Variable length flexible pneumatic soft gripper

Abstract

The application discloses a variable-length flexible pneumatic soft gripper and relates to the technical field of robot equipment, and is characterized in that the variable-length flexible pneumatic soft gripper comprises a gripper fixing platform, a finger winding mechanism and a flexible finger, the finger winding mechanism is installed on the gripper fixing platform, the flexible finger is installed on the finger winding mechanism, and the finger winding mechanism can adjust the length of the flexible finger. The application provides a flexible pneumatic gripper with variable-length fingers, the length of the fingers can be flexibly adjusted according to the size of a grasped object, so that the optimal grasping posture is achieved, the fingers have the characteristics of low cost and easy repair, and the loss cost of grasping operation can be effectively reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot devices, in particular to a flexible pneumatic soft gripper with variable length. BACKGROUND

[0002] Flexible grasping of robots is a research hotspot in the field of robots at present, and the purpose is to reduce the impact force between the gripper and the grasped object during grasping. Flexible grippers are made of flexible materials and can achieve flexible grasping of grasped objects without external sensors, which is an ideal type of gripper. However, the length of the fingers of common flexible grippers is usually fixed and cannot be adjusted, and the grasped objects and grasping range are relatively single, which affects the versatility of the gripper in actual operation. At the same time, flexible grippers are usually easily scratched by sharp surfaces and are easily damaged during transportation. In addition, some grippers have complex structures and fingers that are not easy to repair, increasing the cost of production and maintenance.

[0003] Therefore, the technical personnel in the field are committed to developing a flexible pneumatic gripper with variable finger length, which can flexibly adjust the finger length according to the size of the grasped object to achieve the best grasping posture, and the finger has the characteristics of low cost and easy repair, which can effectively reduce the loss cost of grasping operation. SUMMARY

[0004] In view of the above defects of the prior art, the technical problem to be solved by the present application is how to design a flexible pneumatic gripper with variable finger length, which can flexibly adjust the finger length according to the size of the grasped object to achieve the best grasping posture.

[0005] To achieve the above-mentioned purpose, the present application provides a flexible pneumatic soft gripper with variable length, characterized in that it comprises a gripper fixing platform, a finger winding mechanism and a flexible finger, wherein the finger winding mechanism is installed on the gripper fixing platform, the flexible finger is installed on the finger winding mechanism, and the finger winding mechanism can adjust the length of the flexible finger.

[0006] Further, the gripper fixing platform comprises a fixed platform base body, and a plurality of finger winding mechanism connecting holes are further provided on the fixed platform base body, and the finger winding mechanism is fixed on the fixed platform base body through the finger winding mechanism connecting holes.

[0007] Further, the fixed platform base body further has three evenly distributed square holes, and the number of the finger winding mechanism and the flexible finger is three, and the three flexible fingers pass through the three square holes respectively.

[0008] Further, a plurality of external mounting holes are arranged on the fixed platform base body, and the external mounting holes are used to fix the gripper fixing platform at the use site.

[0009] Further, the finger winding mechanism comprises a rotating support fixedly connected with the fixed platform base through the finger winding mechanism connecting hole.

[0010] Further, the finger winding mechanism further comprises a motor, a motor flange, a worm, a worm wheel, a driving roller, a driven roller, a first gear and a second gear, the motor flange is fixed on the gripper fixed platform, the driving roller and the driven roller are fixed through the rotating support, the motor is connected on the motor flange, the output shaft of the motor is connected with the worm, the worm wheel is arranged above the worm, the worm wheel is connected with the driving roller, the first gear is connected with the driving roller, the second gear is connected with the driven roller, the first gear and the second gear are matched, the flexible finger is wound on the driving roller, and the flexible finger is pressed by the driving roller and the driven roller.

[0011] Further, the flexible finger comprises an upper layer curved cavity and a lower layer straight cavity, the upper layer curved cavity is in a curved shape, and the lower layer straight cavity is in a straight line shape.

