Pneumatic flexible clamping device

Abstract

The application discloses a pneumatic flexible clamping device, and belongs to the field of mechanical hands. A plurality of air bags in a length control assembly are hollow and interconnected. The plurality of air bags are arranged in a straight line. Negative pressure is generated by air extraction of the length control assembly to make the air bags contract radially and expand axially. A plurality of bending control assemblies are installed on a connecting disc. A gripping space is formed between the plurality of bending control assemblies. A plurality of composite bags of each bending control assembly are interconnected and extend in a straight line. The deformation capacity of a limiting part of each composite bag is smaller than that of a deformed part. The limiting part is located on the side of the composite bag facing the gripping space. When the bending control assembly is under negative pressure, the deformation of the deformed part is greater than that of the limiting part. The bending control assembly bends towards the gripping space to grasp. Through the above design, the device is driven by gas, has small rigid impact, and can clamp fragile objects. The device does not need driving parts, has a simple structure, and adopts negative pressure control during driving, thereby avoiding air bag explosion.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and more particularly to pneumatic flexible gripping devices. Background Technology

[0002] In the field of industrial gripping robots, they are currently mainly divided into rigid grippers, rope-driven grippers, and positive pressure pneumatic grippers, but they generally have the following defects and shortcomings:

[0003] 1. Traditional rigid grippers: Some traditional grippers use a rigid structure, which often results in a large rigid impact during the gripping process. Therefore, they are limited in applications involving gripping brittle and easily damaged objects. In addition, because they are made of traditional rigid materials, they lack adaptability and safety when human-computer interaction is required.

[0004] 2. Rope-driven grippers: Grippers are often composed of bending actuators, and rope-driven bending is one of the more widely used drive methods. However, rope drives often require linear motors or cylinders and other linear motion components, which increases the complexity of the system. Sometimes the original drive components do not provide linear motion but rotational motion, so a motion conversion mechanism needs to be added, which further increases the complexity of the system.

[0005] 3. Positive pressure driven grippers: Although existing positive pressure driven grippers can provide a large gripping force, due to the positive pressure drive, when combined with algorithms such as PID, the system overshoot sometimes occurs, which can cause the airbag to inflate and burst. This not only makes the gripper malfunction, but may even lead to a safety accident.

[0006] In summary, traditional rigid grippers often suffer from problems such as high rigidity and poor adaptability, limiting their application in gripping fragile objects. Rope grippers require the use of linear motion components, thus increasing system complexity. Positive pressure drive grippers, on the other hand, may experience airbag inflation due to overshoot, hindering normal system operation. Summary of the Invention

[0007] In order to overcome the shortcomings of the prior art, one of the objectives of the present invention is to provide a pneumatic flexible clamping device that is driven by negative pressure, has low rigidity and impact, has a simple structure, and can clamp easily damaged objects.

[0008] One of the objectives of this invention is achieved through the following technical solution:

[0009] A pneumatic flexible gripping device includes a mounting plate, a length control component, a connecting plate, and multiple bending control components. The length control component is installed between the mounting plate and the connecting plate. The length control component includes multiple hollow, interconnected air bladders arranged in a straight line. By drawing air into the length control component, a negative pressure is generated, causing the air bladders to contract radially and expand axially. The multiple bending control components are installed on the connecting plate, forming a gripping space between them. Each bending control component includes multiple composite bladders that are interconnected and extend in a straight line. Each composite bladder includes a limiting part and a deformable part. The deformation capacity of the limiting part is less than that of the deformable part. The limiting part is located on the side of the composite bladder facing the gripping space. When the bending control component is under negative pressure, the deformation of the deformable part is greater than the deformation of the limiting part, causing the bending control component to bend towards the gripping space for gripping.

[0010] Furthermore, the length control component is provided with a first air inlet, which is connected to the airbag, and the bending control component is provided with a second air inlet, which is connected to the composite airbag.

