A flexible grasping device

Abstract

The present invention provides a flexible grasping device, comprising a bracket and a flexible grasping mechanism installed on the bracket: the flexible grasping mechanism comprises an airbag with an open top, blocking particles filled in the airbag, and a restraining component for restraining the airbag; the open end at the top of the airbag is sealed and attached to the bracket to seal the airbag, and an air pipe connected to the inside of the airbag is provided on the bracket; the restraining component comprises a driving module and two oppositely arranged restraining modules, the restraining module comprises a rack, a support rod at one end of the rack and arranged downward perpendicular to the rack, and a plurality of annular restraining belts, the rack is slidably arranged on the upper surface of the bracket, the racks of the two restraining modules are arranged oppositely on both sides of the upper surface of the bracket, the support rods are arranged oppositely on both sides of the airbag, and the restraining belts are sleeved on the outer wall of the airbag and the support rods; the rack is transmission-connected to the driving module, and the driving module drives the two racks to move to drive the two support rods to approach or move away from the airbag.

Description

Technical Field

[0001] The present invention relates to the technical field, and in particular, to a flexible grasping device. Background Art

[0002] With the development of society and the progress of technology, robots can accurately complete many repetitive actions on behalf of humans. At the same time, they can also replace humans to work in some harsh environments or complete some high-precision tasks. It is an irresistible trend for robots to replace human labor.

[0003] However, tasks that seem simple to humans, such as picking up objects of various shapes, may be very complex for robots. To achieve safe grasping, not only contact with the object is required, but also the prevention of object sliding when clamping the object. The contact method between traditional mechanical claws and the clamping object is generally rigid. Frictional force is generated by applying contact pressure to the workpiece, or the contact force provided by a special structure is used to grasp the workpiece. This kind of mechanical claw has a simple structure, high positioning accuracy, and strong grasping stability. However, the surface of the workpiece will be damaged, and this kind of mechanical claw needs to rely on detailed parameters of the workpiece, such as the position, shape, weight, surface condition, etc. of the target, to design or replace a new jaw, and the general interchangeability is poor. Therefore, a reliable and gentle gripper is needed to complete this task. Summary of the Invention

[0004] The purpose of the present invention is to provide a flexible grasping device, which can meet the grasping function of a robot for unknown items without too many sensing devices and control systems, enable the robot to simply and effectively complete the grasping action in various environments, and can be used in a variety of complex situations.

[0005] To achieve the above purpose, the present invention provides a flexible grasping device, including a bracket and a flexible grasping mechanism installed on the bracket;

[0006] The flexible grasping mechanism includes an airbag with an open top, blocking particles filled inside the airbag, and a constraint component for constraining the airbag; the open end at the top of the airbag is hermetically attached to the bracket to seal the airbag, and an air pipe communicating with the inside of the airbag is provided on the bracket;

[0007] The constraint component includes a driving module and two relatively arranged constraint modules. Each constraint module includes a rack, a support rod vertically arranged downward at one end of the rack, and a plurality of annular constraint bands. The rack is slidably arranged on the upper surface of the bracket. The racks of the two constraint modules are relatively arranged on both sides of the upper surface of the bracket. The support rods are relatively arranged on both sides of the airbag. The constraint bands are sleeved on the outer wall of the airbag and the support rods. The rack is in transmission connection with the driving module, and the driving module drives the two racks to move so as to drive the two support rods to approach or move away from the airbag.

[0008] Further, the bracket includes relatively arranged connecting rings and a sealing plate. The connecting rings and the sealing plate are concentrically arranged, and the connecting rings and the sealing plate are connected by a plurality of connecting plates.

[0009] The open end at the top of the airbag is hermetically attached to the outer side surface of the sealing plate.

[0010] The air pipe is arranged through the sealing plate.

[0011] The driving module and the rack are both installed on the inner side surface of the sealing plate.

[0012] Further, the top end of the support rod is fixedly connected to the end of the rack through a slider. Sliding holes extending outward along the plate surface of the sealing plate are arranged on both sides of the sealing plate, and the slider is slidably installed in the sliding holes.

[0013] Further, a chute penetrating through both ends is formed on the inner side surface of the sealing plate, and the chute extends along the radial direction of the sealing plate, and the rack is slidably installed in the chute.

[0014] Further, the driving module includes a motor, a driving gear, and two transmission gears meshing with the driving gear. The driving gear is rotatably installed at the central position of the chute through a wheel shaft. The motor drives the wheel shaft to rotate. The transmission gears are respectively arranged on both sides of the chute, and the transmission gears correspond to the racks one by one and are meshed with each other.

