WO2021164211A1

WO2021164211A1 - Clamping jaw having composite structures on surfaces

Info

Publication number: WO2021164211A1
Application number: PCT/CN2020/106972
Authority: WO
Inventors: 王琨; 蔡嘉辉; 董康; 宁萌; 章军; 曹毅
Original assignee: 江南大学; 南京星辰智能科技有限公司
Priority date: 2020-02-18
Filing date: 2020-08-05
Publication date: 2021-08-26
Also published as: CN111216158A

Abstract

The present invention relates to a clamping jaw having composite structures on the surfaces, comprising two clamping plates that move relative to each other. The two clamping plates are driven by a driving mechanism to make synchronous relative movements to hold or loosen a gripped object; a soft hair structure is provided on a surface of each clamping plate; each soft hair structure comprises first soft hair parts fixed on the surface of each clamping plate; a plurality of closely arranged second soft hair parts are provided on one end surface of each first soft hair part; and the second soft hair parts are provided above the surfaces of the clamping plates. The clamping plates, the first soft hair parts, and the second soft hair parts are in millimeter, micrometer, and nanometer sizes, respectively. When an object is gripped by the clamping plates of the present invention, a relatively large adsorption force is produced between the soft hair structures and the gripped object due to the pressure of the clamping plates, so that a highly smooth object can be gripped effectively.

Description

Clamping jaw with composite structure on surface

Technical field

The invention relates to the technical field of robot end effector devices, in particular to a clamping jaw with a composite structure on the surface.

Background technique

The end effector is an execution component that directly interacts with the operation object, and its performance directly affects the effect of the operation task execution and work efficiency. Agriculture, light industry, e-commerce and other industries involved in raw materials, semi-finished products, finished products and inner packaging goods and other grasping objects are various, many have complex morphological characteristics: large size differences, irregular shapes (such as melons and fruits, zongzi, etc.); Soft and easy to deform (such as plastic soft lining for bagged liquids, powders, granules, bulk goods and biscuits); fragile and easy to damage (such as glass ceramics and other daily necessities, biscuits, cakes, peaches and other foods); The location status is chaotic and difficult to straighten out (such as different shapes of inner packaging goods, outer packaging carton parcels). Grasping such items is a difficult point in the design of robot end effectors.

technical problem

In the prior art, the structure of the end effector is mainly based on vacuum suction cups and clamping jaws. Vacuum suction cups can only absorb objects with relatively high smoothness and relatively regular shapes, and it is difficult to effectively grasp objects with irregular or dusty surfaces; the gripping of objects mainly depends on the pressure applied by the grippers on the surface of the object to be grasped. Friction force to achieve grasping. Therefore, it is easy to damage the object when grasping soft and easily deformable objects, and the stability is not high when grasping objects with higher smoothness. In today's flexible manufacturing, these restrictions are difficult to satisfy the effective grasping of products with complex shapes and diverse types.

Technical solutions

In view of the shortcomings of the above-mentioned existing production technology, the applicant provides a gripper with a reasonable structure and a composite structure on the surface, which can increase the gripper surface and the surface of the gripping object under the condition of applying less gripping pressure. The adsorption force between them can stably grasp various soft, brittle, irregular, easily damaged and high-finish items, and ensure the stability of grasping under the condition of reducing the grasping pressure.

The technical scheme adopted by the present invention is as follows:

A clamping jaw with a composite structure on the surface includes two clamping plates that move relative to each other. The two clamping plates are driven by a driving mechanism to make a synchronous relative movement to hold or loosen the object to be grasped. The clamping The surface of the board is provided with a soft hair body structure, which includes a first soft hair part fixed on the surface of the clamping plate, and a plurality of closely arranged second soft hair parts are arranged on one end of the first soft hair part. The soft bristles are suspended above the surface of the clamping plate.