[0011] Furthermore, the mounting plate is provided with an air supply hole, which is connected to the first air inlet. The bending control component includes an air inlet, and the second air inlet is disposed in the air inlet. The air inlet is located on the side of the axis of the bending control component.

[0012] Furthermore, the airbag is spherical.

[0013] Furthermore, the limiting part is circular and has a planar structure, while the deformable part is hemispherical.

[0014] Furthermore, the bending control assembly also includes an anti-slip portion located at the deformable portion of the composite capsule away from the length control assembly.

[0015] Furthermore, the anti-slip portion is linear and perpendicular to the extension direction of the bending control component.

[0016] Furthermore, the length control assembly also includes a first end flange and a second end flange, with multiple airbags installed between the first end flange and the second end flange. The first end flange is fixed to the mounting plate, and the second end flange is fixed to the connecting plate.

[0017] Furthermore, the projections of the plurality of said bending control components on the connecting disk lie on a circle.

[0018] Furthermore, the mounting plate is parallel to the connecting plate.

[0019] Compared to existing technologies, the pneumatic flexible gripping device of this invention includes a mounting plate, a length control component, a connecting plate, and multiple bending control components. The length control component is installed between the mounting plate and the connecting plate, and includes multiple air bladders. The multiple air bladders are hollow and interconnected, and are arranged in a straight line. By drawing air into the length control component, a negative pressure is generated, causing the air bladders to contract radially and expand axially. The multiple bending control components are installed on the connecting plate, forming a gripping space between them. Each bending control component includes multiple composite bladders, which are interconnected and extend in a straight line. Each composite bladder includes a limiting part and a deformable part. The deformation capacity of the limiting part is less than that of the deformable part. The limiting part is located on the side of the composite bladder facing the gripping space. When the inside of the bending control component is under negative pressure, the deformation of the deformable part is greater than that of the limiting part. The bending control component bends towards the gripping space to grip. Through the above design, it is gas-driven, has low rigidity and impact, and can grip easily damaged objects; it does not require a driving component, has a simple structure, and uses negative pressure control during driving to avoid air bladder inflation and bursting. Attached Figure Description

[0020] Figure 1 This is a perspective view of the pneumatic flexible clamping device of the present invention;

[0021] Figure 2 for Figure 1 A perspective view of the mounting plate of the pneumatic flexible clamping device;

[0022] Figure 3 for Figure 1 A three-dimensional view of the length control component of the pneumatic flexible clamping device;

[0023] Figure 4 for Figure 1 A three-dimensional view of the connecting plate of the pneumatic flexible clamping device;

[0024] Figure 5 for Figure 1 A perspective view of the bending control component of a pneumatic flexible clamping device;

[0025] Figure 6 for Figure 5 Another perspective view of the bending control component.

[0026] In the diagram: 10. Mounting plate; 11. Fixing hole; 12. Mounting area; 120. Groove; 121. First mounting hole; 122. Air supply hole; 20. Length control component; 21. First end flange; 210. Second mounting hole; 211. First air inlet; 22. Second end flange; 220. Second mounting hole; 23. Airbag; 24. First connector; 30. Connecting plate; 31. Connecting groove; 40. Bending control component; 41. Third end flange; 410. Third mounting hole; 42. Composite bag; 420. Restriction part; 421. Deformable part; 43. Second connector; 44. Air inlet; 440. Second air inlet; 45. Anti-slip part; 50. Grip space. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or it can be fixed through another intermediate component. When a component is said to be "connected to" another component, it can be directly connected to the other component or it may be fixed through another intermediate component. When a component is said to be "set on" another component, it can be set directly on the other component or it may be set through another intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0030] Please see Figure 1 The pneumatic flexible clamping device includes a mounting plate 10, a length control component 20, a connecting plate 30, and a bending control component 40.

