Flexible passive catcher with serial bent flexible hinge framework tracked by pneumatic rope

A flexible hinge and gripper technology, used in manipulators, chucks, manufacturing tools, etc., 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, Low cost, simple and reliable control system

Inactive Publication Date: 2012-10-03
无锡锦臻自动化技术有限公司
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  • 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 st

Method used

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  • Flexible passive catcher with serial bent flexible hinge framework tracked by pneumatic rope
  • Flexible passive catcher with serial bent flexible hinge framework tracked by pneumatic rope
  • Flexible passive catcher with serial bent flexible hinge framework tracked by pneumatic rope

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[0023] The flexible pneumatic rope traction series bending flexible hinge frame passive gripper of the present invention is composed of a double-acting cylinder 1, an upper plate 2, a guide column 3, a guide sleeve 4, a sliding plate 5, a traction rope fixing seat 6, a lower plate 7, a front support Seat 8, cylindrical pin 9, front toggle 10, rear toggle 11, cross head 12, connecting rod 13, rear support 14, finger tail section 15, guide wheel seat 16, guide wheel 17, guide wheel bracket 18, series connection Bending flexible hinge frame 19 , traction rope 20 , finger joint 21 , small hinge 22 , small hinge support 23 , and guide groove seat 24 are constituted. Among them, parts 1-14 constitute the cylinder-driven five-hinge oblique row double-toggle booster mechanism components of the gripper, and parts 15-24 constitute the series-bending flexible hinge skeleton finger parts of the gripper. The holes on the lower plate 7 are used for to position and fix this gripper on the ro...

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Abstract

The invention relates to a flexible passive catcher with a serial bent flexible hinge framework tracked by a pneumatic rope. The catcher comprises two fingers which are installed with two serial bent flexible hinges as a framework. The serial bent flexible hinge framework is made of spring steel materials, and the objects are passively caught through the elastic return force of the serial bent flexible hinge framework. The two fingers are driven by a gas cylinder, and the deformation resistance of the serial bent flexible hinge framework can be prevented through enlarging the action force of the five-hinge diagonal double-toggle force amplifier which is frequently used on an injection machine and then driving the track rope of each finger, so that the flexible passive catcher can be stretched. The open degree of the catcher can be controlled through adjusting the pressure of the gas cylinder. The catcher has the advantages of large drive force, wide application range, simple structure, few control target, convenience for maintaining and low requirements on use environments, properties of flexible degree of freedom and buffered action force property, and good flexible adaptability, and can catch the objects of which the shapes and sizes are changed without feedback, and thus can be applied to the technical field of mechanical-electrical integration application of robots.

Description

Technical field: [0001] The invention relates to a flexible passive gripper with series bending flexible hinge frame drawn by a cylinder driving rope. Grasping objects passively; the two fingers are driven by a cylinder, and the force of the cylinder is amplified by the five-hinge oblique double toggle mechanism, which drives the traction rope on each finger and acts on the series bending flexible hinge, so that the passive The gripper opens. 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...

Claims

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Application Information

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IPC IPC(8): B25J15/08
Inventor 章军刘光元白文雪王芳吕兵
Owner 无锡锦臻自动化技术有限公司
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