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A kind of control method of flexible finger

A flexible finger and control method technology, which is applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of complex control methods, high prices, and increased user costs

Active Publication Date: 2021-07-06
SUZHOU ROROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The control method of this kind of control system is relatively complicated, it needs to switch back and forth between positive pressure and negative pressure, and also needs a vacuum generator, the price of the vacuum generator is also relatively expensive, which increases the user's cost to a certain extent

Method used

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  • A kind of control method of flexible finger
  • A kind of control method of flexible finger
  • A kind of control method of flexible finger

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] The pneumatic actuator in this embodiment is a pneumatic clamping mechanism, and the flexible finger 4 is installed on the execution end of the pneumatic clamping mechanism; Pressure, the pneumatic clamping mechanism drives the flexible finger 4 to move and cooperates with the positive pressure bending deformation of the flexible finger 4 to form a combined clamping force; when the clamping force needs to be released, the pneumatic clamping mechanism drives the flexible finger 4 to reset, and the flexible finger 4 releases pressure Reset to release the clamping force.

[0043] However, the pneumatic clamping mechanism in this embodiment adopts a linear translational pneumatic opening and closing mechanism 3 . Such as figure 1 As shown, the linear translation opening and closing mechanism 3 includes a guide plate 31, and the guide plate 31 is provided with a guide chute 32, and a finger mounting plate 33 is slidably installed in the guide chute 32, and the flexible fing...

Embodiment 2

[0054] The structure of this embodiment is similar to that of Embodiment 1, except that the pneumatic actuator is a cylinder 5, and the flexible finger 4 is installed on the execution end of the cylinder 5; in this embodiment, the flexible finger 4 is directly installed on the cylinder 5 execution side, such as figure 2 As shown, the cylinder 5 is a Y-shaped jaw cylinder 5, and the Y-shaped clamping cylinder 5 can drive the deflection of the flexible finger 4, thereby completing the mobile drive of the flexible finger 4.

[0055] When it is necessary to provide clamping force, the positive pressure air supply system provides positive pressure on the flexible finger 4, and the cylinder 5 drives the flexible finger 4 to move and cooperate with the positive pressure bending deformation of the flexible finger 4 to form a combined clamping force; when it is necessary to release the clamping force , the cylinder 5 drives the flexible finger 4 to reset, and the flexible finger 4 rel...

Embodiment 3

[0059] Such as Figure 4 As shown, the structure of this embodiment is basically the same as that of Embodiment 1, except that the installation of the flexible fingers 4 is changed, and the bottom plate of the flexible fingers 4 faces outward, so that the clamping force can be provided from the inside out. When providing the clamping force, the action of the cylinder 5 is from the inside to the outside, thereby jointly providing the clamping force from the inside to the outside. Correspondingly, when resetting, both the flexible finger 4 and the cylinder 5 can be reversely reset.

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Abstract

The invention discloses a flexible finger control method. The method provides a pneumatic actuator and a flexible finger; the pneumatic actuator and the flexible finger respectively pass through the actuator driving air circuit and the finger driving air circuit with a pressure regulating element and positive pressure air supply The system is connected; when it is necessary to provide clamping force, the positive pressure air supply system provides positive pressure to the pneumatic actuator and the flexible finger respectively, so that the action of the pneumatic actuator and the bending of the flexible finger form a combined clamping force; when it is necessary to release the clamping force , the pneumatic actuator resets and the flexible finger releases pressure and resets by its own elasticity. The control method uses the opening and closing of the opening and closing mechanism to cooperate with the positive pressure bending of the flexible finger to realize the clamping and releasing of the item, and abandons the action of the vacuum generator and negative pressure bending, which greatly simplifies the control method of the flexible finger , also reduces the cost.

Description

technical field [0001] The invention relates to a flexible finger control method, and also relates to a flexible grasping device using the flexible finger control method. Background technique [0002] In the field of industrial automation, the grasping action at the end of the robotic arm is mainly completed by rigid mechanical grippers or vacuum suction cups. However, due to the difficulty in controlling the strength of rigid mechanical grippers, it is difficult to achieve non-destructive grasping of soft and fragile objects. It is difficult for vacuum suction cups to adapt to irregular objects with rough surfaces and holes during handling. This leads to limitations in both application scenarios. In response to the above problems, the applicant applied for a new type of flexible finger, the patent number is 201720979513.0, and expanded some flexible clamps for this new type of flexible finger, which can be used to flexibly clamp objects, thus solving the current problem ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/02B25J15/08
CPCB25J15/0206B25J15/0253B25J15/08
Inventor 张帆沈科张笛沈津竹
Owner SUZHOU ROROBOT TECH CO LTD