Self-adaptive flexible mechanical clamping jaw

Abstract

The utility model belongs to the technical field of mechanical arm clamping jaws, and particularly relates to a self-adaptive flexible mechanical clamping jaw, each clamping jaw comprises a clamping jaw finger wall, a driving cavity, a driving memory metal sheet, an element inner body, an element outer body and an end effector control element, the front end of the element outer body is connected with a retractable and extendable clamping jaw finger wall with multi-bend folds, a driving cavity is formed in the clamping jaw finger wall, a driving memory metal sheet is arranged in the driving cavity, and the rear end of the driving memory metal sheet is connected with an end effector control element; and the upper part of the element outer body is connected with an air pipe communicated with the driving cavity. The clamping jaw is made of a carbon-nitrogen composite material, compressed air enters the driving cavity to seal the driving cavity, the mechanical arm sends out a signal, the electromagnetic sheet magnetic contact receives a conduction signal to attract and drive the memory metal sheet to deform the memory metal sheet, fitting surfaces of objects in different shapes are adapted to deform, and the sealing driving cavity generates micro-motion contraction and relaxation. And full-wrapping lossless clamping of different objects is achieved.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm gripper technology, specifically relating to an adaptive flexible mechanical gripper. Background Technology

[0002] Against the backdrop of continuous development in industrial automation and robotics, mechanical grippers, as end-effectors, undertake the critical task of grasping and transporting objects. Traditional rigid mechanical grippers, with their advantages of simple structure, high positioning accuracy, and large gripping force, are widely used in standardized, high-volume production scenarios such as automobile manufacturing and electronic assembly. For example, in automobile welding production lines, rigid grippers can accurately grasp automotive parts, ensuring the accuracy of welding positions (Reference: *Automotive Manufacturing Automation Technology*, Machinery Industry Press, 2020). However, rigid grippers have significant limitations. Their fixed shape and gripping pattern make it difficult to adapt to the grasping of complex shapes, fragile, and easily deformable objects. When dealing with irregular objects, they may experience unstable gripping or damage, failing to meet the diverse needs of modern production.

[0003] To overcome the limitations of rigid grippers, various flexible mechanical gripper technologies have emerged. Among them, flexible mechanical grippers based on pneumatic soft actuators are an important research direction. These grippers typically use flexible silicone materials to make the actuators. By introducing compressed air into the actuators, they deform to achieve the gripping action. For example, the OctopusGripper developed by Harvard University (reference: "Soft Robotics: A Bioinspired Approach", Oxford University Press, 2018) mimics the movement of octopus tentacles and can adaptively wrap around objects of different shapes.

[0004] However, it has problems such as uneven hardness of silicone material, local pressure concentration, resulting in high breakage rate and slow response speed, which makes it difficult to meet the requirements of fast gripping and low breakage rate. In addition, the aging and cracking of silicone material also affects the service life of the gripper.

[0005] Therefore, in order to solve the above problems, this application develops an adaptive flexible mechanical gripper that is integrally molded from a flexible elastic material using a carbon-nitrogen bonding process, so as to achieve adaptive wrapping and grasping of objects. Utility Model Content

[0006] To address the problems mentioned in the background section, this invention provides an adaptive flexible mechanical gripper. The gripper is made of carbonitridium composite material. Compressed air is introduced into the drive cavity to achieve sealing. The robotic arm sends a signal, and the electromagnetic plate's magnetic contacts receive the transmitted signal, attracting and deforming the memory metal plate. This deformation adapts to the surface of objects of different shapes, causing the sealed drive cavity to micro-move and expand, thus achieving fully enclosed, non-destructive gripping of various objects.

[0007] To achieve the above objectives, this utility model provides the following technical solution: an adaptive flexible mechanical gripper, comprising a mechanical gripper body, which is composed of four grippers. Each gripper includes gripper finger walls, a drive cavity, a drive memory metal sheet, an inner body, an outer body, and an end effector control element. The front end of the outer body is connected to a gripper finger wall with multiple bends and folds that can retract and extend. The gripper finger wall has a drive cavity inside, and the drive cavity has a drive memory metal sheet inside. An air tube communicating with the drive cavity is connected to the top of the outer body. The inner body is connected to the bottom of the outer body. The front end of the inner body is connected to a flexible clamping surface that is connected to the end of the gripper finger wall. The flexible clamping surface is uniformly arranged with raised soft friction particles. The front section of the drive memory metal sheet has a pressure sensor alloy contact that is connected to the flexible clamping surface. Adjacent pressure sensor alloy contacts form a contact-sealed drive cavity. The rear end of the drive memory metal sheet is connected to the end effector control element.

