Flexible gripping actuator and flexible gripping device

Abstract

The utility model discloses a flexible gripping actuator and a flexible gripping device, and relates to the technical field of gripping devices, the actuator comprises a support body and a flexible gripping body, the support body is provided with a storage cavity, and the storage cavity is provided with an inlet and outlet for a target object to enter and exit; the flexible grabbing body is in a spiral shape, the flexible grabbing body is fixedly connected to the side wall of the storage cavity, the flexible grabbing body is provided with an inflation cavity, the flexible grabbing body is provided with an inflation and deflation opening communicating with the inflation cavity, and the inflation and deflation opening can be used for inflating the inflation cavity so that the flexible grabbing body can grab a target object in the storage cavity. The inflation and deflation opening can be used for deflating the inflation cavity so that the flexible grabbing body can release the target object in the object containing cavity. The flexible grabbing device further comprises a mechanical arm, and the supporting body is fixedly connected to the mechanical arm. According to the utility model, a relatively good clamping effect can be realized through a relatively simple structure.

Description

Technical Field

[0001] The utility model relates to the technical field of grasping devices, in particular to a flexible grasping actuator and a flexible grasping device. Background Art

[0002] Generally, a grasping actuator is installed at the end of the robotic arm of a grasping device. The grasping actuator and the robotic arm cooperate with each other to complete the task of grasping an object. Traditional grasping actuators generally include multiple rigid claws, and the opening and closing of the rigid claws are used to grasp and release the object. However, the rigid claws are likely to damage the object during grasping, and the rigid claws cannot deform to adapt to the shape of the object during the grasping process, resulting in poor clamping effect.

[0003] Chinese Patent CN202122226804.1 provides a flexible grasping device based on a robotic arm, which includes a jaw member and an elastic pad inside the jaw member. The elastic pad can buffer the clamping force on the workpiece. However, the deformation ability of the elastic pad is limited, the protection effect on the workpiece is poor, and it cannot deform well to adapt to the shape of the object, resulting in poor clamping effect. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a flexible grasping actuator and a flexible grasping device to solve the problems existing in the above-mentioned prior art, and to achieve a better clamping effect with a relatively simple structure.

[0005] To achieve the above purpose, the utility model provides the following solutions:

[0006] The utility model provides a flexible grasping actuator, including:

[0007] A support body, the support body is provided with an object placement cavity, and the object placement cavity has an inlet and an outlet for the object to enter and exit;

[0008] A flexible grasping body, the flexible grasping body is spiral, the flexible grasping body is fixedly connected to the side wall of the object placement cavity, the flexible grasping body has an inflation cavity, the flexible grasping body is provided with an inflation and deflation port communicated with the inflation cavity, the inflation and deflation port can be used to inflate the inflation cavity so that the flexible grasping body grasps the object in the object placement cavity, and the inflation and deflation port can be used to deflate the inflation cavity so that the flexible grasping body releases the object in the object placement cavity.

[0009] Preferably, the flexible grasping body includes a first spiral wall, a second spiral wall, a third spiral wall, and a fourth spiral wall. The first spiral wall, the second spiral wall, the third spiral wall, and the fourth spiral wall are connected in sequence and enclose the inflatable cavity with openings at both ends. The first spiral wall is used for fixedly connecting with the inner side wall of the support body. The cross-sections of the second spiral wall and the fourth spiral wall are both wavy. The third spiral wall is used for contacting the target object.

[0010] Preferably, the flexible grasping body further includes a first end wall and a second end wall. The first spiral wall, the second spiral wall, the third spiral wall, and the fourth spiral wall are connected in sequence to form a spiral body. The first end wall and the second end wall are respectively fixedly connected to both ends of the spiral body, and the first spiral wall, the second spiral wall, the third spiral wall, the fourth spiral wall, the first end wall, and the second end wall can enclose the closed inflatable cavity.

[0011] Preferably, it further includes a first spiral rod and a second spiral rod. Both the first spiral rod and the second spiral rod are at least two. Both ends of each first spiral rod are respectively fixedly connected to the first end wall and the second end wall. Both ends of each second spiral rod are respectively fixedly connected to the first end wall and the second end wall. The direction from the first spiral wall to the third spiral wall is the height direction of the flexible grasping body. On any cross-section of the flexible grasping body, multiple first spiral rods are arranged staggered along the height direction of the flexible grasping body. On any cross-section of the flexible grasping body, multiple second spiral rods are arranged staggered along the height direction of the flexible grasping body. The second spiral wall bypasses all the first spiral rods in sequence to form the wavy second spiral wall. The fourth spiral wall bypasses all the second spiral rods in sequence to form the wavy fourth spiral wall.

