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Soft gripper with ejection and grabbing functions and its 3D printing preparation method

A 3D printing and software technology, applied in 3D object support structures, manipulators, manufacturing tools, etc., can solve the problems of response, slow grabbing speed, high cost, etc., and achieve fast ejection grabbing speed, low cost and stability. Good results

Active Publication Date: 2021-02-26
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the current software grippers have deficiencies such as response, slow gripping speed, and high cost.

Method used

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  • Soft gripper with ejection and grabbing functions and its 3D printing preparation method
  • Soft gripper with ejection and grabbing functions and its 3D printing preparation method

Examples

Experimental program
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preparation example Construction

[0048] A 3D printing preparation method for a soft gripper with ejection and grasping functions, comprising the following steps:

[0049] (1) Use 3D printing to prepare a mold including clamping parts and motion control parts;

[0050] (2) Fix the support rods, blocking parts and magnetic blocks in the mold, pour silicone rubber (ecoflex) into the mold, bake the mold at 40°C-60°C for 5h-7h, and then place it at room temperature for 5h-7h , to obtain the clamping part and the motion control part;

[0051] (3) The electromagnetic coil is wound around the motion control part, and the grasping part is installed on one end of the clamping part to obtain a soft gripper.

[0052]When the material of the clamping part is photocurable resin, a mold containing the clamping part and the motion control part is prepared by using photosensitive resin selective curing (StereoLithography Apparatus).

[0053] When the material of the clamping part is nylon, a mold containing the clamping par...

Embodiment 1

[0056] A 3D printing preparation method for a soft gripper with ejection and grasping functions, comprising the following steps:

[0057] (1) When the material of the clamping part is photocurable resin, the mold containing the clamping part and the motion control part is prepared by selective curing of the photosensitive resin;

[0058] (2) Fix the support rod, the blocking part and the magnetic block in the mold, pour silicone rubber into the mold, bake the mold at 40°C for 7 hours, and then place it at room temperature for 5 hours to obtain the clamping part and the motion control part;

[0059] (3) The electromagnetic coil is wound around the motion control part, and the grasping part is installed on one end of the clamping part to obtain a soft gripper.

Embodiment 2

[0061] A 3D printing preparation method for a soft gripper with ejection and grasping functions, comprising the following steps:

[0062] (1) When the material of the clamping part is nylon, use fused deposition molding to prepare a mold containing the clamping part and the motion control part;

[0063] (2) Fix the support rod, the blocking part and the magnetic block in the mold, pour silicone rubber into the mold, bake the mold at 60°C for 5 hours, and then place it at room temperature for 7 hours to obtain the clamping part and the motion control part;

[0064] (3) The electromagnetic coil is wound around the motion control part, and the grasping part is installed on one end of the clamping part to obtain a soft gripper.

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Abstract

The invention discloses a software gripper with ejection and grabbing functions and a 3D printing preparation method thereof, which belong to the field of soft grippers and include: grabbing components, clamping components, electromagnetic coils and motion control components, the clamping One end of the component is connected to the grasping component, and the other end is connected to the motion control component, and the electromagnetic coil is wound around the motion control component; the shape of the grasping component is C-shaped, and is used to grasp the target; the electromagnetic coil, It is used to generate thrust to the motion control part when the power is turned on; the motion control part is used to drive the grasping part to move through the clamping part, so as to realize ejection and pull-back movement. The software gripper of the present invention realizes the process of rapid ejection-grabbing-pulling back, and has the advantages of fast response, fast grasping speed, low cost, compact structure, low energy consumption, and automatic recovery.

Description

technical field [0001] The invention belongs to the field of soft grippers, and more specifically relates to a soft gripper with ejection and grabbing functions and a 3D printing preparation method thereof. Background technique [0002] Soft grippers belong to the field of soft robots. They are mainly made of soft materials, which are generally considered to be materials with a Young’s modulus lower than that of human muscles. Compared with traditional rigid grippers, soft grippers have better deformation, flexibility and grip It has great advantages in the range of objects, can adapt to various unstructured environments, and interacts with humans more safely. At present, it is mainly driven by electric field, pressure, magnetic field, chemical reaction, light, temperature, etc. [0003] Flexible electromagnetic materials are usually a composite material system composed of three (polymer / electric / magnetic) or more than three materials. This type of material can sense enviro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B29C64/118B29C64/124B33Y80/00B25J15/00B25J15/02
CPCB25J15/0019B25J15/0246B33Y80/00B29C64/118B29C64/124
Inventor 宋波阚隆鑫苏彬史玉升
Owner HUAZHONG UNIV OF SCI & TECH