As a further improvement of the above technical solution:

The structure of the driving mechanism includes a piston rod, the piston rod penetrates a fixed bracket, the fixed bracket has two symmetrically arranged inverted V-shaped struts, the ends of the two struts are respectively hinged with one end of a connecting arm ; Located at the lower end of the piston rod between the two rods is provided with a hinge seat, the hinge seat is hinged with one end of the two connecting rods at the same time, the other ends of the two connecting rods are respectively hinged with the middle of the two connecting arms, and the other ends of the two connecting arms are connected with one The clamping plate.

The sizes of the clamping plate, the first soft hair part and the second soft hair part are millimeter, micrometer and nanometer, respectively.

The clamping jaws are arranged symmetrically with the piston rod as the center axis; the inner side of the connecting arm is provided with a groove for installing the hinge assembly, and the connecting rod extends into the groove to be hinged with the hinge assembly.

The two connecting arms form an outward convex arc structure. In the initial state, the lower part of the two clamping plates is inclined to the center position of the clamping jaws.

Both the first soft hair part and the second soft hair part are in a square strip, rod-shaped or cone-shaped structure.

The soft hair structure is uniformly and densely distributed on the surfaces of the two clamping plates close to each other.

Beneficial effect

The present invention is compact and reasonable in structure and convenient to operate. The clamping plate is distributed with a composite soft hair body structure. When the object is grasped, the soft soft hair body structure is more effective than the grasped object under the pressure of the clamping plate. The large adsorption force firmly adsorbs the object to be grabbed, which can realize the effective grabbing of the objects with higher smoothness and improve the work efficiency.

Description of the drawings

Figure 1 is a schematic diagram of the three-dimensional structure of the present invention.

Figure 2 is a schematic diagram of the structure of the soft hair of the present invention.

Figure 3 is a front view of the present invention.

Fig. 4 is an enlarged view of part A in Fig. 3.

Fig. 5 is a schematic diagram of the clamping object state of the present invention.

Among them: 1. Clamping plate; 2. Connecting arm; 3. Connecting rod; 4. Fixed bracket; 41. Support rod; 5. Piston rod; 6. Soft hair structure; 61. First soft hair part; 62. The second soft hair part; 7, hinge seat.

Embodiments of the present invention

As shown in Figures 1 to 4, the clamping jaws with a composite structure on the surface of this embodiment include two clamping plates 1 that move relative to each other. The two clamping plates 1 are driven by a driving mechanism to perform synchronous relative movement. To hold or loosen the grasping object, a soft hair structure 6 is provided on the surface of the clamping plate 1, which includes a first soft hair part 61 fixed on the surface of the clamping plate 1, and one end surface of the first soft hair part 61 There are a number of closely arranged second soft bristles 62 which are suspended above the surface of the clamping plate 1.

The structure of the driving mechanism includes a piston rod 5, which penetrates through a fixed bracket 4. The fixed bracket 4 has two support rods 41 symmetrically arranged in an inverted V-shaped structure. Hinged; located at the lower end of the piston rod 5 between the two rods 41 is provided with a hinge seat 7, the hinge seat 7 is hinged with one end of the two connecting rods 3 at the same time, the other end of the two connecting rods 3 are hinged with the middle of the two connecting arms 2, the two are connected The other end of the arm 2 is connected to a clamping plate 1 respectively.

The dimensions of the clamping plate 1, the first soft hair part 61 and the second soft hair part 62 are millimeter, micrometer, and nanometer, respectively.

The clamping jaws are arranged symmetrically with the piston rod 5 as the central axis; the inner side of the connecting arm 2 is provided with a groove for mounting the hinge assembly, and the connecting rod 3 extends into the groove and is hinged with the hinge assembly.

The two connecting arms 2 form a convex arc structure. In the initial state, the lower part of the two clamping plates 1 is inclined toward the center of the clamping jaws.

Both the first soft hair portion 61 and the second soft hair portion 62 are in a square strip, rod-shaped or cone-shaped structure.

The soft hair structure 6 is uniformly and densely distributed on the surfaces of the two clamping plates 1 close to each other.

