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

Abstract

The invention relates to a self-locking boosting type flexible and smooth tail end gripper for a serial connection loose 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 loose hinge, one torque spring is respectively arranged on a hinge mandrel of each serial connection loose hinge, the characteristic parameters and the pre-tightening angle of the torque springs 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 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 type compliant end gripper of loose-leaf 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 loose-leaf hinge; a torsion spring is installed on each hinge mandrel of the series loose-leaf hinge, and the characteristic parameters and pre-tightening angle of the torsion spring are determined according to the captured It is optimized and designed based on the characteristics of the object; it is driven by the cylinder to generate the gripping force. This end gripper is applied to the gripping of fragile and brittle objects, or special-shaped objects with changing shapes and sizes. It belongs to the application technology of robotics and mechatronics. field; connected with...

AI Technical Summary

Problems solved by technology

Before the present invention, the patent application (a multi-joint flexible manipulator, 200810023616.5) proposed a rubber bellows expansion-loaded pneumatic artificial muscle driver, a flexible bending joint of the hinge skeleton, and its disadvantages are: ① rubber bellows pneumatic The inner chamber pressure of the artificial muscle driver is not strong enough, and the driving force is not strong enough; ②Return to the initial straight state by the action of the torsion spring; ③The direction of the driving force acting on the loose-leaf hinge skeleton cannot be adjusted, and the versatility of grasping objects is not good enough; ④The stress state of the loose-leaf hinge is not good, and a considerable part of the output force of the artificial muscle acts on the torsion spring to deform it, thereby reducing the grasping force output by the flexible joint. The larger the proportion of spring deformation force is; ⑤Especially driven by artificial muscles, with the larger the angular displacement of the hinge, the greater the pressure increment of the inner chamber of the artificial muscle required for the unit increment of angular displacement, the higher the hinge will be. Difficult to bend, that is, the slope of the angular displacement-air pressure curve of the flexible finger hinge is getting smaller and smaller

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