Rigid-flexible coupling elephant trunk type gripper

Abstract

This invention belongs to the technical field of biomimetic grippers, and discloses a rigid-flexible coupled elephant trunk-like gripper. The gripper has a symmetrical structure, including a driving component, a rigid mechanism, and a flexible mechanism. The driving component is disposed on the rigid mechanism and is used to drive the rigid mechanism to rotate and simultaneously limit its movement. The flexible mechanism is movably connected to the rigid mechanism and is used to connect to a vacuum pump. The flexible mechanism folds and deforms when subjected to negative pressure. The working mode of the gripper is switched by the cooperation between the driving component and the vacuum pump. The gripper achieves different working modes by selectively driving the rigid and flexible mechanisms, thereby solving the problem of the limited grasping range of existing biomimetic grippers.

Description

Technical Field

[0001] This invention belongs to the technical field of biomimetic grippers, and more specifically, relates to a rigid-flexible coupled elephant trunk-like gripper. Background Technology

[0002] While existing rigid bionic grippers are widely used and offer superior gripping force and load-bearing capacity, they struggle to grasp ultralight and fragile objects such as powders and potato chips, easily leading to damage. Existing soft bionic grippers, while exhibiting good conformity, also struggle to grasp powdery objects, and their controllability is poor, with relatively weak gripping force.

[0003] Since rigid bionic grippers and soft bionic grippers compensate for each other's shortcomings, the rigid-flexible coupled bionic gripper was developed to combine the advantages of both. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a rigid-flexible coupled elephant trunk-like gripper. The gripper achieves different working modes by selectively driving rigid and flexible mechanisms to solve the problem that the existing bionic grippers have a small grasping range.

[0005] To achieve the above objectives, according to one aspect of the present invention, a rigid-flexible coupled elephant trunk-like gripper is provided. The gripper has a symmetrical structure and includes a drive component, a rigid mechanism, and a flexible mechanism. The drive component is disposed on the rigid mechanism and is used to drive the rigid mechanism to rotate while simultaneously limiting its movement. The flexible mechanism is movably connected to the rigid mechanism and is used to connect to a vacuum pump. The flexible mechanism folds and deforms when subjected to negative pressure. The working mode of the gripper is switched by the cooperation between the drive component and the vacuum pump.

[0006] Furthermore, when the rigid mechanism moves actively, it can drive the flexible mechanism to move; when the flexible mechanism works actively, it can drive the rigid mechanism to rotate.

[0007] Furthermore, the drive assembly includes two drive mechanisms, which are symmetrically arranged; each drive mechanism includes a dual-output shaft motor and two angular baffles, which are respectively connected to two opposite output shafts of the dual-output shaft motor; the drive mechanism is connected to the rigid mechanism through the dual-output shaft motor.

[0008] Furthermore, the angular baffle includes a cylinder and a baffle, the baffle being connected to one end of the cylinder; the two opposite ends of the cylinder are respectively provided with a rear shaft hole and a front shaft hole, the front shaft hole and the baffle being located at the same end of the cylinder; the rear shaft hole is locked to the output shaft of the dual-output shaft motor, the two output shafts of the dual-output shaft motor respectively drive the two angular baffles to rotate; the baffle is U-shaped, and includes a left baffle and a right baffle connected to each other.

[0009] Furthermore, the rigid mechanism includes a top cover, four rotating shafts, two rigid grippers, and two screws. The rigid mechanism is connected to the drive assembly via the four rotating shafts. One end of each of the two rigid grippers is connected to the four rotating shafts. The two rigid grippers are connected to the flexible mechanism via the two screws.

[0010] Furthermore, the top cover is provided with four bearing seats and a pagoda connector, and the four rotating shafts are respectively sleeved in the bearing seats; the flexible mechanism is connected to the top cover, and the pagoda connector is connected to the flexible mechanism.

[0011] Furthermore, the rotating shaft includes a front end and a rear end facing away from each other. The front end of the rotating shaft is provided with a rotating key, which is arranged radially along the rotating shaft. The front end of the rotating shaft is movably connected to the front shaft hole, so that the rotating shaft is movably connected to the angled baffle. The rotating key is located between the left baffle and the right baffle, and the rotation range of the rotating shaft is limited by the angled baffle.

