A rigid-flexible coupling dual-drive pneumatic gripper

Abstract

The invention belongs to the field of mechanical grippers, and specifically discloses a rigid-flexible coupling dual-drive pneumatic gripper. The gripper includes a support device, a gripper device and a driving device connected with the support device, wherein: the gripper device includes a rigid gripper unit and a soft gripper unit connected in parallel, and when grasping a fragile object, the soft gripper unit Active, the rigid gripper unit is driven; when grabbing heavy objects, the rigid gripper unit is active and the soft gripper unit is driven; the driving device includes a first pneumatic unit and a second pneumatic unit, and the first pneumatic unit is used to drive the rigid gripper unit; the second pneumatic unit is used to drive the soft gripper unit. The rigid-flexible coupling dual-drive pneumatic gripper provided by the present invention has the advantages of a large grasping mass range and good grasping fit, and can realize rigid-flexible coupling by adjusting the driving ratio of the first pneumatic unit and the second pneumatic unit. Adjustment of gripping quality and gripping fit of dual-drive pneumatic grippers.

Description

technical field [0001] The invention belongs to the field of mechanical grippers, and more specifically relates to a rigid-flexible coupling dual-drive pneumatic gripper. Background technique [0002] With the innovation and development of technology, all kinds of mechanical grippers have been created and used to adapt to various working environments. Among them, the newly emerging software robot gripper has gradually entered people's field of vision due to its excellent environmental adaptability and interaction ability. [0003] Most of the existing grippers are based on fully rigid structures, which have defects such as high requirements for the position accuracy of the grasped objects, difficulty in grasping fragile objects, and poor interaction capabilities. The emerging soft robot gripper benefits from the softness of soft materials, which has natural adaptability and interactive capabilities, and can complete tasks that are difficult for rigid grippers (such as grasp...

AI Technical Summary

Problems solved by technology

[0003] Most of the existing grippers are based on fully rigid structures, which have defects such as high requirements for the position accuracy of the grasped objects, difficulty in grasping fragile objects, and poor interaction capabilities.

The emerging soft robot gripper benefits from the softness of soft materials, which has natural adaptability and interactive capabilities, and can complete tasks that are difficult for rigid grippers (such as grasping fragile objects such as cakes and jellies) through a relatively simple structure. But it also has the defect that the gripping force is too small

The existing main idea to solve this problem is to introduce variable stiffness mechanisms such as particle blockage and low-melting point alloys to change the stiffness of the soft gripper, but on the one hand, this will introduce unnecessary time-consuming stiffness changes, and on the other hand The improvement of the stiffness of the soft gripper is also relatively limited

[0004] In summary, there is still a lack of a soft gripper with a larger gripping range, and it is difficult to further increase the gripping limit of the soft gripper by using the existing variable stiffness mechanism and design concept

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