Bionic flexible gripper manufactured through 3D printing

Abstract

The utility model discloses a bionic flexible gripper manufactured by 3D printing, which comprises a fixed disc, one end of the fixed disc is provided with a separation disc, the other end of the fixed disc is provided with five fixed frames which are in a radial shape of the circle center of the fixed disc, and the sides, facing the circle center of the fixed disc, of five bionic fingers are provided with uniformly distributed air suction holes. A suction cup is arranged on one side of the air suction hole, a connecting air pipe is arranged at the top of the bionic finger, and an air guide hole is formed in the bionic finger. According to the octopus tentacle, the bionic octopus tentacle structure is designed, the suction cups are arranged on the bionic fingers, compared with a conventional flexible gripper, the bionic octopus tentacle has higher grabbing force and friction force, meanwhile, the bionic octopus tentacle has good compliance to irregular objects, and the objects can be protected without additionally installing a force feedback sensor; and in the grabbing process, the clamping force can be actively adjusted by controlling the air pressure, the structure is simplified, the process is stable, the production cost is reduced, and the device is safer for sensitive objects.

Description

Technical Field

[0001] The utility model relates to the field of clamps, in particular to a bionic flexible gripper manufactured by 3D printing. Background Art

[0002] In traditional rigid grasping, the motor drives the connecting rod and other rigid driven components to move along a certain trajectory to complete the grasping action. The grasping speed is fast and the load-bearing capacity is strong, but it also has poor adaptive performance and is difficult to achieve human-computer interaction. Safety issues are prone to occur when grasping objects made of special materials. The actuator cannot meet the requirements of grasping fragile objects or objects that require special protection of the surface. For the grasping task of new parts, specially made corresponding grippers are required, which increases time and production costs. The mechanical structure of the existing gripper has too many drives and low reliability. Utility Model Content

[0003] The purpose of the utility model is to provide a bionic flexible gripper manufactured by 3D printing in order to solve the above problems.

[0004] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0005] The utility model discloses a bionic flexible gripper manufactured by 3D printing, comprising a fixed plate, characterized in that a separation plate is arranged at one end of the fixed plate, five fixing frames radiating from the center of the fixed plate are arranged at the other end of the fixed plate, a positioning base is arranged at one end of the fixing frame away from the center of the fixed plate, a bionic finger is arranged at one end of the positioning base, evenly distributed air suction holes are arranged on one side of the five bionic fingers facing the center of the fixed plate, a suction cup is arranged on one side of the air suction hole, a connecting air pipe is arranged on the top of the bionic finger, and an air guide hole is arranged inside the bionic finger.

[0006] As a preferred technical solution for a 3D printed bionic flexible gripper of the utility model, a connecting hole is connected to the center of the separating plate, and the other end of the connecting air pipe is connected to the connecting hole.

[0007] As a preferred technical solution for a 3D printed bionic flexible gripper of the utility model, the air guide hole is connected to the air suction hole, and one end of the air guide hole is connected to the connecting air pipe.

[0008] As a preferred technical solution for a bionic flexible gripper manufactured by 3D printing of the utility model, the bionic finger is in a cone shape that is narrow at the bottom and wide at the top.

[0009] As a preferred technical solution for a 3D printed bionic flexible gripper of the utility model, the bionic finger is made of a silicone material.

[0010] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0011] The utility model is an octopus tentacle with a bionic octopus tentacle structure and a suction cup is arranged on the bionic finger. Compared with conventional flexible grippers, the gripper has stronger gripping force and friction force, and can also have good compliance to irregular objects, and can protect objects without the need to install a force feedback sensor. During the gripping process, the air pressure can be controlled to actively adjust the gripping force, the structure is streamlined, the process is smooth, the production cost is reduced, and it is safer for sensitive objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0013] Figure 1 It is one of the overall structural schematic diagrams of the utility model;

[0014] Figure 2 This is the second schematic diagram of the overall structure of the utility model;

[0015] Figure 3 It is a front view of the utility model;

[0016] Figure 4 It is a top view of the utility model;

[0017] Figure 5 It is a three-dimensional diagram of the bionic finger structure of the utility model;

[0018] Figure 6 It is a plan view of the bionic finger structure of the utility model;

[0019] Figure 7 It is a stereoscopic diagram of the suction cup of the utility model;

[0020] In the figure: 1. fixing plate; 2. separation plate; 3. fixing frame; 4. positioning base; 5. bionic finger; 6. air suction hole; 7. suction cup; 8. connecting air pipe; 9. air guide hole; 10. connecting hole. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0022] In the drawings, the same reference numerals all refer to the same components.