[0012] Furthermore, the rigid gripper is U-shaped and includes two spaced-apart connecting rods and a claw portion connected to one end of the connecting rods, with the other end of the connecting rods connected to the end of the rotating shaft.

[0013] Furthermore, one end of the connecting rod has an upper through hole, and the other end has a lower through hole; the connecting rod is locked to the end of the rotating shaft through the upper through hole, so that the two are fixedly connected; the rigid gripper is connected to the flexible mechanism through the lower through hole and the screw; the claw is L-shaped, and multiple raised patterns are formed on its side.

[0014] Furthermore, the flexible mechanism is located between the two rigid grippers and is a flexible folding mechanism; one end of the flexible mechanism is connected to the top cover, and the two sides of the other end are respectively connected to the two rigid grippers.

[0015] In summary, compared with the prior art, the rigid-flexible coupling elephant trunk-like gripper provided by the present invention has the following beneficial effects:

[0016] 1. By using the angled baffle limiting mechanism, four working modes can be achieved: flexible-dominant and rigid-fixed (flexible mechanism works, rigid mechanism is fixed), flexible-dominant and rigid-subordinate (flexible mechanism dominates, rigid mechanism assists), rigid-dominant and flexible-subordinate (rigid mechanism dominates, flexible mechanism assists), and rigid-flexible collaboration (flexible and rigid mechanisms drive simultaneously or cooperate sequentially), thereby expanding the range of types of items that can be grasped.

[0017] 2. Different characteristics are exhibited under different working modes. The working mode dominated by the flexible mechanism applies force more gently and has better compliance, which can realize the picking up of fragile and ultra-light objects; the working mode dominated by the rigid mechanism can generate a larger gripping force and can realize the picking up of heavy objects.

[0018] 3. The overall structure is relatively simple. The working mode of the gripper can be controlled by a dual-output shaft motor and a vacuum pump. The control is simple and the installation is highly integrated. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the rigid-flexible coupling elephant trunk-like gripper provided by the present invention.

[0020] Figure 2 yes Figure 1 An exploded view of the drive module of the rigid-flexible coupling elephant trunk-like gripper.

[0021] Figure 3 yes Figure 1 A schematic diagram of the rigid mechanism of the rigid-flexible coupling elephant trunk-like gripper.

[0022] Figure 4 yes Figure 1 A schematic diagram of the top cover of the rigid-flexible coupling elephant trunk-shaped gripper.

[0023] Figure 5 yes Figure 1 A schematic diagram of the pivot of the rigid-flexible coupling elephant trunk-like gripper.

[0024] Figure 6 yes Figure 1 A schematic diagram of the angular baffle of the rigid-flexible coupling elephant trunk-like gripper in the image.

[0025] Figure 7 yes Figure 1 A schematic diagram of the assembly of the rotating shaft and the angular baffle of the rigid-flexible coupling elephant trunk-like gripper.

[0026] Figure 8 yes Figure 1 A schematic diagram of the rigid gripper of the rigid-flexible coupling elephant trunk-like gripper.

[0027] Figure 9 yes Figure 1A schematic diagram of the flexible mechanism of the rigid-flexible coupling elephant trunk-like gripper.

[0028] Figure 10 yes Figure 1 A cross-sectional view of the flexible mechanism of the rigid-flexible coupling elephant trunk-like gripper in the image.

[0029] Figure 11 yes Figure 1 The working principle diagram of the rigid-flexible coupling elephant trunk-like gripper (flexible mechanism works, rigid mechanism is fixed).

[0030] Figure 12 yes Figure 1 The working principle diagram of the rigid-flexible coupling elephant trunk-like gripper (flexible mechanism leads, rigid mechanism assists in the work).

[0031] Figure 13 yes Figure 1 The working principle diagram of the rigid-flexible coupling elephant trunk-like gripper (rigid mechanism leads, flexible mechanism assists in the work);

[0032] Figure 14 yes Figure 1 The diagram illustrates the working principle of the rigid-flexible coupling elephant trunk-like gripper, which combines rigid and flexible mechanisms (simultaneous driving or sequential coordination of flexible and rigid mechanisms).