[0012] Preferably, each first spiral rod is fixedly connected to the second spiral wall, and each second spiral rod is fixedly connected to the fourth spiral wall.

[0013] Preferably, a spiral groove is provided on the inner side wall of the support body. After the flexible grasping body deflates, it can be completely accommodated in the spiral groove.

[0014] Preferably, the flexible grasping body is an airbag.

[0015] Preferably, both the first spiral rod and the second spiral rod are elastic rods.

[0016] Preferably, it further includes a mounting seat, and the mounting seat is fixedly connected to the end of the support body away from the inlet and outlet.

[0017] The present utility model provides a flexible grasping device, including a robotic arm and the flexible grasping actuator, and the support body is fixedly connected to the robotic arm.

[0018] The present utility model has achieved the following technical effects compared with the prior art:

[0019] The present utility model provides a flexible grasping actuator and a flexible grasping device, including a support body and a flexible grasping body. The support body is provided with a placement cavity, and the placement cavity has an inlet and outlet for the target object to enter and exit. The flexible grasping body is spiral, and the flexible grasping body is fixedly connected to the side wall of the placement cavity. The flexible grasping body has an inflation cavity, and the flexible grasping body is provided with an inflation and deflation port communicated with the inflation cavity. The inflation and deflation port can be used to inflate the inflation cavity so that the flexible grasping body grasps the target object in the placement cavity, and the inflation and deflation port can be used to deflate the inflation cavity so that the flexible grasping body releases the target object in the placement cavity. The flexible grasping body can better protect the target object, reduce or avoid damage to the target object during the grasping process. The contact surface between the flexible grasping body and the target object is integrally flexible, and can better adapt to the shape of the target object during the inflation process, having a better clamping effect. At the same time, since the flexible grasping body is spiral, it is beneficial to increase the contact area with the target object and ensure the grasping stability. When the spiral length of the flexible grasping body is set to be relatively large, only one inflation and deflation port can be provided to realize the inflation and deflation of the entire flexible grasping body, which is beneficial to simplify the structure and facilitate control, that is, a better clamping effect can be achieved with a relatively simple structure. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 Schematic structural diagram of the flexible grasping actuator provided in Embodiment 1;

[0022] Figure 2 Partial structural diagram of the flexible grasping body provided in Embodiment 1;

[0023] Figure 3 Schematic cross-sectional view of the flexible grasping body provided in Embodiment 1;

[0024] Figure 4 Schematic structural diagram of the flexible grasping actuator provided in Embodiment 1 (excluding the flexible grasping body);

[0025] Figure 5Schematic diagram of the overall structure of the flexible grasping body provided for Embodiment 1;

[0026] In the figure: 100, flexible grasping actuator; 1, support body; 101, storage cavity; 102, inlet and outlet; 103, spiral groove; 2, flexible grasping body; 201, inflation cavity; 202, inflation and deflation port; 203, first spiral wall; 204, second spiral wall; 205, third spiral wall; 206, fourth spiral wall; 207, first end wall; 208, second end wall; 3, first spiral rod; 4, second spiral rod; 5, mounting seat. Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] The purpose of the present invention is to provide a flexible grasping actuator and a flexible grasping device to solve the problems existing in the above-mentioned prior art, and to achieve a better clamping effect with a relatively simple structure.

[0029] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0030] Embodiment 1

[0031] As Figures 1-5As shown in the figure, this embodiment provides a flexible grasping actuator 100, which includes a support body 1 and a flexible grasping body 2. The support body 1 is provided with a placement cavity 101, and the placement cavity 101 has an inlet / outlet 102 for the target object to enter and exit. The flexible grasping body 2 is spiral, and the flexible grasping body 2 is fixedly connected to the side wall of the placement cavity 101. The flexible grasping body 2 has an inflation cavity 201, and the flexible grasping body 2 is provided with an inflation / deflation port 202 communicating with the inflation cavity 201. The inflation / deflation port 202 can be used to inflate the inflation cavity 201 so that the flexible grasping body 2 grasps the target object in the placement cavity 101, and the inflation / deflation port 202 can be used to deflate the inflation cavity 201 so that the flexible grasping body 2 releases the target object in the placement cavity 101. By moving the support body 1, the target object is placed in the placement cavity 101, and then the external air source inflates and deflates the inflation cavity 201 of the flexible grasping body 2 through the inflation / deflation port 202, so that the flexible grasping body 2 bulges until its inner side contacts the target object and gradually compacts. By maintaining the air source pressure at this time, the target object can be grasped. When it is necessary to release the target object, the gas in the flexible grasping body 2 is pumped out through the inflation / deflation port 202, and the flexible grasping body 2 shrinks to achieve release. The flexible grasping body 2 can better protect the target object, reduce or avoid damage to the target object during the grasping process. The contact surface between the flexible grasping body 2 and the target object is generally flexible, and can better adapt to the shape of the target object during the inflation process, having a better clamping effect. At the same time, since the flexible grasping body 2 is spiral, it is beneficial to increase the contact area with the target object and ensure the grasping stability. When the spiral length of the flexible grasping body 2 is set to be relatively large, only one inflation / deflation port 202 can be provided to realize the inflation and deflation of the entire flexible grasping body 2, which is beneficial to simplify the structure and facilitate control, that is, a better clamping effect can be achieved with a relatively simple structure.

