Self-locking boosting type flexible and smooth tail end gripper for plate springs

Abstract

The invention relates to a self-locking boosting type flexible and smooth tail end gripper for plate springs. 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 two plate springs, the plate springs used as frameworks are respectively a deformation plate spring and a gripping plate spring, 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-shaped 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 a plate spring. 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, mainly It consists of an inner guide cylinder, a linear guide rail (or linear bearing) and two leaf springs. The leaf springs used as the skeleton are respectively deformed leaf springs and grasping leaf springs, which are driven by the cylinder to generate gripping force. This end gripper is used to grasp fragile and 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, agricultural products, and light industry. Production and logistics fields such as picking, sorting and packaging of products. Background technique: [0002] F...

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Problems solved by technology

Before the present invention, the authorized patent (Pneumatic Flexible Bending Joint with Plate Spring Framework, ZL200410065130.X) proposed a flexible bending joint with a rubber bellows expansion-loaded pneumatic artificial muscle driver and a plate spring framework. The disadvantages are: ①The internal cavity pressure of the rubber bellows pneumatic artificial muscle driver is not large enough, and the driving force is not large enough; ②Relying on the action of the leaf spring, it returns to the initial straight state; ③As the deformation of the leaf spring increases, the unit increment of the deformation The greater the pressure increase in the inner cavity of the artificial muscle, the more difficult it is for the leaf spring to bend, that is, the bending angle of the flexible finger - the slope of the air pressure curve becomes smaller and smaller; ④ Especially driven by the artificial muscle, the tension of the leaf spring is The stress increases with the increase of the pressure in the inner cavity of the artificial muscle. It is necessary to increase the cross-sectional area of ​​the leaf spring to meet the strength requirements. However, increasing the cross-sectional area of ​​the leaf spring will also increase the difficulty of large deformation of the leaf spring and reduce the flexibility of the joint. output gripping force

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