[0033] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 100-drive assembly, 110-angular baffle, 111-rear shaft hole, 112-front shaft hole, 113-left baffle, 114-right baffle, 120-dual output shaft motor, 200-rigid mechanism, 210-bearing seat, 220-rotating shaft, 221-rotating shaft end, 222-rotating shaft key, 223-rotating shaft front end, 230-top cover, 231-side blind hole, 232-inner blind hole, 233-pagoda connector, 240-rigid gripper, 241-upper through hole, 242-lower through hole, 243-roughing, 250-screw, 300-flexible mechanism, 310-semi-permeable membrane, 311-semi-permeable membrane through hole, 312-semi-permeable membrane small hole, 320-flexible mechanism side wall, 321-side wall top surface. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0035] Please see Figure 1This invention provides a rigid-flexible coupled elephant trunk-like gripper, comprising a drive assembly 100, a rigid mechanism 200, and a flexible mechanism 300. The drive assembly is disposed on the rigid mechanism 200 and is used to drive the rigid mechanism 200 to operate and simultaneously limit its movement. The flexible mechanism 300 is connected to the rigid mechanism 200 and is connected to an external vacuum pump. The vacuum pump provides negative pressure to the flexible mechanism 300, causing it to fold inward and deform. When actively operating, the rigid mechanism 200 can drive the flexible mechanism 300 to move, and vice versa.

[0036] The gripper switches between four working modes through the drive component and the vacuum pump, expanding the range of objects it can grasp. The four working modes are: flexible-dominant and rigid-fixed, which can adsorb dust and ultralight objects such as mosquitoes; flexible-dominant and rigid-subordinate, which can scoop up fragile objects such as tofu and potato chips; rigid-dominant and flexible-subordinate, which can grasp heavier objects; and rigid-flexible cooperation, which can grasp mixed types of objects.

[0037] Please see Figure 2 and Figure 6 The drive assembly includes two drive mechanisms symmetrically arranged. Each drive mechanism includes a dual-output shaft motor 120 and two angular baffles 110, which are respectively connected to two opposite output shafts of the dual-output shaft motor 120. The drive mechanism is connected to the rigid mechanism 200 via the dual-output shaft motor 120.

[0038] The angular baffle 110 includes a cylinder and a baffle, with the baffle connected to one end of the cylinder. A rear axle hole 111 and a front axle hole 112 are respectively opened at opposite ends of the cylinder, with the front axle hole 112 and the baffle located at the same end of the cylinder. The rear axle hole 111 is locked to the output shaft of the dual-output-shaft motor 120. The two output shafts of the dual-output-shaft motor 120 respectively drive the two angular baffles 110 to rotate, achieving different positions under the drive of the dual-output-shaft motor 120.

[0039] In this embodiment, the baffle is U-shaped and includes a left baffle 113 and a right baffle 114 connected to each other. The left baffle 113 and the right baffle 114 are symmetrically arranged.

[0040] Please see Figure 3 , Figure 4 , Figure 5 , Figure 7 and Figure 8The rigid mechanism 200 includes four bearing seats 210, four rotating shafts 220, a top cover 230, two rigid grippers 240, and two screws 250. The four bearing seats 210 are mounted on the top cover 230. The rigid mechanism 200 is connected to the drive assembly via the four bearing seats 210 and the four rotating shafts 220. One end of each of the two rigid grippers 240 is connected to one of the four rotating shafts 220. The two rigid grippers 240 are connected to the flexible mechanism 300 via the two screws 250.

[0041] The top cover 230 is rectangular, with four side blind holes 231 at each of its opposite ends. These eight side blind holes 231 are used to fix four bearing seats 210. Each bearing seat 210 is fixed to the top cover 230 through two side blind holes 231. The four bearing seats 210 are located at the four vertices of the same rectangle. The top cover 230 also has four inner blind holes 232 in its center, and each drive mechanism is fixed to the top cover 230 through two inner blind holes 232. A pagoda connector 233 is provided on the top cover 230, through which the flexible mechanism 300 is connected to the vacuum pump.

[0042] The rotating shaft 220 includes a front end 223 and a rear end 221 facing away from each other. The front end 223 is provided with a key 222, which is radially positioned along the shaft. The front end 223 is movably connected to the front shaft hole 112, allowing the shaft to be movably connected to the angled baffle 110. The rear end 221 is connected to the rigid gripper 240. The key 222 is located between the left baffle 113 and the right baffle 114. The rotation range of the shaft is limited by the angled baffle 110, and thus restricted between the left baffle 113 and the right baffle 114.