[0023] Example 1

[0024] like Figure 1-7 As shown, it includes a fixed plate 1, a partition plate 2 is arranged at one end of the fixed plate 1, five fixed frames 3 are arranged radially from the center of the fixed plate 1 at the other end of the fixed plate 1, a positioning base 4 is arranged at the end of the fixed frame 3 away from the center of the fixed plate 1, a bionic finger 5 is arranged at one end of the positioning base 4, and the five bionic fingers 5 are provided with evenly distributed suction holes 6 on the side facing the center of the fixed plate 1, a suction cup 7 is arranged on one side of the suction hole 6, a connecting air tube 8 is arranged on the top of the bionic finger 5, and an air guide hole 9 is arranged inside the bionic finger 5.

[0025] Furthermore, a connecting hole 10 is connected to the center of the partition plate 2 , and the other end of the connecting air pipe 8 is connected to the connecting hole 10 .

[0026] The air guide hole 9 is connected to the air intake hole 6 , and one end of the air guide hole 9 is connected to the connecting air pipe 8 .

[0027] The bionic finger 5 is in the shape of a cone which is narrow at the bottom and wide at the top.

[0028] Bionic finger 5 is made of silicone material

[0029] Specifically, the connecting hole 10 is connected to the air source, and the connecting hole 10 generates negative pressure when the air source is turned on. The negative pressure is transmitted to the inside of the connecting air pipe 8, so that negative pressure is generated inside the air guide hole 9, thereby generating adsorption capacity at the suction hole 6, so that the suction cup 7 is adsorbed to the object, and the object can be clamped around by the five bionic fingers 5. The bionic octopus tentacle structure is designed by imitating the octopus tentacles, and the suction cup 7 is arranged on the bionic fingers 5. Compared with conventional flexible grippers, it has stronger gripping force and friction force, and can also have good compliance with irregular objects, and can protect objects without the need to install a force feedback sensor. In the process of grasping, the air pressure can be controlled to actively adjust the size of the holding force, the structure is streamlined, the process is smooth, the production cost is reduced, and it is also safer for sensitive objects.

[0030] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A bionic flexible gripper manufactured by 3D printing, comprising a fixing plate (1), characterized in that: A partition plate (2) is arranged at one end of the fixed plate (1), and five fixed frames (3) are arranged at the other end of the fixed plate (1) in a radial shape from the center of the fixed plate (1). A positioning base (4) is arranged at one end of the fixed frame (3) away from the center of the fixed plate (1), and a bionic finger (5) is arranged at one end of the positioning base (4). The five bionic fingers (5) are provided with evenly distributed air suction holes (6) on one side facing the center of the fixed plate (1), and a suction cup (7) is arranged on one side of the air suction hole (6). A connecting air tube (8) is arranged at the top of the bionic finger (5), and an air guide hole (9) is arranged inside the bionic finger (5).

2. The bionic flexible gripper manufactured by 3D printing according to claim 1, characterized in that: The center of the separation plate (2) is connected with a connection hole (10), and the other end of the connecting air pipe (8) is connected to the connection hole (10).

3. The bionic flexible gripper manufactured by 3D printing according to claim 2, characterized in that: The air guide hole (9) is connected to the air suction hole (6), and one end of the air guide hole (9) is connected to the connecting air pipe (8).

4. The bionic flexible gripper manufactured by 3D printing according to claim 3, characterized in that: The bionic finger (5) is in the shape of a cone which is narrow at the bottom and wide at the top.

5. The bionic flexible gripper manufactured by 3D printing according to claim 4, characterized in that: The bionic finger (5) is made of silicone material.

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