[0015] Further, the edge of the open end of the airbag is turned outward to form a connecting portion, and the connecting portion is hermetically attached to the sealing plate through a flange.

[0016] Further, the constraint bands of the two constraint modules are arranged adjacent to each other up and down in sequence.

[0017] Further, limiting grooves with sealed bottoms are arranged on both sides of the outer wall of the airbag, and the connecting portions of the constraint bands and the outer wall of the airbag are arranged in the limiting grooves, and the limiting grooves are integrally arranged with the airbag.

[0018] Further, the blocking particles are hard plastic particles.

[0019] Further, a filter plate is provided between the trachea and the airbag, and the filter plate is arranged in contact with the surface of the bracket.

[0020] The beneficial effects of the present invention are as follows:

[0021] In the robot grasping action, it is mainly divided into several steps: perception, analysis, trial grasping, gripping, and lifting. The flexible grasping device of the present invention can skip the two stages of analysis and trial grasping that require complex sensing and control, has stronger versatility, a simpler control and sensing system, reduces the technical requirements and the manipulation burden of the robot.

[0022] At the same time, the flexible grasping device of the present invention has strong grasping versatility, can grasp most rigid objects, has strong adaptability, and can work in a variety of environments. The restraint function of the restraint component enables the airbag to better wrap and contact the surface of the workpiece. Compared with the traditional rigid gripper, the present invention has stronger versatility and a simpler control and sensing system; compared with the traditional flexible gripper, the present invention has a greater grasping force. Description of the Drawings

[0023] Figure 1 It is a schematic structural diagram of a flexible grasping device provided by an embodiment of the present invention;

[0024] Figure 2 It is a cross-sectional view of a flexible grasping device provided by an embodiment of the present invention;

[0025] Figure 3 It is a top view of a flexible grasping device provided by an embodiment of the present invention;

[0026] Figure 4 It is a schematic structural diagram of a bracket of a flexible grasping device provided by an embodiment of the present invention;

[0027] Figure 5 It is a schematic structural diagram of an airbag of a flexible grasping device provided by an embodiment of the present invention;

[0028] Figure 6 It is a schematic diagram of the working state of a flexible grasping device provided by an embodiment of the present invention.

[0029] Wherein, the bracket 1, the airbag 2, the blocking particles 3, the trachea 4, the rack 5, the support rod 6, the restraint belt 7, the connecting ring 8, the sealing plate 9, the connecting plate 10, the sliding hole 11, the sliding groove 12, the motor 13, the driving gear 14, the transmission gear 15, the connecting portion 16, the flange 17, the limiting groove 18, the filter plate 19, the workpiece 20, the slider 21. Detailed Embodiments

[0030] The specific embodiments of the present invention will be described in more detail below in conjunction with the schematic diagrams. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the attached drawings are all in a very simplified form and use non-precise scales, only for conveniently and clearly assisting in explaining the purpose of the embodiments of the present invention.

[0031] As Figures 1 - 5 shown, a flexible grasping device provided in this embodiment includes a bracket 1 and a flexible grasping mechanism installed on the bracket 1. The flexible grasping mechanism includes an airbag 2 with an open top, blocking particles 3 filled inside the airbag 2, and a constraint assembly for constraining the airbag 2. The airbag 2 can be made of flexible rubber material, and the blocking particles 3 can be made of hard plastic particles, etc. The open end at the top of the airbag 2 is hermetically attached to the bracket 1 to seal the airbag 2, and a trachea 4 communicating with the inside of the airbag 2 is provided on the bracket 1. A filter plate 19 is provided between the trachea 4 and the airbag 2. The filter plate 19 is attached to the surface of the bracket 1, and the filter plate 19 prevents the blocking particles 10 inside the airbag 2 from leaving the airbag 2. The trachea 4 is externally connected to an exhaust device to pump out the air inside the airbag 2, reducing the gaps between the internal blocking particles 3 and generating frictional force with each other. The entire airbag 2 changes from flexible to rigid to generate a clamping force on the workpiece 20 and achieve grasping.

[0032] The constraint assembly includes a driving module and two relatively arranged constraint modules. The constraint module includes a rack 5, a support rod 6 vertically arranged downward at one end of the rack 5, and a plurality of annular constraint belts 7. The rack 5 is slidably arranged on the upper surface of the bracket 1. The racks 5 of the two constraint modules are arranged oppositely on both sides of the upper surface of the bracket 1. The support rods 6 are arranged oppositely on both sides of the airbag 2. The constraint belts 7 are sleeved on the outer wall of the airbag 2 and the support rod 6. The rack 5 is in transmission connection with the driving module, and the driving module drives the two racks 5 to move to drive the two support rods 6 to approach or move away from the airbag 2. When the two support rods 6 approach the airbag 2, the constraint belts 7 become loose and do not constrain the airbag 2; when the two support rods 6 move away from the airbag 2, the constraint belts 7 are tightened and will constrain the airbag 2.