[0043] The rigid gripper 240 is basically U-shaped, comprising two spaced-apart connecting rods and claws connected to one end of the connecting rods. The other end of the connecting rods is connected to the end of the rotating shaft 221. One end of the connecting rod has an upper through hole 241, and the other end has a lower through hole 242. The connecting rods are locked to the end of the rotating shaft 221 through the upper through hole 241, thus fixing the two together. The rigid gripper 240 is connected to the flexible mechanism 300 through the lower through hole 242 and the screw 250. The two opposite ends of the claws are respectively connected to one end of the two connecting rods. In this embodiment, the claws are basically L-shaped, with multiple raised textures 243 formed on their sides to increase the friction between the rigid gripper 240 and the target object; the rigid gripper 240 has a symmetrical structure, with two rigid grippers 240 arranged symmetrically.

[0044] Please see Figure 9 and Figure 10 The flexible mechanism 300 is a flexible, foldable mechanism that mimics the characteristics of an elephant's trunk, allowing it to fold inwards and deform under negative pressure. The flexible mechanism 300 has a rectangular groove structure, including a semi-permeable membrane 310 and a flexible mechanism sidewall 320. The flexible mechanism sidewall 320 is cylindrical, with one end connected to the semi-permeable membrane 310 and the other end connected to the top cover 230. The pagoda connector 233 is connected to the flexible structure. Semi-permeable membrane through-holes 311 are respectively opened at opposite ends of the semi-permeable membrane 310. Screws 250 are installed in the corresponding two lower through-holes 242 and the semi-permeable membrane through-holes 311, allowing the flexible mechanism to connect to the rigid gripper 240.

[0045] The semi-permeable membrane also has multiple semi-permeable membrane holes 312. The top surface 321 of the flexible mechanism sidewall 320 can be glued to the top cover 230 to form a sealed connection, thus facilitating the formation of a sealed body. A vacuum pump is connected via the pagoda connector 233 to provide negative pressure. The material selection of the semi-permeable membrane determines the size of the semi-permeable membrane holes 312.

[0046] The gripper can be modified by changing the semi-permeable membrane material according to the size, weight, and other properties of the object being gripped, thereby expanding the range of items that can be gripped. The gripper exhibits different characteristics in different working modes; in the working mode dominated by the flexible mechanism, the force applied is gentler and has better compliance; in the working mode dominated by the rigid mechanism, it can generate a larger gripping force. At the same time, the gripper is bilaterally symmetrical, and its structure is relatively simple, its control is also relatively simple, and its installation integration is high.

[0047] The four working modes of the gripper are described in detail below.

[0048] Working Mode 1

[0049] To complete the working mode of flexible-rigid mechanism (flexible mechanism working, rigid mechanism 200 fixed), such as Figure 11 As shown, the dual-axis motor 120 rotates to a certain angle and then locks, causing the angled baffle 110 to rotate to a suitable position and then be fixed. The fixed angled baffle 110 restricts the movement of the rigid gripper 240. At this time, the external vacuum pump provides negative pressure to the inside of the flexible mechanism through the pagoda connector 233. The flexible mechanism will undergo slight deformation under negative pressure and can adsorb ultralight objects such as dust and insects.

[0050] Working Mode 2

[0051] To complete the working mode of flexible-rigid mechanism (flexible mechanism working, rigid mechanism 200 fixed), such as Figure 11As shown, the dual-axis motor 120 rotates to a certain angle and then locks, leaving a certain amount of slack for the rigid gripper 240 to move within the angled baffle 110. At this time, an external vacuum pump provides negative pressure to the flexible mechanism through the pagoda connector 233. Under negative pressure, the flexible mechanism undergoes significant deformation and folds inward, which in turn drives the rigid gripper 240 to move inward. In this working mode, the gripper can scoop up relatively light, brittle, or fragile objects such as potato chips or tofu.

[0052] Working Mode 3

[0053] To achieve the working mode of rigid-dominant and flexible-subordinate (rigid mechanism 200 dominating, flexible mechanism assisting), such as Figure 13 As shown, the external vacuum pump stops working, and the dual-shaft motor 120 rotates to a larger angle, causing the angled baffle 110 to approach the outer baffle and abut against the rigid gripper 240, thus causing it to fold inward and deform. In this working mode, the gripper can grasp heavier packages.