[0032] In this embodiment, the flexible grasping body 2 includes a first spiral wall 203, a second spiral wall 204, a third spiral wall 205, and a fourth spiral wall 206. The first spiral wall 203, the second spiral wall 204, the third spiral wall 205, and the fourth spiral wall 206 are connected in sequence and enclose an inflation cavity 201 with openings at both ends. The first spiral wall 203 is used to be fixedly connected to the inner side wall of the support body 1. The cross-sections of the second spiral wall 204 and the fourth spiral wall 206 are both wavy, and the third spiral wall 205 is used to contact the target object. Since the second spiral wall 204 and the fourth spiral wall 206 are wavy, when the flexible grasping body 2 deflates, the flexible grasping body 2 folds at the peak and valley positions of the second spiral wall 204 and the fourth spiral wall 206, preventing the flexible grasping body 2 from folding randomly and occupying too much space in the placement cavity 101, thereby causing friction between the target object and the flexible grasping body 2 when the target object enters and exits the placement cavity 101 and preventing damage to the target object.

[0033] In this embodiment, the flexible grasping body 2 further includes a first end wall 207 and a second end wall 208. The first spiral wall 203, the second spiral wall 204, the third spiral wall 205, and the fourth spiral wall 206 are connected in sequence to form a spiral body. The first end wall 207 and the second end wall 208 are respectively fixedly connected to both ends of the spiral body, and the first spiral wall 203, the second spiral wall 204, the third spiral wall 205, the fourth spiral wall 206, the first end wall 207, and the second end wall 208 can enclose a closed inflatable cavity 201.

[0034] In this embodiment, it further includes a first spiral rod 3 and a second spiral rod 4. Both the first spiral rod 3 and the second spiral rod 4 have at least two. Both ends of each first spiral rod 3 are respectively fixedly connected to the first end wall 207 and the second end wall 208. Both ends of each second spiral rod 4 are respectively fixedly connected to the first end wall 207 and the second end wall 208. The direction from the first spiral wall 203 to the third spiral wall 205 is the height direction of the flexible grasping body 2. As Figure 2 and Figure 3 shown, on any cross-section of the flexible grasping body 2, a plurality of first spiral rods 3 are arranged staggeredly along the height direction of the flexible grasping body 2. On any cross-section of the flexible grasping body 2, a plurality of second spiral rods 4 are arranged staggeredly along the height direction of the flexible grasping body 2. The second spiral wall 204 bypasses all the first spiral rods 3 in sequence to form a wavy second spiral wall 204. The fourth spiral wall 206 bypasses all the second spiral rods 4 in sequence to form a wavy fourth spiral wall 206. Under the limiting and supporting effects of the first spiral rod 3 and the second spiral rod 4, the second spiral wall 204 and the fourth spiral wall 206 are wavy. It should be noted that each first spiral rod 3 contacts the second spiral wall 204 along its entire spiral length, and each second spiral rod 4 contacts the fourth spiral wall 206 along its entire spiral length to form a uniform and stable support for the second spiral wall 204 and the fourth spiral wall 206.

[0035] In this embodiment, each first spiral rod 3 is fixedly connected to the second spiral wall 204, and each second spiral rod 4 is fixedly connected to the fourth spiral wall 206. As a preferred implementation manner, each first spiral rod 3 is bonded to the second spiral wall 204 along its entire spiral length, and each second spiral rod 4 is bonded to the fourth spiral wall 206 along its entire spiral length to improve the supporting effect and further improve the folding effect.

[0036] In this embodiment, a spiral groove 103 is provided on the inner side wall of the support body 1. After the flexible grasping body 2 deflates, it can be completely accommodated in the spiral groove 103. As a preferred implementation manner, the first spiral wall 203 is bonded to the inner bottom wall of the spiral groove 103 with strong glue.

[0037] In this embodiment, the flexible grasping body 2 is an airbag. The material of the flexible grasping body 2 is PU.