[0012] Further, the upper layer curved cavity and the lower layer straight cavity are both provided with air guide holes, and the air guide holes of the upper layer curved cavity and the air guide holes of the lower layer straight cavity are respectively connected with different air pressure sources.

[0013] Further, the upper layer curved cavity and the lower layer straight cavity are made of flexible cloth, and the flexible cloth is fiber cloth covered with polyurethane coating on two surfaces.

[0014] Further, the cloth surface of the lower layer straight cavity is covered with fluff.

[0015] The length of the fingers of a common flexible gripper is usually fixed, and the length is not adjustable, the grasped objects and the grasping range are relatively single, and the universality of the gripper in actual operation is affected. The flexible pneumatic finger made of flexible cloth covered with polyurethane film is provided, the length of the finger can be changed through winding, so that the working space of the gripper is adjusted. The three-finger gripper integrated with the winding mechanism and the flexible cloth finger is designed, the length of the gripper finger is changed, the flexible pneumatic gripper with variable finger length is designed, the length of the finger can be flexibly adjusted according to the size of the grasped object, so that the best grasping posture is achieved, and the universality of the gripper in grasping operation is improved.

[0016] The flexible gripper is usually easy to be scratched by sharp surfaces and is easy to be damaged during transportation. The flexible pneumatic fingers made of flexible cloth covered with polyurethane film are adopted in the application, the fingers can be completely withdrawn into the base during transportation, the fingers can be folded and wound in a large range through winding, the fingers can be completely withdrawn into the base, the portability is improved, the risk of damage of the gripper during transportation is reduced, and the transportation cost is reduced.

[0017] The common flexible gripper has a complex structure, the fingers are not easy to maintain, and the production and maintenance cost is increased. The flexible cloth covered with polyurethane film adopted in the application has the characteristics of easy repair, can be quickly bonded with other polyurethane films, and the flexible fingers can be quickly repaired by pasting polyurethane film stickers on the damaged areas after damage, the cost of repairing the fingers is reduced, and the repair efficiency is improved.

[0018] The application adopts the above technical scheme, and has the following beneficial effects:

[0019] 1. The flexible fingers are connected to the finger winding mechanism through driving rollers, the length of the flexible fingers can be changed by rotating the driving rollers, so that the effective working length of the flexible fingers is changed.

[0020] 2. The flexible fingers are pressed by the driving rollers and the driven rollers, so that the smoothness and stability of the length changing process of the fingers are ensured.

[0021] 3. The motor provided on the finger winding mechanism transmits the output torque through the worm and the worm gear, so that the torque when winding the fingers is effectively increased, and the motor has self-locking ability and does not need to be powered on when grabbing the objects.

[0022] 4. The flexible fingers can be bent and straightened by respectively pressing the upper curved cavity and the lower straight cavity.

[0023] 5. The flexible fingers are made of polyurethane coated cloth, the damaged structure can be quickly repaired by polyurethane film repair stickers, without disassembly, and low-cost and quick maintenance can be realized.

[0024] 6. During transportation, the flexible fingers can be bent and wound to be withdrawn into the base, so that the risk of damage during transportation is reduced.

[0025] The concept, specific structure and technical effects of the application will be further described below with reference to the drawings, so that the purpose, features and effects of the application can be fully understood. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a perspective view of a finger shortening and bending grabbing state of a flexible pneumatic soft gripper with variable length according to a preferred embodiment of the application.

[0027] Figure 2 This is a three-dimensional structural diagram of a variable-length flexible pneumatic soft gripper in a preferred embodiment of the present invention, with the fingers of the gripper in an extended and bent state;

[0028] Figure 3 This is a three-dimensional structural diagram of a variable-length flexible pneumatic soft gripper according to a preferred embodiment of the present invention, with the fingers extended, unfolded, and released;

[0029] Figure 4 This is a structural diagram of a gripper fixing platform of a flexible pneumatic soft gripper with variable length according to a preferred embodiment of the present invention;

[0030] Figure 5 This is a structural diagram of a finger winding mechanism of a flexible pneumatic soft gripper with variable length according to a preferred embodiment of the present invention;

