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Soft and hard gripper suitable for multi-shape and multi-scale objects

A soft plus hard, multi-scale technology, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve the problems of limited size microcosmic tweezers opening and closing range, limited size application range, complex gripper structure, etc., to achieve the release process Simple and reliable, low cost, and simple structure of the gripper

Pending Publication Date: 2019-07-02
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These grippers are complex in structure and difficult to prepare
[0008] Usually, the existing grippers usually have certain limitations in the applicable range of size, such as micromechanical grippers, the size of objects that can be grasped is limited by the opening and closing range of microscopic tweezers

Method used

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  • Soft and hard gripper suitable for multi-shape and multi-scale objects
  • Soft and hard gripper suitable for multi-shape and multi-scale objects
  • Soft and hard gripper suitable for multi-shape and multi-scale objects

Examples

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Embodiment Construction

[0034] The content of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0035] As an example, but not to limit the scope of the invention, figure 1 It is a schematic diagram of the principle of grabbing-releasing an object of any shape using a shape-memory polymer gripper proposed in the present invention.

[0036] figure 1 a shows the process of using a shape memory polymer gripper to grasp an object with a convex shape. When grabbing a convex-shaped object, the shape-memory polymer is first transformed into a soft low-modulus state under the action of an external load, and then the convex-shaped object is embedded in the shape-memory polymer gripper. When the applied load is removed, the shape memory polymer transforms into a hard, high-modulus glass state and maintains this deformed state, holding the object in place. The force of this fixation allows the object to be grasped and manipulated. When it ne...

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Abstract

The invention discloses a soft and hard gripper suitable for multi-shape and multi-scale objects. The gripper is made from a shape memory polymer. A gripping-releasing method of the gripper comprisesthe following steps: transforming the shape memory polymer to a flexible rubber state under the action of an external load during gripping, and in the state, embedding a to-be-gripped object into thegripper or embedding the griper into the to-be-gripped object or attaching the gripper to the surface of the to-be-gripped object to form tight contact; removing the external load, transforming the shape memory polymer gripper to a hard glass state, and clamping the object firmly or sticking the object firmly by the glass state shape memory polymer to pick-up the object; and restoring the shape memory polymer gripper to an initial shape to release the object under the action of the external load during releasing. The gripper is simple in structure, does not need a complex control system, is simple to prepare and low in cost, is suitable for gripping objects of any shape and scale, can grip a plurality of objects at the same time, and can grip relatively crispy and soft objects as a resultof a flexible structural design.

Description

technical field [0001] The invention relates to a gripper design, in particular to a shape memory polymer "soft plus hard" gripper, which can be used for grasping, releasing and manipulating objects of any shape and scale. Background technique [0002] In industry, agriculture, and scientific research, grippers are often used to grasp and manipulate objects. On the macro scale, it is like picking and dismantling products on the assembly line, and picking agricultural products; on the micro scale, it is like the assembly of microcomputer / electrical system components. These applications require grasping objects of various shapes and sizes. [0003] On a macroscopic scale (usually greater than 1mm), human hands can easily complete the grasping and manipulation of objects of different shapes, but it is still very challenging for mechanical grippers to grasp objects of different shapes. A large number of mechanical, visual and other sensors are arranged on the computer and equip...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J15/00
CPCB25J9/1085B25J15/00
Inventor 令狐昌鸿张顺王成军李城隆俞凯鑫宋吉舟曾寅家朱昊东游镇宇金晓慧钱诚浩
Owner ZHEJIANG UNIV
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