[0038] In this embodiment, both the first screw rod 3 and the second screw rod 4 are elastic rods. As a preferred embodiment, both the first screw rod 3 and the second screw rod 4 are rubber rods. It should be noted that the elasticity of the elastic rod needs to meet the requirement of providing a certain limiting and supporting effect on the airbag, so that the second spiral wall 204 and the fourth spiral wall 206 are wavy.

[0039] In this embodiment, it further includes a mounting seat 5, and the mounting seat 5 is fixedly connected to one end of the support body 1 away from the inlet and outlet 102. The mounting seat 5 is preferably a flange, and the flange is used to be mounted on the end shaft of the robotic arm through screws.

[0040] Embodiment 2

[0041] The present utility model provides a flexible grasping device, which includes a robotic arm and the flexible grasping actuator 100 in Embodiment 1, and the support body 1 is fixedly connected to the robotic arm.

[0042] In the present utility model, specific examples are used to elaborate on the principle and implementation manner of the present utility model. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model; at the same time, for those of ordinary skill in the art, according to the idea of the present utility model, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present utility model.

Claims

1. A flexible grasping actuator, characterized in that: include: A supporting body, wherein the supporting body is provided with a storage cavity, and the storage cavity has an inlet and outlet for a target object to enter and exit; A flexible grabbing body, wherein the flexible grabbing body is spiral-shaped, the flexible grabbing body is fixedly connected to the side wall of the storage cavity, the flexible grabbing body has an inflation cavity, and the flexible grabbing body is provided with an air charging and discharging port connected to the inflation cavity, the air charging and discharging port can be used to inflate the inflation cavity so that the flexible grabbing body can grab the target object in the storage cavity, and the air charging and discharging port can be used to deflate the inflation cavity so that the flexible grabbing body can release the target object in the storage cavity.

2. The flexible gripping actuator according to claim 1, characterized in that: The flexible grasping body includes a first spiral wall, a second spiral wall, a third spiral wall and a fourth spiral wall. The first spiral wall, the second spiral wall, the third spiral wall and the fourth spiral wall are connected in sequence to form the inflation cavity with openings at both ends. The first spiral wall is used to be fixedly connected to the inner wall of the supporting body. The cross-sections of the second spiral wall and the fourth spiral wall are both wavy. The third spiral wall is used to contact the target object.

3. The flexible gripping actuator according to claim 2, characterized in that: The flexible grasping body also includes a first end wall and a second end wall. The first spiral wall, the second spiral wall, the third spiral wall and the fourth spiral wall are connected in sequence to form a spiral body. The first end wall and the second end wall are respectively fixedly connected to the two ends of the spiral body, and the first spiral wall, the second spiral wall, the third spiral wall, the fourth spiral wall, the first end wall and the second end wall can enclose the closed inflation cavity.

4. The flexible gripping actuator according to claim 3, characterized in that: It also includes a first spiral rod and a second spiral rod, and there are at least two of the first spiral rod and the second spiral rod, and the two ends of each of the first spiral rods are fixedly connected to the first end wall and the second end wall respectively, and the two ends of each of the second spiral rods are fixedly connected to the first end wall and the second end wall respectively, and the direction from the first spiral wall to the third spiral wall is the height direction of the flexible grasping body, and multiple first spiral rods on any cross section of the flexible grasping body are staggered along the height direction of the flexible grasping body, and multiple second spiral rods on any cross section of the flexible grasping body are staggered along the height direction of the flexible grasping body, and the second spiral wall sequentially bypasses all the first spiral rods to form a wavy second spiral wall, and the fourth spiral wall sequentially bypasses all the second spiral rods to form a wavy fourth spiral wall.

5. The flexible gripping actuator according to claim 4, characterized in that: Each of the first spiral rods is fixedly connected to the second spiral wall, and each of the second spiral rods is fixedly connected to the fourth spiral wall.

6. The flexible gripping actuator according to claim 1, characterized in that: A spiral groove is arranged on the inner side wall of the support body, and the flexible grasping body can be completely accommodated in the spiral groove after being deflated.

7. The flexible gripping actuator according to any one of claims 1 to 6, characterized in that: The flexible grabbing body is an air bag.

8. The flexible gripping actuator according to any one of claims 4 to 5, characterized in that: The first spiral rod and the second spiral rod are both elastic rods.

9. The flexible gripping actuator according to any one of claims 1 to 6, characterized in that: It also includes a mounting seat, which is fixedly connected to an end of the support body away from the inlet and outlet.

10. A flexible gripping device, characterized in that: It comprises a mechanical arm and the flexible grasping actuator according to any one of claims 1 to 9, wherein the supporting body is fixedly connected to the mechanical arm.

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