[0008] Furthermore, a silencer valve is provided at the outer end of the air pipe, and the outer end of the air pipe is connected to an external cylinder through an air pipe interface. A pneumatic dual valve for controlling the gas flow is provided at the connection between the air pipe and the outer body of the component. A pneumatic outer shell is provided on the outer body of the component and is fixed to the air pipe by fastening bolts.

[0009] Furthermore, the end effector control element includes an external magnetic control metal plate and an internal magnetic control metal plate disposed on the outer body of the element and connected to the rear end of the drive memory metal plate; a metal shell is connected to the outer body of the element by metal shell fixing bolts and element external fixing bolts; inside the metal shell are an internal signal control drive and an external signal control drive respectively connected to the internal magnetic control metal plate and the external magnetic control metal plate through magnetic contacts; a pressure reducing block is fixed on the metal shell by element internal fixing bolts; the metal shell is integrally connected to the external robotic arm through a stabilizing threaded rod, a claw fixing connector and a magnetic connection point; the metal shell is provided with a claw control connector connected to the external signal control drive.

[0010] Furthermore, a large support spring is embedded inside the component body to support the end of the drive memory metal sheet, and a small support spring is embedded inside the component body to support the inline magnetic control metal sheet.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] 1) The gripper part of this utility model adopts a flexible carbon-nitrogen bonded composite material. Compressed air is introduced into the drive cavity to achieve sealing. The robotic arm system sends a signal, and the electromagnetic plate's magnetic contacts receive the conducted signal, attracting and deforming the memory metal plate. This allows for adaptive deformation of the surface to fit objects of different shapes. The sealed drive cavity undergoes micro-movement contraction and expansion, achieving adaptive encapsulation of the object. The multi-pleated design of the grippers allows for better stretching and contraction. The signal control drive of the internal memory metal plate enables more precise control of the four grippers, allowing for interconnection and gripping of objects. This achieves full-encapsulation, non-destructive gripping of different objects and extends the service life of the grippers.

[0013] 2) The actuator section is equipped with a pressure relief block to reduce the impact on the gripper when the robotic arm changes grippers. The multi-threaded gripper mechanism is used to fix the gripper connection layer by layer, and the strong magnetic attraction keeps the gripper in place to prevent it from falling off. Attached Figure Description

[0014] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings;

[0015] Figure 1 This is a schematic diagram of the structure of a single gripper of this utility model;

[0016] Figure 2 This is a schematic diagram of the end effector control element in this utility model.

[0017] Explanation of icon numbers:

[0018] 1. Gripper finger wall; 2. Drive cavity; 3. Pressure sensor alloy contact; 4. Contact sealing drive cavity; 5. Raised soft friction particles; 6. Drive memory metal sheet; 7. Pneumatic housing; 8. Hoop bolt; 9. Pneumatic dual valve; 10. Air pipe; 11. Silencer valve; 12. Air pipe interface; 13. Supporting large spring sheet; 14. Component inner body; 15. Supporting small spring sheet; 16. External magnetic control metal sheet; 17. Magnetic contact; 18. Component outer body; 19. Internal signal control drive; 20. External signal control drive; 21. Metal housing fixing bolt; 22. Component external fixing bolt; 23. Pressure reducing block; 24. Component internal fixing bolt; 25. Metal housing; 26. Stabilizing thread; 27. Gripper fixing connector; 28. Magnetic connection point; 29. ​​Gripper control connector; 30. Internal magnetic control metal sheet. Detailed Implementation

[0019] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0020] Please see Figures 1-2 This utility model provides the following technical solution: an adaptive flexible mechanical gripper, comprising a mechanical gripper body, which is composed of four grippers. Each gripper includes a gripper finger wall 1, a drive cavity 2, a drive memory metal sheet 6, an inner body 14, an outer body 18, and an end effector control element. The front end of the outer body 18 is connected to a gripper finger wall 1 with multiple bends and folds that can be retracted and extended. The gripper finger wall 1 has a drive cavity 2 inside, and the drive memory metal sheet 6 is inside the drive cavity 2. An air pipe 10 communicating with the drive cavity 2 is connected to the top of the outer body 18. The inner body 14 is connected to the bottom of the outer body 18. The front end of the inner body 14 is connected to a flexible clamping surface that is connected to the end of the gripper finger wall 1. The flexible clamping surface is uniformly arranged with raised soft friction particles 5. The front section of the drive memory metal sheet 6 has a pressure sensor alloy contact 3 that is connected to the flexible clamping surface. A contact-sealed drive cavity 4 is formed between adjacent pressure sensor alloy contacts 3. The rear end of the drive memory metal sheet 6 is connected to the end effector control element.