[0033] Specifically, the bracket 1 includes a connecting ring 8 and a sealing plate 9 arranged oppositely. The connecting ring 8 and the sealing plate 9 are concentrically arranged, and the connecting ring 8 and the sealing plate 9 are connected by a plurality of connecting plates 10. The connecting ring 8 can be fixedly installed on the robotic arm by bolts. The open end at the top of the airbag 2 is hermetically attached to the outer side surface of the sealing plate 9. Specifically, the edge of the open end of the airbag 2 is turned outward to form a connecting portion 16, and the connecting portion 16 is hermetically attached to the sealing plate 9 through a flange 17. The flange 17 is fixedly installed on the sealing plate 9 by bolts. The trachea 4 passes through the sealing plate 9. The driving module and the rack 5 are both installed on the inner side surface of the sealing plate 9.

[0034] The top end of the support rod 6 is fixedly connected to the end of the rack 5 through a slider 21. Sliding holes 11 extending outward along the plate surface of the sealing plate 9 are provided on both sides of the sealing plate 9. The slider 21 is slidably installed in the sliding holes 11, and the slider 21 can slide along the sliding holes 11. A chute 12 penetrating through both ends is formed on the inner plate surface of the sealing plate 9, and the chute 12 extends radially along the sealing plate 9. The rack 5 is slidably installed in the chute 12.

[0035] The driving module includes a motor 13, a driving gear 14, and two transmission gears 15 meshing with the driving gear 14. The driving gear 14 is rotatably installed at the central position of the chute 12 through a wheel shaft. The motor 13 drives the wheel shaft to rotate. The transmission gears 15 are respectively arranged on both sides of the chute 12, and the transmission gears 15 are in one-to-one correspondence with and mesh with the rack 5. The motor 13 drives the driving gear 14 to rotate forward or backward, and drives the rack 5 to slide along the chute 12 through the transmission gears 15.

[0036] Furthermore, the restraint belts 7 of the two restraint modules are sequentially arranged adjacent to each other up and down, and the end faces between the adjacent restraint belts 7 are mutually attached. Limiting grooves 18 sealed at the bottom are provided on both outer walls of the airbag 2. The connection parts of the restraint belts 7 and the outer wall of the airbag 2 are arranged in the limiting grooves 18 to prevent the restraint belts 7 from sliding up and down. The limiting grooves 18 are integrally provided with the airbag 2.

[0037] Working principle:

[0038] Please refer to Figure 1 and Figure 6 , when the motor 13 rotates clockwise to drive the driving gear 14 to rotate clockwise, the driving gear 14 drives the transmission gear 15 to rotate counterclockwise, the transmission gear 15 drives the rack 5 to move inward, the rack 5 drives the slider 21 to move inward, the slider 21 drives the support rod 6 to move inward, the support rod 6 drives the restraint belt 7 to move inward, and the restraint belt 7 loosens. The airbag 2 contacts the workpiece 20 and deforms according to the shape of the workpiece 20; the blocking particles 10 move with the deformation of the airbag 2; the restraint belt 7 deforms with the deformation of the airbag 2.

[0039] Then, when the motor 13 rotates counterclockwise to drive the driving gear 14 to rotate counterclockwise, the driving gear 14 drives the transmission gear 15 to rotate clockwise, the transmission gear 15 drives the rack 5 to move outward, the rack 5 drives the slider 21 to move outward, the slider 21 drives the support rod 6 to move outward, the support rod 6 drives the restraint belt 7 to move outward, and the restraint belt 7 tightens the airbag 2 to make the airbag 2 fit the workpiece 20 more closely.

[0040] Finally, the air pipe 8 sucks air to make the airbag 2 contract. The gaps between the blocking particles 10 inside the airbag 2 decrease and generate frictional force with each other. The entire airbag 2 changes from flexible to rigid to generate a clamping force on the workpiece 20 and achieve grasping.

[0041] In summary, in the robot grasping action, it is mainly divided into several steps: perception, analysis, trial grasping, gripping, and lifting. The flexible grasping device of the present invention can skip the two stages of analysis and trial grasping that require complex sensing and control, has stronger versatility, a simpler control and sensing system, reduces the technical requirements and the manipulation burden of the robot.

