Bistable flexible machine gripper provided with bionic petal structure and manufacturing method of bistable flexible machine gripper

A bistable, petal technology, applied in the field of robots, can solve the problems of high energy consumption and complex structure, and achieve the effects of low energy consumption, improved grasping ability, and high concealment.

Inactive Publication Date: 2020-07-31
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to overcome the problems of high energy consumption and complex structure of the existing machine grippers, and provides a bistable flexible machine and its manufacturing method, which have strong gripping ability, fast response speed, simple structure, relatively High concealment, easy to manufacture, can maintain grasping ability without external force, low energy consumption, and also has good flexibility, can adapt to complex, irregular and variable objects

Method used

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  • Bistable flexible machine gripper provided with bionic petal structure and manufacturing method of bistable flexible machine gripper
  • Bistable flexible machine gripper provided with bionic petal structure and manufacturing method of bistable flexible machine gripper
  • Bistable flexible machine gripper provided with bionic petal structure and manufacturing method of bistable flexible machine gripper

Examples

Experimental program
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Effect test

Embodiment 1

[0047] Such as figure 1 , figure 2 In the shown embodiment 1, a bistable flexible robot gripper with a bionic petal structure includes a base 2, a grasping unit 1 with bistable characteristics, and the grasping unit 1 is set as a bistable structure. The base 2 is made by 3D printing. The base 2 is set in the shape of a truncated cone. The base 2 is provided with a first installation hole 201, and the grasping unit 1 is provided with a second installation hole 101. The base 2 and the grasping The fetching units 1 are fixed by bolt connection, and the grabbing unit 1 is equidistantly fixed around the base 2, and a driving unit is fixed on the grabbing unit 1, and the driving unit includes a The grasping drive unit 3 deformed on one side, the release drive unit 4 used to drive the grasping unit 1 to deform to the side away from the center of the gripper; in order to prevent the items to be grasped from causing damage to the drive unit, the front drive unit is installed on the g...

Embodiment 2

[0050] Such as Figure 5 , Figure 6 As shown, the technical solution of embodiment 2 is basically the same as the technical solution of embodiment 1, the difference is that: the grasping drive unit 3 includes a fluid elastic body 301 which is hollow inside, and is used to limit the radial extension of the fluid elastic body 301 The radial constraint 302, the seal 303 used to seal the fluid elastic body and the air supply line 304 used to drive the deformation of the fluid elastic body, the air cavity 305 is set in the fluid elastic body 301, the air cavity 305 is used to carry the supply The gas filled in the air pipeline 304 forms air pressure to expand and deform the fluid elastic body 301. After the gas supply line 304 fills the air cavity 305 in the fluid elastic body 301 with air pressure, because the fluid elastic body 301 has elasticity, the fluid elastic body 301 It will expand to the surroundings. At this time, the setting of the radial constraint 302 constrains the...

Embodiment 3

[0053] The technical solution of embodiment 3 is basically the same as the technical solution of embodiment 2, and its difference is:

[0054] Such as Figure 7 As shown, the cross section of the air cavity 305 is configured as a fan ring structure, and the air cavity 305 is centrally and symmetrically arranged in the fluid elastic body 301 . In addition, the cross-section of the cylinder can also be set in a circular, semi-circular, etc. shape, but compared with the circular, semi-circular, etc. shape, under the premise of achieving the same result, the air cavity when the cross-section is a fan ring structure The 305 requires minimal air pressure.

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Abstract

The invention discloses a bistable flexible machine gripper provided with a bionic petal structure and a manufacturing method of the bistable flexible machine gripper. The bistable flexible machine gripper provided with the bionic petal structure comprises a pedestal and grab units with bistable characteristics, wherein the grab units are arranged to be of the bionic petal structure, the grab units are fixed to the periphery of the pedestal, a driving unit is fixed to each grab unit, and each driving unit comprises a grab driving unit used for driving the corresponding grab unit to deform close to the center of the gripper and a release driving unit used for driving the corresponding grab unit to deform away from the center of the gripper. According to the bistable flexible machine gripperprovided with the bionic petal structure and the manufacturing method of the bistable flexible machine gripper, grab capability is strong, response speed is high, the structure is simple, invisibility is high, manufacturing is convenient, the grab capability can be maintained without the action of external force, energy consumption is low, smoothness is good, and the gripper can adapt to complicated, irregular and variable objects.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a bistable flexible robot gripper with a bionic petal structure and a manufacturing method thereof. Background technique [0002] Flexible robots are the emerging hotspot and the frontier of future development of robotics technology today, and robots have developed unprecedentedly in line with the needs of the development of the times. Among them, bionic robots have greater advantages in reconnaissance and capture due to their similar shape and deformation mechanism to animals and plants, so the structural design of bionic robots has become a very important link. Among them, the bionic flexible gripper designed based on soft materials and flexible drives has good adaptability and sensitivity, and has a good application prospect for grasping complex and irregular objects. In the prior art, a general human-like robotic gripper is usually composed of multiple pneumatic actuators, wh...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B29C69/00B25J15/00B25J19/00
CPCB25J15/0019B25J19/007B29C69/00
Inventor 张征倪向奇孙敏柴灏李毅李吉泉吴化平彭翔
Owner ZHEJIANG UNIV OF TECH
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