Pneumatic flexible vigorous grasping device based on entwining principle
A grasping device and flexible technology, applied in the field of robot end effectors, can solve the problems of small grasping force and insufficient grasping force, and achieve the effects of strong applicability, low price and good flexibility
Active Publication Date: 2018-04-20
YANSHAN UNIV
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Problems solved by technology
At present, the common problem of flexible soft gripping devices is that the gripping force is small, especially the pneumatic type has good flexibility but insufficient gripping force, so designing and manufacturing flexible soft gripping devices with large gripping force has important application value
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[0025] exist figure 1 with figure 2 In the schematic diagram of the pneumatic flexible strong grasping device based on the principle of entanglement shown, the flexible cage 5 is a tubular rotary structure with both ends made of silicone material, and the inner diameter of the upper tubular cylinder is smaller than the inner diameter of the lower tubular cylinder. 60% of the two tubular cylinders are connected by a 45° truncated cone shell. Five rows of equal-diameter circular through holes are evenly arranged vertically on the tube wall of the lower section of the cylinder, such as Image 6 As shown, the diameter of the through holes is 2 mm larger than the diameter of the pneumatic muscle used in the maximum contraction state. The spiral line is distributed, and the distance between the centerlines of two adjacent through holes in each column is equal to twice the diameter of the through holes. Two upper and lower connecting through holes are respectively provided on the...
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A pneumatic flexible vigorous grasping device based on an entwining principle mainly comprises a flexible holder, a pneumatic muscle actuator, a flexible sleeve, a connecting seat, a clamp, an air pipe and a fixing piece. According to the pneumatic flexible vigorous grasping device based on the entwining principle, a basic grasping principle simulates hunting modes, such as the situation that preyis tightly entwined through body contracting and curling of a boa, of entwining animals. A woven mesh reinforced-type pneumatic muscle actuator spiral entwining structure simulates the prey entwiningprocess of the entwining animals, and tightening and loosening of an inner cavity of the grasping device are achieved through the inflating and deflating processes, so that the grasping and releasingwork is completed by cooperating with a robot. A grasping part main body is made of flexible materials of silica gel, latex tubes and fibers, and grasped objects and people are safe; the pneumatic flexible vigorous grasping device can be manufactured through modular design, few parts and simple assembly operation, and maintenance and replacement are convenient; and grasping force is large, flexibility is good, the objects of various shapes can be grasped within the grasping size range of the pneumatic flexible vigorous grasping device, and the application range is wide.
Description
technical field [0001] The invention relates to a robot end effector. Background technique [0002] The end effector is an important medium connecting the robot and the operating object. The traditional end effector is mostly a rigid structure. In recent years, the flexible actuator has been widely used in industrial product handling and assembly, military Robots, agricultural robots and service robots are used in important applications. From the driving mode, flexible actuators can be divided into: motor drive, gas-hydraulic drive and functional material drive, etc. Among them, the motor-driven manipulator has better control performance; the gas-hydraulic drive flexible manipulator has better compliance, and due to the convenient air source and weight Light, so pneumatics are widely used in light flexible manipulators; functional material drives are driven by shape memory alloys, ultrasonic waves, polymers and functional liquids, which have their unique advantages in occas...
Claims
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IPC IPC(8): B25J15/00
CPCB25J15/00B25J15/0038
Inventor 姚建涛李海利周盼陈新博曹开彬曹明赵永生
Owner YANSHAN UNIV