[0031] Figure 6 This is a structural diagram of a flexible finger of a flexible pneumatic soft gripper with variable length according to a preferred embodiment of the present invention;

[0032] Among them, 1-grip fixed platform, 2-finger winding mechanism, 3-flexible finger, 11-fixed platform base, 12-external mounting hole, 13-square hole, 14-finger winding mechanism connection hole, 21-motor, 22-motor flange, 23-worm, 24-worm wheel, 25-driving roller, 26-first gear, 27-second gear, 28-driven roller, 29-rotating bracket, 31-upper curved cavity, 32-lower linear cavity. DETAILED DESCRIPTION

[0033] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0034] In the drawings, components with identical structures are denoted by the same reference numerals, and components with similar structures or functions are denoted by similar reference numerals. The size and thickness of each component shown in the drawings are arbitrary and are not limited by the present invention. For clarity, the thickness of components in some places in the drawings is appropriately exaggerated.

[0035] like Figure 1 As shown, a pneumatic flexible gripper with variable length includes a gripper fixing platform 1, three finger winding mechanisms 2 are installed on the gripper fixing platform 1, and flexible fingers 3 are installed on the finger winding mechanisms 2.

[0036] The pneumatic flexible gripper in this example can change the effective working length of the three flexible fingers 3, realizing the grasping of objects of different sizes: as shown in Figure 1 When the flexible fingers 3 have a longer length wound on the driving roller 25, the effective working length is shorter, and the fingers are easy to grasp smaller objects; as shown in Figure 2 When the flexible fingers 3 have a shorter length wound on the driving roller 25, the effective working length is longer, and the fingers are easy to grasp larger objects.

[0037] The fingers of the pneumatic flexible gripper in this example can switch between the curved and straight states to realize the grasping and placing of the grasped objects: as shown in Figure 1 When the upper curved cavity 31 is inflated and the lower straight cavity 32 is deflated, the fingers are in the curved state, and at this time the gripper can grasp the objects; as shown in Figure 3 When the upper curved cavity 31 is deflated and the lower straight cavity 32 is inflated, the fingers are in the straight state, and at this time the gripper can release the grasped objects.

[0038] As shown in Figure 4 The gripper fixing platform 1 includes a fixing platform base body 11, and a plurality of external mounting holes 12 are uniformly arranged on the periphery of the fixing platform base body 11. The gripper fixing platform 1 has three evenly distributed square holes 13, and a plurality of finger winding mechanism connecting holes 14 are arranged on the fixing platform. The external mounting holes 12 can fix the flexible pneumatic gripper in a specific use place.

[0039] As shown in Figure 5 The finger winding mechanism 2 includes a motor 21 connected to a motor flange 22, and the motor flange 22 is fixed to the gripper fixing platform 1. The output shaft of the motor 21 is connected with a worm 23, and a worm gear 24 is matched above the worm 23. The worm gear 24 is connected with a long end of a driving roller 25, and a short end of the driving roller 25 is keyed with a first gear 26. The first gear 26 is matched with a second gear 27, and the second gear 27 is keyed with a driven roller 28. The driving roller 25 and the driven roller 28 are fixed through a rotating support 29, and the driving roller 25 and the driven roller 28 can only rotate around their own axes. The rotating support 29 is fixed to the gripper fixing platform 1 through the finger winding mechanism connecting hole 14.

[0040] The rotation of the output shaft of the motor 21 is transmitted to the driving roller 25 through the worm 23 and the worm gear 24. When the driving roller 25 rotates, it drives the first gear 26 and the second gear 27 to rotate, and finally makes the rotation direction of the driven roller 28 always opposite to that of the driving roller 25.

[0041] The worm 23 and the worm gear 24 have a self-locking effect. Since the torque generated by the finger load on the driving roller 25 and the driven roller 28 will not be transmitted to the motor end, the motor 21 only needs to be used to adjust the length of the fingers.