[0054] Working Mode 4

[0055] To achieve the working mode of rigid-flexible cooperation (simultaneous driving or sequential cooperation of 200 flexible and rigid mechanisms), such as Figure 14 As shown, the dual-axis motor 120 drives the angled baffle 110 to rotate, causing the angled baffle 110 to approach the outer baffle and abut against the rigid gripper 240, thus moving it inward. At this time, the external vacuum pump provides negative pressure to the inside of the flexible mechanism through the pagoda connector 233, causing the flexible mechanism to fold inward and deform. In this working mode, the gripper can grasp heavier objects and also adsorb ultra-light dust objects.

[0056] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A rigid-flexible coupled elephant trunk-like gripper, characterized in that: The gripper has a symmetrical structure, including a drive component, a rigid mechanism, and a flexible mechanism. The drive component is disposed on the rigid mechanism and is used to drive the rigid mechanism to rotate and to limit the rigid mechanism. The flexible mechanism is movably connected to the rigid mechanism and is used to connect to a vacuum pump. The flexible mechanism folds and deforms when subjected to negative pressure. The working mode of the gripper is switched by the cooperation between the drive component and the vacuum pump. The drive assembly includes two drive mechanisms symmetrically arranged; each drive mechanism includes a dual-output shaft motor and two angular baffles, the two angular baffles being respectively connected to two opposite output shafts of the dual-output shaft motor; the drive mechanism is connected to the rigid mechanism via the dual-output shaft motor; the rigid mechanism includes two rigid grippers and a top cover; the flexible mechanism is located between the two rigid grippers and is a flexible folding mechanism; one end of the flexible mechanism is connected to the top cover, and the other end is connected to both sides of the two rigid grippers respectively.

2. The rigid-flexible coupled elephant's trunk-like gripper according to claim 1, wherein: When the rigid mechanism moves actively, it can drive the flexible mechanism to move; when the flexible mechanism works actively, it can drive the rigid mechanism to rotate.

3. The rigid-flexible coupled elephant's trunk-like gripper according to claim 1, wherein: The angular baffle includes a cylinder and a baffle plate, with the baffle plate connected to one end of the cylinder; the two opposite ends of the cylinder are respectively provided with a rear shaft hole and a front shaft hole, with the front shaft hole and the baffle plate located at the same end of the cylinder; the rear shaft hole is locked to the output shaft of the dual-output shaft motor, and the two output shafts of the dual-output shaft motor respectively drive the two angular baffle plates to rotate; the baffle plate is U-shaped and includes a left baffle plate and a right baffle plate connected to each other.

4. The rigid-flexible coupled elephant's trunk-like gripper according to claim 3, wherein: The rigid mechanism includes four rotating shafts and two screws. The rigid mechanism is connected to the drive assembly through the four rotating shafts. One end of each of the two rigid grippers is connected to the four rotating shafts. The two rigid grippers are connected to the flexible mechanism through the two screws.

5. The rigid-flexible coupling elephant trunk-like gripper as described in claim 4, characterized in that: The top cover is provided with four bearing seats and a pagoda connector, and the four rotating shafts are respectively sleeved in the bearing seats; the flexible mechanism is connected to the top cover, and the pagoda connector is connected to the flexible mechanism.

6. The rigid-flexible coupling elephant trunk-like gripper as described in claim 5, characterized in that: The rotating shaft includes a front end and a rear end facing away from each other. The front end of the rotating shaft is provided with a rotating key, which is arranged radially along the rotating shaft. The front end of the rotating shaft is movably connected to the front shaft hole, so that the rotating shaft is movably connected to the angled baffle. The rotating key is located between the left baffle and the right baffle, and the rotation range of the rotating shaft is limited by the angled baffle.

7. The rigid-flexible coupled elephant trunk-like gripper as described in claim 6, characterized in that: The rigid gripper is U-shaped and includes two spaced-apart connecting rods and a claw connected to one end of the connecting rods. The other end of the connecting rods is connected to the end of the rotating shaft.

8. The rigid-flexible coupled elephant trunk-like gripper as described in claim 7, characterized in that: One end of the connecting rod has an upper through hole, and the other end has a lower through hole; the connecting rod is locked to the end of the rotating shaft through the upper through hole, so that the two are fixedly connected; the rigid gripper is connected to the flexible mechanism through the lower through hole and the screw; the claw is L-shaped, and multiple raised patterns are formed on its side.

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