of the material fingers with the negative poisson ratio by utilizing the material properties of the negative poisson ratio, the material fingers with the negative poisson ratio have flexibility, the damage to the clamping object and the clamping jaw caused by overlarge clamping force can be avoided, the movement stroke of the material fingers with the negative poisson ratio is large, and the adaptability is strong.
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 being matched with the mechanical arm, and is widely applied to industrial production. The traditional mechanical claw has the advantages of complex mechanical structure, low transmission efficiency, high mechanical claw rigidity, difficult detection of the clamping force of the mechanical claw on the clamping object and easy damage to the outer surface of the clamping object. Negative Poisson's Ratio (Negative Poisson's Ratio) materials are novel metamaterials that exhibit shrinkage (expansion) deformation in the transverse direction when subjected to uniaxial compression (stretching). Because of the unique deformation behavior, the negative poisson ratio material has been proved to have the properties of high specific strength, high energy absorptivity and the like, and has wide application prospect in the fields of aerospace, medical treatment and health and the like. How to use the negative poisson ratio material in the field of mechanical claws, provides a flexible claw with a simple structure capable of protecting the outer surface of a clamped object, and is a technical problem which needs to be solved by a person skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a flexible clamping jaw of a mechanical arm for adjusting the clamping force, and a hydraulic pump axially distributed on a clamping jaw support controls the expansion and contraction of a telescopic rod to realize the extension and compression of a material finger with negative poisson ratio, and the material finger with negative poisson ratio is extended or compressed and can radially expand or contract to realize the grabbing or releasing of a clamping object.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a robotic arm flexible jaw for adjusting a clamping force, comprising:
a jaw support;
the hydraulic pumps are axially distributed and mounted on the clamping jaw support;
the output end of each hydraulic pump is provided with the hydraulic cylinder, and the hydraulic cylinder 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 negative poisson ratio material finger is characterized in that a first connecting plate is fixedly arranged in the middle of the hydraulic cylinder, the bottom end of the telescopic rod is fixedly provided with a second connecting plate, 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 novel Poisson's ratio material finger also comprises a rubber coating layer, wherein the rubber coating layer is sleeved at the lower end of the Poisson's ratio material finger.
Further, the hydraulic pump is characterized by further comprising a sliding block, a plurality of sliding ways are arranged on the clamping jaw support, the sliding blocks slide in the sliding ways, the output end of the hydraulic pump penetrates through the sliding blocks, and the hydraulic pump slides in the sliding ways along with the sliding blocks.
Further, the hydraulic pump clamping jaw comprises 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 with the hydraulic pump.
Further, the negative poisson's ratio material means that the negative poisson's ratio material can be replaced according to different types of holders.
Further, the device also comprises a pressure sensor, wherein the pressure sensor is arranged in the rubber coating layer and is used for judging the clamping force.
The invention has the beneficial effects that:
according to the invention, the hydraulic pumps axially distributed on the clamping jaw support control the expansion and contraction of the telescopic rods through the hydraulic cylinders, the second connecting plate drives the negative poisson ratio materials to be expanded and compressed, the negative poisson ratio materials are expanded in the radial direction, the plurality of negative poisson ratio materials are expanded and clamped, and the negative poisson ratio materials are compressed in the radial direction; the negative poisson ratio material is flexible and can protect the surface of the clamping object; the cylinder controls the hydraulic pump to slide in the slideway of the clamping jaw support, so that coarse adjustment of the position of the negative poisson ratio material finger when the clamping object is grabbed is completed, and then the clamping object is grabbed by radial expansion of the negative poisson ratio material finger; the rubber coating layer on the material finger with the negative poisson ratio can further avoid rigid damage to the surface of the clamping object; the pressure sensor in the rubber coating detects the clamping force in real time, so that the excessive clamping force is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a mechanical 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 illustration of a mechanical 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 without negative Poisson's ratio material fingers to adjust the amount of clamping force;
FIG. 6 is a schematic view of the structure of the jaw support and slide;
wherein, in the figure:
10-negative poisson ratio material finger, 20-clamping jaw support, 21-slideway, 22-connecting piece, 30-hydraulic pump, 40-hydraulic cylinder, 41-first connecting plate, 42-second connecting plate, 43-telescopic rod, 50-sliding block, 60-cylinder, 70-clamping object and 80-rubber coating layer.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, the present invention provides a mechanical arm flexible clamping jaw for adjusting clamping force, comprising: jaw support 20, hydraulic pump 30, hydraulic cylinder 40, telescopic rod 43 and negative poisson's ratio material finger 10; a plurality of hydraulic pumps 30 are axially distributed and mounted on the jaw support 20, three hydraulic pumps 30 are provided at least in the illustrative figures 1-6; 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, and the telescopic rod 43 stretches, otherwise, shortens; the middle part fixed mounting of pneumatic cylinder 40 has first connecting plate 41, and the bottom fixed mounting of telescopic link 43 has second connecting plate 42, and telescopic link 43 passes negative poisson's ratio material and indicates 10, and the both ends that negative poisson's ratio material indicates 10 are fixed connection respectively on first connecting plate 41 and second connecting plate 42, and telescopic link 43 stretches, drives second connecting plate 42 and moves down, and this moment is with negative poisson's ratio material to indicate 10 to lengthen, and negative poisson's ratio material indicates 10 radial expansion, and a plurality of negative poisson's ratio material indicates 10 expansion together and press from both sides tight clamp 70.