[0021] In this embodiment, a silencer valve 11 is provided at the outer end of the air pipe 10, which reduces the intake noise. The outer end of the air pipe 10 is connected to an external cylinder through an air pipe interface 12. A pneumatic dual valve 9 for controlling the gas flow is provided at the connection between the air pipe 10 and the outer body 18 of the component. A pneumatic housing 7 is provided on the outer body 18 of the component and is fixed to the air pipe 10 by a fastening bolt 8. The pneumatic housing 7 effectively protects the air pipe 10 from possible damage.

[0022] In this embodiment, the end effector control element includes an external magnetic control metal plate 16 and an internal magnetic control metal plate 30 disposed on the outer body 18 and connected to the rear end of the drive memory metal plate 6; a metal shell 25 is connected to the outer body 18 by a metal shell fixing bolt 21 and an external fixing bolt 22; inside the metal shell 25 are an internal signal control drive 19 and an external signal control drive 20 respectively connected to the internal magnetic control metal plate 30 and the external magnetic control metal plate 16 via magnetic contacts 17; a pressure relief block 23 is fixed on the metal shell 25 by an internal fixing bolt 24, which fixes the pressure relief block 23 to prevent it from moving during gripper changes; the function of the pressure relief block 23 is to reduce and buffer the impact on the robotic arm during gripper changes; the metal shell The 25 is integrally connected to the external robotic arm via a stabilizing threaded rod 26, a gripper fixing connector 27, and a magnetic connection point 28. The metal housing 25 is equipped with a gripper control connector 29 that connects to the external signal control drive 20. The metal housing 25 serves to fix the components and prevent damage from external forces. The stabilizing threaded rod 26 is connected to the robotic arm via the gripper fixing connector 27, forming a snap-fit ​​to fix the bottom. The magnetic connection point 28 strongly magnetically attracts the metal housing 25, achieving an integral connection of the robotic arm. The gripper control connector 29 connects the robotic arm to the end effector via a magnetic snap-fit, tightly connecting the signal output source actuator. The internal external signal control drive 20 receives and integrates signals from the robotic arm body before outputting them to each individual gripper. External magnetic control metal plates 16 and magnetic contacts 17 enable gripper deformation and grasping. Internal magnetic control metal plates 30 connect the four individual grippers together to form a coordinated gripping action.

[0023] In this embodiment, a large support spring 13 for supporting the end of the drive memory metal sheet 6 is embedded inside the inner body 14 of the component, and a small support spring 15 for supporting the inline magnetic control metal sheet 30 is also embedded inside the inner body 14 of the component.

[0024] In this embodiment, the gripper finger wall 1 is made of carbon-nitrogen composite material.

[0025] In this embodiment, the outer body 18, the external magnetic control metal sheet 16, and the internal magnetic control metal sheet 30 are made of tungsten carbide alloy; the outer body 18 is used to protect the control metal sheet and the connection between the gripper and the actuator.

[0026] The working principle and usage process of this utility model are as follows: When this utility model is in use, the end of the robotic arm is successfully connected to the claw fixing connector 27 and the claw control connector 29 through the pressure reduction buffer of the pressure reducing block 23. The robotic arm system sends an instruction to the external signal control drive 20 to receive the electrical signal transmitted to the magnetic contact 17 to attract the external magnetic control metal sheet 16 and control the drive memory metal sheet 6 to deform and bend according to the shape of the object. The internal signal control drive 19 connects the four claws to each other and controls the four claws to grasp the object.

[0027] Simultaneously, the air inlet 12 fills the drive chamber 2 with gas through the external cylinder to form a seal, ensuring uniform force on all parts of the gripper. When gas is insufficient, the pneumatic double valve 9 opens to fill the drive chamber with gas. When the chamber is full, it stops further gas intake to control the gas flow. The raised soft friction particles 5 first contact the raised rubber particles of the object being gripped to increase friction and prevent the object from slipping. The pressure sensor alloy contact 3 senses the pressure reaction of the object and sends it to the drive memory metal sheet 6, causing it to deform accurately according to the shape of the object. The pressure of the drive chamber 2 after the drive memory metal sheet 6 deforms is reacted with by the pressure sensor alloy contact 3, causing the drive chamber 2 to expand and contract. The uniform contraction and expansion tightly fit the object, and the gripper finger wall 1 wrinkles, elongates, stretches, and bends to form a wrap.