[0031] Please see Figure 2The mounting plate 10 is used to fix the pneumatic flexible gripper to the robotic arm. Specifically, the mounting plate 10 is cylindrical and has fixing holes 11 and mounting areas 12. The fixing holes 11 are used to fix the mounting plate 10 to the robotic arm. The mounting areas 12 are used to fix the length control assembly 20. The number of mounting areas 12 is the same as the number of length control assemblies 20, and the mounting areas 12 are symmetrically arranged about the axis of the mounting plate 10. The mounting area 12 includes a groove 120, a first mounting hole 121, and an air supply hole 122. The first mounting hole 121 and the air supply hole 122 are located in the groove 120. The groove 120 is used to install the first end flange 21, and the first mounting hole 121 is used to install screws to fix the mounting plate 10 to the first end flange 21. The air supply hole 122 communicates with the length control assembly 20 for supplying or evacuating air to the length control assembly 20.

[0032] Please see Figure 3 The length control component 20 is a linear motion drive structure, manufactured using photopolymer 3D printing technology and integrally molded from 80A flexible resin. The length control component 20 includes a first end flange 21, a second end flange 22, multiple airbags 23, and a first connector 24. The first end flange 21 connects the length control component 20 to the mounting plate 10. The first end flange 21 has a second mounting hole 210 and a first air inlet 211. The second mounting hole 210 is fixed to the first mounting hole 211 by screws, and the first air inlet 211 communicates with the air supply hole 122. The second end flange 22 has a second mounting hole 220, which is fixed to the connecting plate 30. Each airbag 23 has a hollow structure, and multiple airbags 23 are interconnected and located in a straight line through the first connector 24. Each airbag 23 is spherical; specifically, each airbag 23 is formed by laying out a honeycomb-like structure from a central cross-section to a circular end cross-section. The first end flange 21 is located at one end of the plurality of airbags 23, and the second end flange 22 is located at the other end of the plurality of airbags 23. In this embodiment, there are two length control components 20, which are symmetrically arranged. When the length control component 20 is inflated to apply positive pressure, the airbags 23 expand radially and contract axially, pulling the object to move. When air is drawn out to generate negative pressure, the airbags 23 contract radially and expand axially, thereby generating reverse displacement and pushing the object to move.

[0033] Please see Figure 4 The connecting plate 30 has connecting grooves 31 on both sides. One connecting groove 31 is fixed to the second end flange 22, and the other connecting groove 31 is fixed to the third end flange 41 of the bending control component 40, so that the length control component 20 is connected to the bending control component 40.

[0034] Please see Figure 5 as well as Figure 6Multiple bending control components 40 form a bending deformation driving structure. These components are mounted on a connecting plate 30, forming a gripping space 50 between them. The projections of the multiple bending control components 40 onto the connecting plate 30 are circular. Each bending control component 40 includes a third end flange 41, multiple composite bladders 42, a second connector 43, an air inlet 44, and an anti-slip part 45. The third end flange 41 has a third mounting hole 410, through which it is fixed to the connecting plate 30. Each composite bladder 42 includes a limiting part 420 and a deformable part 421. Because a strain limiting layer is applied to the limiting part 420, its deformation capacity is less than that of the deformable part 421. When a negative pressure is applied internally, the side without the strain limiting layer elongates, while the side with the strain limiting layer essentially maintains its original length. Therefore, the entire assembly bends towards the strain limiting layer side, converting linear motion into bending motion. Multiple composite capsules 42 are connected by a second connector 43. The limiting part 420 is circular and has a planar structure, while the deformable part 421 is hemispherical. The limiting part 420 is located on the side close to the gripping space 50. The anti-slip part 45 is provided on the limiting part 420 of the last composite capsule 42. The anti-slip part 45 is straight and multiple anti-slip parts 45 are spaced apart.

