Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton

A technology for bending plates and grippers, applied in the field of flexible passive grippers, can solve the problems of insufficient plate spring stiffness, limited pressure resistance of bellows, limited object weight, etc., so as to reduce the working time of grasping and improve flexibility. Self-adaptive, simple and reliable control system

Active Publication Date: 2012-09-26
兴化市聚鑫不锈钢有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the pressure resistance of the bellows is limited, and the driving force is small, so that the stiffness of the leaf spring is not large enough, and the weight of the passively grasped object is limited.

Method used

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  • Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton
  • Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton
  • Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton

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Embodiment Construction

[0022] The flexible pneumatic rope traction bending plate spring frame passive gripper of the present invention consists of a double-acting cylinder 1, an upper plate 2, a guide post 3, a guide sleeve 4, a sliding plate 5, a traction rope fixing seat 6, a lower plate 7, and a front support 8. Cylindrical pin 9, front toggle lever 10, rear toggle lever 11, crosshead 12, connecting rod 13, rear support 14, finger tail joint 15, guide wheel seat 16, guide wheel 17, guide wheel bracket 18, curved plate Spring skeleton 19, traction rope 20, finger joint 21, small hinge 22, small hinge bearing 23, guide groove seat 24 constitute. Among them, parts 1-14 constitute the cylinder-driven five-hinge oblique row double toggle power-increasing mechanism components of the gripper, parts 15-24 constitute the curved plate spring skeleton finger parts of the gripper, and the holes on the lower plate 7 are used for Position and fix this gripper on the robotic arm.

[0023] Below is the working ...

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Abstract

The invention relates to a compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeletons. The gripper is provided with two fingers which take bent plate springs as skeletons and grip objects passively through elastic restoring forces of the bent plate spring skeletons; the two fingers are driven by a cylinder; the acting force of the cylinder is increased through a five-hinge skewed double-elbow reinforcement mechanism which is frequently used on an injection machine so as to drive drawing ropes of the fingers, overcome deformation resistance of the bent plate springs and open the passive gripper; and the opening degree of the gripper can be controlled by controlling the pressure of the cylinder. The gripper has the advantages of large driving force, wide applicable range, simple structure, less controlled objects, convenience in maintenance and low requirements on using environment, has the characteristics of flexibility in degree of freedom and resiliency in acting force, has good flexibility in adaptivity, can grip objects with varying shapes and sizes, and belongs to the technical field of application of robots and mechatronics.

Description

Technical field: [0001] The invention relates to a flexible passive gripper of a curved leaf spring skeleton, which is pulled by a cylinder driving rope. Grab objects; two fingers are driven by a cylinder, and the force of the cylinder is amplified by the five-hinge oblique double toggle mechanism, driving the traction rope on each finger and acting on the curved plate spring, so that the passive gripper is stretched open. The gripper has good flexibility, can grasp objects with changing shapes and sizes without feedback, and belongs to the application technical field of robots and mechatronics. Background technique: [0002] With the continuous improvement of the degree of automation, the use of grippers is becoming more and more extensive, and the requirements for gripping are also getting higher and higher. For complex objects: (a) easily deformable soft objects (bread, soft packaging items); (b) easily broken brittle objects (eggs); (c) objects with irregular shapes an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J15/12
Inventor 章军刘光元朱飞成王芳吕兵
Owner 兴化市聚鑫不锈钢有限公司
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