Wrap-around soft gripper

Abstract

The present invention discloses a wrapping soft gripper, comprising a top plate, a wrapping bag located at the center of the lower surface of the top plate and opening downward, a first bracket evenly connected to the top plate and located outside the wrapping bag, a second bracket hinged to one end of the first bracket, a claw located at the end of the second bracket for hooking the edge of the opening of the wrapping bag, a wire drawing device located on the upper surface of the top plate, and a steel wire rope fixed at one end to the wire drawing device and the other end to the end of the second bracket to pull the second bracket to rotate, the claw having a serrated slot, and the wrapping bag is a spherical latex sleeve. The wrapping soft gripper of the present invention has a simple structure, is easy to install and disassemble, and has a low cost. The steel wire rope is used to drive the second bracket to rotate, thereby pulling the expansion and contraction of the wrapping bag opening to achieve the grabbing of the required items. It has strong versatility and adaptability, and can grab fragile items without damage.

Description

Technical Field

[0001] The invention relates to a gripper, in particular to a wrapped soft gripper. Background Art

[0002] Compared with traditional rigid grippers, soft grippers have a high degree of freedom and softness, which continuously expands the application areas of grippers and is one of the main trends in the future development of grippers.

[0003] Researchers at home and abroad have designed many soft grippers that are different from traditional rigid grippers based on the characteristics of soft materials and drives. They have good environmental interactivity and human-machine safety, can gently grasp many fragile objects, and have good application prospects. However, most of the current soft grippers are pneumatic structures, which need to be used with cumbersome equipment such as air pumps. In addition, the general gripper can only grasp one item at a time. If multiple items are grasped at a time, the stability of the flexible single finger of the gripper will be greatly reduced; and because of the airtightness limitation during pneumatic drive, they are often assembled from an integrated flexible single finger and are non-adjustable flexible grippers, and the manufacturing process is relatively complicated. In addition, since the existing soft grippers require supporting equipment, the installation and disassembly of soft grippers are difficult and the cost is high, which is not conducive to application and promotion.

[0004] Therefore, it is urgent to solve the above problems. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to provide a wrap-around soft gripper with good grasping stability, simple operation and low cost.

[0006] Technical solution: To achieve the above objectives, the present invention discloses a wrapping soft gripper, comprising a top plate, a downwardly opening wrapping bag located at the center of the lower surface of the top plate, a first bracket evenly connected to the top plate and located on the outside of the wrapping bag, a second bracket hinged to one end of the first bracket, a claw located at the end of the second bracket for hooking the edge of the opening of the wrapping bag, a wire pulling device located on the upper surface of the top plate, and a steel wire rope with one end fixed to the wire pulling device and the other end fixed to the end of the second bracket for pulling the second bracket to rotate, the claw having a serrated groove, and the wrapping bag is a spherical latex sleeve.

[0007] Among them, the number of the first brackets and the number of the second brackets are at least 4 respectively.

[0008] Preferably, first threading holes are respectively opened at both ends of the first bracket, one end of the wire rope is fixed to the end of the second bracket, passes through the first threading holes at both ends of the first bracket in sequence, and then is fixed to the wire pulling device.

[0009] Furthermore, the wire pulling device is a wire winding drum driven by a motor.

[0010] Preferably, a first connecting column for connecting the wrapping bag is provided at the center of the lower surface of the top plate, and a first connecting hole is provided on the first connecting column.

[0011] Furthermore, the top of the wrapping bag has a second connecting column for connecting to the top plate, and a second connecting hole is opened on the second connecting column.

[0012] Preferably, a second threading hole for fixing the steel wire rope is formed at the end of the second bracket.

[0013] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0014] (1) The wrapping soft gripper of the present invention has a simple structure, is easy to install and disassemble, and has low cost. The second bracket is driven to rotate by a steel wire rope, thereby pulling the opening of the wrapping bag to expand and contract, so as to achieve the grabbing of the required items. It has strong versatility and adaptability, and can grab fragile items without damage;

[0015] (2) The present invention utilizes the good flexibility and safety of the latex sleeve to achieve stable grasping of fragile and perishable objects of various shapes. When grasping multiple objects at a time, the instability phenomenon similar to that of existing finger-like grippers can be effectively avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of the present invention in a hidden package bag state;

[0018] Figure 3 It is a schematic diagram of the connection between the top plate and the wire pulling device in the present invention;

[0019] Figure 4 is a schematic structural diagram of the second bracket in the present invention;

[0020] Figure 5 is a schematic structural diagram of the first bracket in the present invention;

[0021] Figure 6 It is a schematic diagram of the structure of the wrapping bag in the present invention. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0023] like Figure 1 and Figure 2 As shown, a wrapping soft gripper of the present invention comprises a top plate 1, a wrapping bag 2, a first bracket 3, a second bracket 4, a claw 5, a wire pulling device 6 and a steel wire rope.