As shown in Figure 5, during the implementation of the present invention, the support arm 2 and the connecting rod 3 and the support rod 4 are respectively connected by a pin, and the hinge seat 7 of the piston rod 5 is connected with the connecting rod 3 by a pin. The upper end of the piston rod 5 can be connected with a cylinder. The external cylinder controls the movement of the piston rod 5 up and down, and the fixed bracket 4 is fixed. When the piston rod 5 moves down in the fixed bracket 4, the two connecting rods 3 are driven to open and push The connecting arm 2 connected with the fixed bracket 4 is opened to realize that the clamping plate 1 is opened, and the adhesion force generated with the object to be grasped disappears, and the desorption of the object to be grasped is realized; when the piston rod 5 moves upward, it drives The connecting rod 3 is closed, thereby pulling the connecting arm 2 to close, so that the composite structure clamping plate 1 closes and grabs the object. The connecting arm 2 exerts the pressure of the composite structure clamping plate 1, and the soft hair structure 6 on the surface is with the grasped object. Adhesive force is generated on the surface of the object, and the object to be grasped is stably absorbed.

The first soft bristles 61 and the second soft bristles 62 are uniformly arranged on the surface of the clamping plate 1 in an array or other similar form. The composite structure clamping plate 1 is a millimeter, micrometer, and nanometer composite structure. The size of the board 1 is on the millimeter level, and the cross-sectional dimensions of the first soft hair portion 61 and the second soft hair portion 62 are on the micron level and nanometer level, respectively. When the object is grasped, the soft composite structure generates a relatively large adsorption force with the grasped object under the pressure of the clamping plate 1, which can realize the effective grasping of objects with higher smoothness.

Claims

A clamping jaw with a composite structure on the surface, which is characterized in that it includes two clamping plates (1) that move relative to each other, and the two clamping plates (1) are driven by a driving mechanism to perform synchronous relative movement, and the object will be grasped. It is characterized in that: the surface of the clamping plate (1) is provided with a soft hair structure (6), which includes a first soft portion (61) fixed on the surface of the clamping plate (1) ), one end of the first soft hair part (61) is provided with a plurality of closely arranged second soft hair parts (62), and the second soft hair part (62) is suspended above the surface of the clamping plate (1).
The clamping jaw with a composite structure on its surface according to claim 1, characterized in that: the structure of the driving mechanism includes a piston rod (5), the piston rod (5) penetrates the fixing bracket (4), so The fixing bracket (4) has two supporting rods (41) symmetrically arranged in an inverted V-shaped structure, and the ends of the two supporting rods (41) are hinged to one end of a connecting arm (2);

The lower end of the piston rod (5) located between the two rods (41) is provided with a hinge seat (7), the hinge seat (7) is hinged with one end of the two connecting rods (3) at the same time, and the other end of the two connecting rods (3) They are respectively hinged with the middle of the two connecting arms (2), and the other ends of the two connecting arms (2) are respectively connected with a clamping plate (1).
The clamping jaw with a composite structure on its surface according to claim 1, characterized in that the dimensions of the clamping plate (1), the first soft hair portion (61) and the second soft hair portion (62) are millimeter-level, Micron and nanometers.
The clamping jaws with a composite structure on the surface according to claim 3, characterized in that: the clamping jaws are arranged symmetrically with the piston rod (5) as the center axis; the inner side of the connecting arm (2) is provided with a groove for mounting the hinge assembly , The connecting rod (3) extends into the groove and is hinged with the hinge assembly.
The clamping jaw with a composite structure on the surface according to claim 4, characterized in that: the two connecting arms (2) are in a convex arc structure, and in the initial state, the lower part of the two clamping plates (1) is inclined toward the center of the clamping jaw .
The clamping jaw with a composite structure on the surface according to claim 1, wherein the first soft hair portion (61) and the second soft hair portion (62) are both in a square strip, rod-like or cone-like structure.
The clamping jaw with a composite structure on the surface according to claim 1, characterized in that the soft hair structure (6) is uniformly and densely distributed on the surfaces of the two clamping plates (1) close to each other.