[0042] At the same time, the flexible grasping device of the present invention has strong grasping versatility, can grasp most rigid objects, has strong adaptability, and can work in a variety of environments. The restraint function of the restraint component enables the airbag to better wrap and contact the surface of the workpiece 20. Compared with the traditional rigid gripper, the present invention has stronger versatility and a simpler control and sensing system; compared with the traditional flexible gripper, the present invention has a greater grasping force.

[0043] The above are only the preferred embodiments of the present invention and do not impose any limitation on the present invention. Any person skilled in the art, without departing from the technical solution of the present invention, makes any form of equivalent replacement or modification and other changes to the technical solution and technical content disclosed by the present invention, all of which belong to the content of the technical solution of the present invention and are still within the protection scope of the present invention.

Claims

1. A flexible grasping device, characterized in that, It includes a bracket (1) and a flexible grasping mechanism mounted on the bracket (1); The flexible grasping mechanism includes an airbag (2) with an open top end, blocking particles (3) filled inside the airbag (2), and a constraint assembly for constraining the airbag (2); the open end at the top of the airbag (2) is hermetically attached to the bracket (1) to seal the airbag (2), and an air pipe (4) communicating with the inside of the airbag (2) is provided on the bracket (1); The constraint assembly includes a driving module and two relatively arranged constraint modules. The constraint module includes a rack (5), a support rod (6) vertically arranged downward perpendicular to the rack (5) at one end of the rack (5), and a plurality of annular constraint belts (7). The rack (5) is slidably arranged on the upper surface of the bracket (1). The racks (5) of the two constraint modules are relatively arranged on both sides of the upper surface of the bracket (1). The support rods (6) are relatively arranged on both sides of the airbag (2). The constraint belts (7) are sleeved on the outer wall of the airbag (2) and the support rod (6); the rack (5) is in transmission connection with the driving module, and the driving module drives the two racks (5) to move to drive the two support rods (6) to approach or move away from the airbag (2).

2. The flexible grasping device according to claim 1, characterized in that, The bracket (1) includes relatively arranged connecting rings (8) and a sealing plate (9). The connecting rings (8) and the sealing plate (9) are concentrically arranged, and the connecting rings (8) and the sealing plate (9) are connected by a plurality of connecting plates (10); The open end at the top of the airbag (2) is hermetically attached to the outer side surface of the sealing plate (9); The air pipe (4) penetrates through the sealing plate (9); The driving module and the rack (5) are both mounted on the inner side surface of the sealing plate (9).

3. The flexible grasping device according to claim 2, characterized in that, The top end of the support rod (6) is fixedly connected to the end of the rack (5) through a slider (21). Sliding holes (11) extending outward along the plate surface of the sealing plate (9) are provided on both sides of the sealing plate (9), and the slider (21) is slidably mounted in the sliding holes (11).

4. A flexible grasping device according to claim 2, characterized in that, A chute (12) with both ends penetrating is formed on the inner side surface of the sealing plate (9). The chute (12) extends along the radial direction of the sealing plate (9), and the rack (5) is slidably mounted in the chute (12).

5. The flexible grasping device according to claim 4, wherein The driving module includes a motor (13), a driving gear (14), and two transmission gears (15) meshing with the driving gear (14). The driving gear (14) is rotatably mounted at the central position of the chute (12) through a wheel shaft. The motor (13) drives the wheel shaft to rotate. The transmission gears (15) are respectively arranged on both sides of the chute (12), and the transmission gears (15) are in one-to-one correspondence and meshing with the rack (5).

6. The flexible grasping device according to claim 2, wherein, The edge of the open end of the airbag (2) is turned outward to form a connecting portion (16), and the connecting portion (16) is hermetically attached to the sealing plate (9) through a flange (17).

7. A flexible grasping device according to claim 1, characterized in that, The constraint belts (7) of the two constraint modules are sequentially arranged adjacent to each other up and down.

8. A flexible grasping device according to claim 1, characterized in that, On both sides of the outer wall of the airbag (2), limit grooves (18) with sealed bottoms are provided. The connection part of the restraint belt (7) and the outer wall of the airbag (2) is arranged within the limit grooves (18), and the limit grooves (18) are integrally provided with the airbag (2).

9. The flexible grasping device according to claim 1, wherein, The blocking particles (3) are hard plastic particles.

10. A flexible grasping device according to claim 1, wherein, A filter plate (19) is provided between the trachea (4) and the airbag (2), and the filter plate (19) is arranged in contact with the surface of the bracket (1).

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