The flexible clamping jaw of the mechanical arm for adjusting the clamping force further comprises a rubber coating layer 80, wherein the rubber coating layer 80 is sleeved at the lower end of the negative poisson ratio material finger 10, the rubber coating layer 80 is soft in texture, elastic and high in friction coefficient, and the grabbing clamp 70 is stable after the negative poisson ratio material finger 10 is radially expanded.
The flexible clamping jaw of the mechanical arm for 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 contacted 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 flexible clamping jaw of the mechanical arm for adjusting the clamping force further comprises an air cylinder 60, a connecting piece 22 is arranged in the middle of the clamping jaw support 20, the connecting piece 22 is connected with an external structural device through a flange, an external driving device is connected with one end of the air cylinder 60 through the connecting piece 22, the other end of the air cylinder 60 is fixedly connected with the hydraulic pump 30, the air cylinder 60 stretches and pushes the hydraulic pump 30 and the sliding block 50 to slide in the slideway 21, coarse adjustment of the position of the negative poisson ratio material finger 10 when the negative poisson ratio material finger 10 grabs the clamping object 70 is completed, and the negative poisson ratio material finger 10 radially expands to grab the clamping object 70.
The material finger 10 with negative poisson ratio generates radial expansion when being elongated, has certain axial rigidity, can generate larger contact area with a grabbed object, provides certain clamping force without bending, and generates certain deformation when the clamping force is overlarge so as to ensure that the clamping object 70 and the clamping jaw are not damaged; the negative poisson's ratio material finger 10 may be replaced according to different types of holders 70 to accommodate different clamping forces or requirements of the holders 70.
The flexible clamping jaw of the mechanical arm for adjusting the clamping force further comprises a pressure sensor, wherein the pressure sensor is arranged in the rubber coating layer 80, the pressure sensor arranged in the rubber coating layer 80 is used for judging the clamping force and simultaneously provides reference to the cylinder 60 and the clamping force required to be provided by the negative poisson ratio material finger 10.
The working process of the invention is as follows: the mechanical arm provided with the flexible clamping jaw moves to the upper part of the clamping object 70, the air cylinder 60 moves to enable the negative poisson ratio material finger 10 to be stretched to the maximum, when the clamping jaw reaches the 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 to provide a certain clamping force, and the rubber coating layer 80 is tightly attached to the clamping object 70; then the hydraulic pump 30 pumps oil into the hydraulic cylinder 40, the telescopic rod 43 stretches to drive the second connecting plate 42 to move downwards, at the moment, the negative poisson ratio material fingers 10 are stretched, the negative poisson ratio material fingers 10 expand radially, the plurality of negative poisson ratio material fingers 10 expand together to clamp the clamping object 70, after the pressure sensor detects that the pre-distributed clamping force is reached, the hydraulic pump 30 stops pumping oil, the mechanical arm places the clamping object 70 at a corresponding position, the cylinder 60 pushes the hydraulic pump 30 outwards, and the clamping object 70 is released and repeats circularly.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
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 (4)
1. A mechanical arm flexible clamping jaw for adjusting the magnitude of clamping force, comprising:
a jaw support;
the hydraulic pumps are axially distributed and mounted on the clamping jaw support;
the output end of each hydraulic pump is provided with the hydraulic cylinder, and the hydraulic cylinder 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 negative poisson ratio material finger is fixedly arranged in the middle of the hydraulic cylinder, the bottom end of the telescopic rod is fixedly provided with a second connecting plate, the telescopic rod penetrates through the negative poisson ratio material finger, and two ends of the negative poisson ratio material finger are respectively and fixedly connected to the first connecting plate and the second connecting plate;
the rubber coating layer is sleeved at the lower end of the negative poisson ratio material finger;
the pressure sensor is arranged in the rubber coating layer and is used for judging the clamping force;
when the hydraulic pump pumps oil into the hydraulic cylinder, the telescopic rod stretches to drive the second connecting plate to move downwards, the negative poisson ratio material fingers are stretched at the moment, the negative poisson ratio material fingers expand radially, the negative poisson ratio material fingers expand together to clamp the clamping object, and the hydraulic pump stops pumping oil after the pressure sensor detects that the pre-distributed clamping force is reached.
2. The mechanical arm flexible clamping jaw for adjusting the clamping force according to claim 1, further comprising a sliding block, wherein a plurality of sliding ways are arranged on the clamping jaw support, the sliding block slides in the sliding ways, an output end of the hydraulic pump penetrates through the sliding block, and the hydraulic pump slides in the sliding ways along with the sliding block.
3. The flexible clamping jaw of the mechanical arm for adjusting the clamping force according to 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 with the hydraulic pump.
4. The mechanical arm flexible clamping jaw for adjusting the clamping force according to claim 1, wherein the negative poisson's ratio material fingers are replaceable according to different types of clamps.
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 CN114905539A (en) | 2022-08-16 |
| CN114905539B true 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 |
|---|
| 六自由度机器人的运动学分析及码垛轨迹规划;孙阳，等;《机床与液压》;第49卷(第21期);33-37 * |
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| Publication number | Publication date |
|---|---|
| CN114905539A (en) | 2022-08-16 |
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