Linearly driven flexible gripper with variable rigidity and variable rigidity control method thereof

A variable stiffness, wire-driven technology, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of difficult to grasp easily damaged and easily deformed objects, long design cycle, low profit added value, etc.

Active Publication Date: 2020-10-20
NORTH CHINA UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the long design cycle, high update frequency, low profit added value, and difficulty in grasping fragile and deformable objects in traditional grasping devices such as robotic grippers and suction cups, in recent years, "softwar

Method used

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  • Linearly driven flexible gripper with variable rigidity and variable rigidity control method thereof
  • Linearly driven flexible gripper with variable rigidity and variable rigidity control method thereof
  • Linearly driven flexible gripper with variable rigidity and variable rigidity control method thereof

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0017] The preferred specific implementation of the variable stiffness line-driven flexible gripper of the present invention is:

[0018] It includes a base, the edge of the base is equipped with a plurality of flexible fingers and motors, the outside of each flexible finger is covered with a vacuum bag, the middle of the base is equipped with a vacuum pump, and the vacuum pump is connected to the vacuum bag ;

[0019] The flexible finger includes a flexible finger skeleton. The middle of the flexible finger skeleton is a sheet structure, and a row of T-shaped block structures are arranged on both sides. A round hole is provided in the middle of the T-shaped block structure, and a tendon is passed through the round hole. , The upper end of the key rope is connected with the motor, and the lower end of the key rope is connected with the top end of the flexible finger skeleton;

[0020] A flexible sheet is connected to the outer end of the T-shaped block structure.

[0021] One end of ...

Example Embodiment

[0025] Specific embodiment:

[0026] Such as figure 1 with figure 2 As shown, a soft gripper with linear drive stiffness includes a vacuum pump 1, a base 2, a motor 3, a ferrule 4, a flexible finger skeleton 5, a flexible sheet 6, a tendon 7, a vacuum bag 8, and a motor box 9; The flexible finger skeleton 5 consists of a layer of flexible thin-walled structure in the middle and a series of T-shaped block structures on both sides. The top of the T-shaped block is also rough treated. There are certain gaps between the T-shaped blocks, thin-walled structure and gaps. It is for the fingers to bend better. At the same time, there are a series of round holes on the T-shaped block of the flexible finger skeleton 5 to facilitate the passage of the tendon cord 7. One end of the tendon cord is connected to the top of the flexible finger skeleton 5, and the other end is connected to the motor 3. Drive the bending of the fingers. The motor 3 is located in the middle of the motor box 9, an...

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Abstract

The invention discloses a linearly driven flexible gripper with variable rigidity based on a layer interference technology and a variable rigidity control method thereof. The gripper comprises a pedestal, wherein a plurality of flexible fingers and a motor are mounted at the edge of the pedestal, each flexible finger is externally coated with a vacuum bag, a vacuum pump is mounted in the middle ofthe pedestal, and the vacuum pump is connected to the vacuum bags; each flexible finger comprises a flexible finger framework, the middle of the flexible finger framework is of a sheet structure, a series of T-shaped block structures are arranged on two sides, a round hole is formed in the middle of each T-shaped block structure, a tendon rope penetrates the round hole, the upper end of the tendon rope is connected to the motor, and the lower end of the tendon rope is connected to the top end of the flexible finger framework; and the outer ends of the T-shaped block structures are connected to flexible sheets. The motor rotates to drive the tendon ropes, so that the fingers bend. Rigidity variation of the gripper is controlled by externally connecting a negative pressure pump, so that itis safe to drive bending and variable rigidity. The linearly driven flexible gripper is easy and controllable to operate and relatively large in grabbing space, can achieve a variable rigidity effect,and is suitable for relatively more occasions.

Description

technical field [0001] The invention relates to a soft robot, in particular to a variable stiffness line-driven flexible gripper and a variable stiffness control method thereof. Background technique [0002] Robotics is widely recognized as one of the key technologies in many fields, from manufacturing and medicine to scientific exploration. Traditional rigid robots can no longer meet people's requirements for the safety of human-computer interaction, and soft robots have gradually entered the public's field of vision. At the same time, soft robots have many advantages over rigid robots. They can better adapt to various environments, and will not cause major damage after being impacted by the outside world. They can complete complex tasks in narrow spaces and unstructured environments, such as Medical, military and detection fields. [0003] A gripper is a robot for grasping and manipulating objects. Although rigid grippers currently on the market have many good performan...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/02B25J15/10
CPCB25J15/00B25J15/10B25J15/0233
Inventor 黄昔光薛国峰李晓然
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY
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