[0042] like Figure 6 As shown, the flexible finger 3 consists of an upper curved cavity 31 and a lower linear cavity 32. The upper curved cavity 31 is made of flexible fabric, has a curved shape, and has an air guide hole at the end; the lower linear cavity 32 is made of flexible fabric, has a straight shape, and has an air guide hole at the end. The flexible fabric is polyurethane-coated fabric, which consists of an inner rubber layer, a fabric reinforcement layer, and an outer rubber layer. The fabric reinforcement layer is woven from polyester fibers, and the inner and outer rubber layers are formed by coating the fabric reinforcement layer with polyurethane on both sides. The upper curved cavity 31 and the lower linear cavity 32 are manufactured separately and then bonded together. The two cavities in each flexible finger 3 are connected to two independent air pressure sources through the air guide holes to achieve independent air supply.

[0043] The end of the flexible finger 3 is wound on the active roller 25, and the active roller 25 is driven by the motor 21 to change the winding length, thereby adjusting the working length of the flexible finger 3. The active roller 25 and the driven roller 28 are used to clamp the flexible finger 3 so that only the working part of the finger can bend under inflation. The front end of the flexible finger 3 passes through the square hole 13.

[0044] The surface of the lower linear cavity 32 is provided with fluff, so that the flexible fingers have better friction when contacting the grasped object, thereby improving the stability of the grasping process.

[0045] The preferred embodiments of the present invention have been described in detail above. It should be understood that numerous modifications and variations based on the concepts of the present invention are possible without inventive effort by those skilled in the art. Therefore, any technical solution that can be derived by one skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. A flexible pneumatic soft gripper of variable length, characterized in that, The hand fixed platform comprises a fixed platform base body, and a plurality of finger winding mechanism connecting holes are further arranged on the fixed platform base body, and the finger winding mechanism is fixed on the fixed platform base body through the finger winding mechanism connecting holes. The finger winding mechanism comprises a rotating support, and the rotating support is fixedly connected with the fixed platform base body through the finger winding mechanism connecting holes. The finger winding mechanism further comprises a motor, a motor flange, a worm, a worm wheel, a driving roller, a driven roller, a first gear and a second gear, the motor flange is fixed on the hand fixed platform, the driving roller and the driven roller are fixed through the rotating support, the motor is connected on the motor flange, the output shaft of the motor is connected with the worm, the worm wheel is arranged above the worm, the worm wheel is connected with the driving roller, the first gear is connected with the driving roller, the second gear is connected with the driven roller, the first gear and the second gear are matched, the flexible finger is wound on the driving roller, and the flexible finger is pressed by the driving roller and the driven roller. The fixed platform base body is further provided with three evenly distributed square holes, and the number of the finger winding mechanism and the flexible finger is three, and three flexible fingers pass through three square holes respectively.

2. A variable length, flexible pneumatic soft gripper as claimed in claim 1, wherein, The fixed platform base body is further provided with a plurality of external mounting holes, and the external mounting holes are used for fixing the hand fixed platform in the use place.

3. A variable length, flexible pneumatic soft gripper as claimed in claim 1, wherein, The flexible finger comprises an upper layer curved cavity and a lower layer straight cavity, the upper layer curved cavity is in a curved shape, the lower layer straight cavity is in a straight line shape, and the upper layer curved cavity and the lower layer straight cavity are connected together.

4. A variable length, flexible pneumatic soft gripper as claimed in claim 1, wherein, The upper layer curved cavity and the lower layer straight cavity are both provided with air guide holes, and the air guide holes of the upper layer curved cavity and the lower layer straight cavity are respectively connected with different air pressure sources.

5. A variable length, flexible pneumatic soft gripper as claimed in claim 4, wherein, The upper layer curved cavity and the lower layer straight cavity are made of flexible cloth, and the flexible cloth is fiber cloth covered with polyurethane coating on both sides.

6. A variable length, flexible pneumatic soft gripper as claimed in claim 4, wherein, The cloth surface of the lower layer straight cavity is covered with fluff.

7. A variable length, flexible pneumatic soft gripper as claimed in claim 4, wherein, ​

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