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A soft gripper imitating origami structure

An origami structure and software technology, which is applied in the field of manipulators, can solve the problems of complex and bulky software gripper posture adjustment scheme, and achieve the effects of simple structure and low manufacturing cost.

Active Publication Date: 2022-03-25
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a soft gripper with an origami-like structure, which can solve the problem that the posture adjustment scheme of the soft gripper in the prior art is relatively complicated and the whole is relatively bulky

Method used

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  • A soft gripper imitating origami structure
  • A soft gripper imitating origami structure
  • A soft gripper imitating origami structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] like Figure 1 to Figure 5 As shown, an origami-like soft gripper provided by an embodiment of the present invention includes:

[0031] Mounting frame 13; such as image 3 As shown, the mounting frame 13 is provided with a post, which can be inserted into the end socket of the desktop robot DOBOT for fixed connection, and the mounting frame 13 is provided with a passage for accommodating the piston rods of the first cylinder 11 and the second cylinder 12 to pass through. hole.

[0032] The gripper body 30 has one end fixedly connected to the mounting frame 13; in this embodiment, the gripper body 30 has four fingers and is a four-finger integrated structure, and its interior is a cavity structure, and the gripper body 30 is provided with a through-hole structure. To the inner suction hose 31, the shape of the grip body 30 is as follows Figure 1 to Figure 3 As shown, in the natural state (non-pumping negative pressure state), its structure is similar to the shape of ...

Embodiment 2

[0041] In another embodiment, different from the first embodiment, the gripper body 30 includes four fingers, one end of the four fingers is fixedly connected to the support guide rod 32, and any finger is disposed on two adjacent slide rails 24 and connected to the slide rail 24, wherein the connection method can be adhesive or other methods in the prior art that can realize the connection between the finger and the inner frame 242.

Embodiment 3

[0043] On the basis of the first or second embodiment, the sliding rail 24 can also be provided with hooks that move closer to the inside. When grabbing some heavier objects, when the rigidity of the gripper body 30 alone cannot be effectively clamped , relying on the clamping force of the sliding block 23 to drive the sliding rail 24, so that the hook on the sliding rail 24 can firmly clamp the object, so as to realize the switching between the soft gripper and the ordinary gripper. Wherein, the hook portion can be detachably mounted on the end portion of the slide rail 24 away from the support guide rod 32 .

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Abstract

The invention discloses a soft gripper with an origami-like structure, which belongs to the technical field of manipulators. The device includes: a mounting frame; a gripper body, one end of which is fixedly connected to the mounting frame; a driving part, which includes a first transmission rod, a second transmission rod and a slide rail, and both ends of the first transmission rod and the second transmission rod are There are sliding blocks matched with the sliding rails hinged, and the sliding rails are in one-to-one correspondence with the sliding blocks, and the sliding rails are connected to the gripper body; The drive rod moves up and down. When the slider moves, the present invention will drive the slide rail to turn over, and when the slide rail turns over, it will drive the gripper body to shrink or expand inwardly, so as to realize the action of grabbing and releasing, and only one set of devices can be used to realize the control by changing the driving sequence. The gripper body adjusts the attitude of two different grasping modes and drives to grasp target objects with different appearance characteristics and different placement positions. The entire realization scheme is simple in structure and light in weight.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a soft gripper with an origami-like structure. Background technique [0002] A gripper is a bionic device for grasping objects. Grippers generally include rigid grippers and soft grippers. Compared with traditional rigid grippers, soft grippers have better environmental interactivity and human-machine safety, so they have become a research hotspot in recent years. The basic principle of an ordinary soft gripper is to first shape a flexible material (such as silicone rubber) into a single soft finger through a special process, and then integrate two or more soft fingers to form a soft gripper. The soft gripper drives the air cavity on the back of the soft finger to expand, and the back material stretches, while the inner side of the finger is difficult to stretch due to the embedded restriction layer (such as a cloth strip), and finally the difference in the deformation of t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/02B25J15/10B25J15/12
CPCB25J15/0206B25J15/10B25J15/12
Inventor 陈锐张晨吴黎孙小飞
Owner CHONGQING UNIV