[0024] The top plate 1 is a square plate, and threaded holes for fixing the first bracket 3 are provided at the four corners of the top plate 1. A first connecting column 101 for connecting a wrapping bag is provided at the center of the lower surface of the top plate 1, and a first connecting hole 102 is provided on the first connecting column 101. Figure 6 As shown, the wrapping bag 2 is a spherical latex sleeve, which is located at the center of the lower surface of the top plate. The wrapping bag 2 has a downward opening, and the diameter of the opening should be smaller than the maximum diameter of the object to be grasped. The top of the wrapping bag 2 has a second connecting column 201 for connecting to the top plate, and a second connecting hole 202 is provided on the second connecting column 201. The first connecting hole 102 and the second connecting hole 202 are fixedly connected by a bolt assembly.

[0025] like Figure 4 and Figure 5 As shown, there are four first brackets 3, one end of which is connected to the threaded holes at the four corners of the top plate and is evenly distributed around the outer circumference of the wrapping bag 2. The other end of the first bracket 3 is hinged with a second bracket 4, and the end of the second bracket has a claw 5 for hooking the edge of the wrapping bag opening, and the claw 5 has a serrated groove. The first bracket 3 has first threading holes 301 at both ends, and the second bracket 4 has a second threading hole 401 for fixing the wire rope.

[0026] like Figure 2 As shown, the wire pulling device 6 is a winding drum driven by a motor. The wire pulling device 6 is arranged on the upper surface of the top plate 1. One end of the wire rope is fixed on the wire pulling device, passes through the first threading holes 301 at both ends of the first bracket 3 in sequence, and then is fixed on the second threading hole 401 of the second bracket 4. In the initial state, rotate the wire pulling device to tighten the four steel ropes, and the second bracket rotates outward around the hinge between the first bracket and the second bracket, and the steel rope is in a taut state. During the rotation of the second bracket, the claw hooks the edge of the lower opening of the parcel bag to enlarge the diameter of the lower opening of the parcel bag; place the soft gripper above the item to be grasped, and the parcel bag covers the item. Release the wire pulling device, the steel rope is in a relaxed state, and the second bracket rotates inward, the lower opening of the parcel bag will return to its original state, and the item will be wrapped in the parcel bag at the same time; when it is necessary to put down the item, move the soft gripper to the top of the storage table, with the bottom of the gripper close to the surface of the storage table, rotate the wire pulling device, tighten the steel rope, and the second bracket rotates outward, the opening of the parcel bag becomes larger, and the item falls onto the storage table; the diameter of the applicable item should be larger than the diameter of the bottom opening of the parcel bag and smaller than the diameter after the opening is enlarged.

Claims

1. A wrapped soft gripper, characterized in that: The invention comprises a top plate (1), a downwardly opening wrapping bag (2) located at the center of the lower surface of the top plate, a first bracket (3) evenly connected to the top plate and located outside the wrapping bag, a second bracket (4) hinged to one end of the first bracket, a claw (5) located at the end of the second bracket and used to hook the edge of the wrapping bag opening, a wire drawing device (6) located on the upper surface of the top plate, and a steel wire rope with one end fixed to the wire drawing device and the other end fixed to the end of the second bracket and capable of pulling the second bracket to rotate; the claw (5) has a serrated groove, The wrapping bag (2) is a spherical latex sleeve; the first bracket (3) and the second bracket (4) are at least four in number, and the two ends of the first bracket (3) are respectively provided with a first threading hole (301); one end of the steel wire rope is fixed to the end of the second bracket, passes through the first threading holes at the two ends of the first bracket in sequence, and is then fixed to the wire pulling device; the wire pulling device (6) is a winding drum driven by a motor, and a first connecting column (101) for connecting the wrapping bag is provided at the center of the lower surface of the top plate (1), and the first connecting column (101 ) is provided with a first connecting hole (102); the top of the wrapping bag (2) is provided with a second connecting column (201) for connecting to the top plate, and the second connecting column (201) is provided with a second connecting hole (202); the end of the second bracket (4) is provided with a second threading hole (401) for fixing the steel wire rope; in the initial state, the wire pulling device is rotated to tighten the four steel wire ropes, and the second bracket rotates outward around the hinge between the first bracket and the second bracket, the steel wire rope is in a taut state, and the second bracket is stuck during the rotation process. The claw hooks the edge of the lower opening of the parcel bag to enlarge the diameter of the lower opening of the parcel bag; the soft gripper is placed above the item to be grasped, the parcel bag covers the item, the wire pulling device is released, the wire rope is in a relaxed state, the second bracket rotates inward, the lower opening of the parcel bag will return to its original state, and the item is wrapped in the parcel bag; when the item needs to be put down, the soft gripper is moved above the storage table, the bottom of the gripper is close to the surface of the storage table, the wire pulling device is rotated, the wire rope is tightened, the second bracket rotates outward, the opening of the parcel bag becomes larger, and the item falls onto the storage table; The diameter of the applicable item should be larger than the diameter of the bottom opening of the package bag and smaller than the diameter after the opening is enlarged.

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