[0035] When using the pneumatic flexible gripper, in the initial state, the pneumatic flexible gripper is above the object to be gripped and at a certain distance from the object. Upon receiving the instruction to grip the object, negative pressure is applied inside the two length control components 20 at the top, causing the length control components 20 to extend linearly, thereby reducing the height of the bending control component 40 to the height of the object. Then, negative pressure is applied inside the four bending control components 40, causing the grippers to bend and grip the object. Next, positive pressure is applied inside the two length control components 20 at the top, causing the length control components 20 to change from a state of extension under negative pressure to a state of contraction under positive pressure, thereby lifting the gripped object. After moving the object to the desired position, negative pressure is applied again inside the two length control components 20 at the top, causing the bending control component 40 to descend to the height for releasing the object. Then, positive pressure is applied inside the bending control component 40, causing the four-finger gripper formed by the bending control component 40 to quickly return to a straight state, and the object is released naturally. Finally, all air sources are cut off, and the pneumatic flexible gripper returns to its initial state.

[0036] Furthermore, when a positive pressure is applied inside the left length control component 20, resulting in a contraction displacement, and a negative pressure is applied inside the right length control component 20, resulting in an extension displacement, the entire device can exhibit a left-handed rotational motion. Similarly, when a positive pressure is applied to the right length control component 20 and a negative pressure is applied to the left length control component 20, it will exhibit a right-handed rotational motion.

[0037] Unlike traditional grippers composed of positive pressure pneumatic bending actuators, this application proposes a flexible gripper consisting of a negative pressure driven length control component 20 and a bending control component 40, effectively avoiding the situation where the actuator's airbag is burst due to improper application of positive pressure. All components of this application's pneumatic flexible gripper are 3D printed. While ensuring the strength of the parts, a suitable material filling ratio is used to achieve convenient and simple manufacturing and a lightweight design for the entire pneumatic flexible gripper. This application can achieve multiple actions such as rising, falling, left-hand rotation, and right-hand rotation by applying positive or negative pressure to the two length control components 20.

[0038] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These are all equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of these fall within the protection scope of the present invention.

Claims

1. A pneumatic flexible clamping device, comprising a mounting plate and a length control assembly, characterized in that: The pneumatic flexible clamping device further includes a connecting plate and multiple bending control components. The length control component is installed between the mounting plate and the connecting plate. Each length control component includes multiple hollow, interconnected air bladders arranged in a straight line. By drawing air into the length control component, negative pressure is generated, causing the air bladders to contract radially and expand axially. The multiple bending control components are installed on the connecting plate, forming a gripping space between them. Each bending control component includes multiple composite bladders that are interconnected and extend in a straight line. Each composite bladder includes a limiting portion and a deformable portion. The deformability of the limiting portion is less than... The deformation capacity of the deformable part, the limiting part located on the side of the composite bladder facing the gripping space, when the inside of the bending control component is under negative pressure, the deformation of the deformable part is greater than the deformation of the limiting part, the bending control component bends towards the gripping space for gripping, the length control component is provided with a first air inlet communicating with the air bladder, the bending control component is provided with a second air inlet communicating with the composite bladder, the mounting plate is provided with an air supply hole communicating with the first air inlet, the bending control component includes an air inlet, the second air inlet is disposed in the air inlet, the air inlet is located on the side of the axis of the bending control component.

2. The pneumatic flexible clamping device according to claim 1, characterized in that: The airbag is spherical.

3. The pneumatic flexible clamping device according to claim 1, characterized in that: The limiting part is circular and has a planar structure, while the deformable part is hemispherical.

4. The pneumatic flexible clamping device according to claim 1, characterized in that: The bending control assembly further includes an anti-slip portion located at a deformable portion of the composite capsule away from the length control assembly.

5. The pneumatic flexible clamping device according to claim 4, characterized in that: The anti-slip part is straight and perpendicular to the extension direction of the bending control component.

6. The pneumatic flexible clamping device according to claim 1, characterized in that: The length control assembly further includes a first end flange and a second end flange, and a plurality of airbags are installed between the first end flange and the second end flange. The first end flange is fixed to the mounting plate, and the second end flange is fixed to the connecting plate.

7. The pneumatic flexible clamping device according to claim 1, characterized in that: The projections of the plurality of bending control components on the connecting disk lie on a circle.

8. The pneumatic flexible clamping device according to claim 1, characterized in that: The mounting plate is parallel to the connecting plate.

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