[0028] At the same time, the pneumatic double valve 9 is opened to inflate the air. The large supporting spring plate 13 is embedded in the inner body 14 of the component, which increases the supporting and protective effect of the spring plate on the end of the drive memory metal plate 6 to prevent it from failing to return to its original state due to excessive deformation. The small supporting spring plate 15 is used to support the inner magnetic control metal plate 30 to reduce the deformation of the inner magnetic control metal plate 30 when the four claws act simultaneously.

[0029] When placing an object, the external signal control drive 20 receives the placement signal and transmits it to the magnetic contact 17, which in turn controls the external magnetic control metal sheet 16 and the internal magnetic control metal sheet 30, causing the drive memory metal sheet 6 to receive the signal and bend outwards, allowing the object to be placed.

[0030] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions conceived without inventive effort should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope defined in the claims.

Claims

1. An adaptive flexible mechanical gripper comprising a mechanical gripper body, the mechanical gripper body consisting of four grippers, characterized in that: Each gripper includes gripper finger wall (1), drive cavity (2), drive memory metal sheet (6), inner body (14), outer body (18), and end effector control element; the front end of the outer body (18) is connected to the gripper finger wall (1) with multiple folds and retractable extension, the gripper finger wall (1) is provided with drive cavity (2) inside, the drive cavity (2) is provided with drive memory metal sheet (6) inside, and the upper part of the outer body (18) is connected to the air tube (10) communicating with the drive cavity (2); the inner body (14) is connected to the lower part of the outer body (18), the front end of the inner body (14) is connected to the flexible clamping surface connected to the end of the gripper finger wall (1), the flexible clamping surface is uniformly arranged with raised soft friction particles (5), the front part of the drive memory metal sheet (6) is provided with pressure sensor alloy contact (3) connected to the flexible clamping surface, and a contact-sealed drive cavity (4) is formed between adjacent pressure sensor alloy contacts (3); the rear end of the drive memory metal sheet (6) is connected to the end effector control element.

2. The self-adapting flexible mechanical gripper of claim 1, wherein: A silencer valve (11) is provided at the outer end of the air pipe (10). The outer end of the air pipe (10) is connected to an external cylinder through an air pipe interface (12). A pneumatic double valve (9) for controlling the gas flow is provided at the connection between the air pipe (10) and the outer body of the component (18). A pneumatic outer shell (7) is provided on the outer body of the component (18) and is fixed to the air pipe (10) by a fastening bolt (8).

3. The self-adapting flexible mechanical gripper of claim 1, wherein: The end effector control element includes an external magnetic control metal plate (16) and an internal magnetic control metal plate (30) disposed on the outer body (18) and connected to the rear end of the drive memory metal plate (6); a metal shell (25) is connected to the outer body (18) by a metal shell fixing bolt (21) and an external fixing bolt (22); an internal signal control drive (19) and an external signal control drive (20) are provided inside the metal shell (25) and are respectively connected to the internal magnetic control metal plate (30) and the external magnetic control metal plate (16) by a magnetic contact (17); a pressure reducing block (23) is fixed on the metal shell (25) by an internal fixing bolt (24); the metal shell (25) is integrally connected to the external robotic arm by a stabilizing threaded rod (26), a claw fixing connector (27) and a magnetic connection point (28); a claw control connector (29) is provided on the metal shell (25) and is connected to the external signal control drive (20).

4. The self-adapting flexible mechanical gripper of claim 1, wherein: The inner body (14) of the component is provided with a large support spring (13) for supporting the end of the drive memory metal sheet (6), and the inner body (14) of the component is provided with a small support spring (15) for supporting the inline magnetic control metal sheet (30).

5. The self-adapting flexible mechanical gripper of claim 1, wherein: The gripper finger wall (1) is made of carbon-nitrogen composite material.

6. The self-adapting flexible mechanical gripper of claim 1, wherein: The outer body (18), the external magnetic control metal sheet (16), and the internal magnetic control metal sheet (30) of the component are made of carbon-tungsten alloy.

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