Self-locking boosting type flexible and smooth tail end gripper for serial connection flexible hinge

Abstract

The invention relates to a self-locking boosting type flexible and smooth tail end gripper for a serial connection flexible hinge. The tail end gripper consists of a palm and three flexible fingers, wherein the palm is of two kinds of structures including a rectangular structure and a hexagonal structure, each flexible finger has the same structure and mainly consists of an inner guide air cylinder, a linear guide rail (which can also be a linear bearing) and the serial connection flexible hinge, the configuration parameters and the configuration integration of the serial connection flexible hinge are optimized and designed according to the characteristics of gripped objects, and the gripping force is generated through the driving of the air cylinder. The tail end gripper is applied to the gripping of fragile brittle objects or special-shape objects with variable shapes or sizes, belongs to the technical field of application of robots and mechatronics, is connected with a robot main body, and is particularly applicable to in the fields of logistics and production such as gripping, sorting and packaging of food, farm products and light industrial products.

Description

Technical field: [0001] The invention relates to a self-locking power-increasing compliant end gripper with flexible hinges in series. The end gripper consists of a palm and three flexible fingers. The palm has two structures: rectangular and hexagonal; each flexible finger has the same structure. It is mainly composed of an inner guide cylinder, a linear guide rail (or linear bearing) and a series flexible hinge; the configuration parameters and configuration of the series flexible hinge are optimized and designed according to the characteristics of the grasped object; it is generated by the cylinder drive Gripping force, this end gripper is applied to the grasping of fragile brittle objects, or special-shaped objects with changing shapes and sizes, and belongs to the application technology field of robots and mechatronics; it is connected with the robot body, especially suitable for food, Production and logistics fields such as grabbing, sorting and packaging of agricultural...

AI Technical Summary

Problems solved by technology

Before the present invention, a patent application (a multi-joint flexible manipulator, 200810023616.5) proposed a rubber bellows expansion-loaded pneumatic artificial muscle driver, a flexible bending joint of a flexible hinge skeleton, and its disadvantages are: ① rubber bellows pneumatic The inner cavity pressure of the artificial muscle driver is not high enough; ②Rely on the elastic action of the flexible hinge to return to the initial straight state; ③The direction of the driving force acting on the flexible hinge skeleton cannot be adjusted, and the versatility of grabbing objects is not good enough; ④The flexible hinge The stress state of the flexible hinge is not good, and a considerable part of the output force of the artificial muscle acts on the flexible hinge to deform it, thereby reducing the grasping force output by the flexible joint. As the deformation angle of the flexible hinge increases, the cost of deformation of the flexible hinge The larger the proportion of force; ⑤ In particular, the tensile stress increases with the increase of the pressure in the artificial muscle cavity, and the cross-sectional area of ​​the flexible hinge needs to be increased to meet the strength requirements, while increasing the cross-sectional area of ​​the flexible hinge will also make the flexible hinge Increased difficulty of angular deformation reduces grasping force output by flexible joints

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