CN111872971A - Negative pressure blocking micro soft paw - Google Patents
Negative pressure blocking micro soft paw Download PDFInfo
- Publication number
- CN111872971A CN111872971A CN202010770288.6A CN202010770288A CN111872971A CN 111872971 A CN111872971 A CN 111872971A CN 202010770288 A CN202010770288 A CN 202010770288A CN 111872971 A CN111872971 A CN 111872971A
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- CN
- China
- Prior art keywords
- negative pressure
- clamping piece
- flexible
- piece
- flexible clamping
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a negative pressure blocking micro soft paw, which comprises a connecting piece and a flexible clamping piece, wherein one end of the connecting piece is connected with a transmission device; the flexible clamping piece is provided with a clamping opening, the clamping opening is U-shaped, an inner cavity surrounding the clamping opening is arranged inside the flexible clamping piece, two sides of the inner cavity are symmetrically provided with outer cavities, the outer cavities are filled with moulding particles, and the outer cavities are connected with air pressure adjusting equipment through air pipes. The negative pressure blocking micro soft paw has good protection on parts, and due to the adoption of the flexible material, no indentation is left on the processing surface of the parts; the grabbing precision is high, the opening and closing of the clamping opening on the flexible clamping piece are gradually processes, the operable space is large during grabbing, the position of a part can be better determined, and the possibility of misoperation is reduced; the clamping effect is good, the rigidity of the clamping opening on the flexible clamping piece is gradually increased in the closing process, and the reliable clamping force is provided while the part is restrained.
Description
Technical Field
The invention relates to the technical field of mechanical paws, in particular to a negative pressure blocking micro soft paw.
Background
With the development of society, the clamp holder is not only applied to the traditional industrial field, but also widely applied to the fields of food, medical treatment, robots and the like, and the requirements of the fields on the precision of the clamped parts are higher. Most of the existing factories and merchants manually carry out feeding and discharging work on miniature parts, so that time and labor are consumed, errors in precision easily occur, and the requirement of increasing the yield rate cannot be met obviously by using the manual work. Meanwhile, when the traditional soft clamping jaw clamps an object, the rigidity is low, and the object is easy to fall off. Therefore, how to effectively stiffen the hand claw and realize independent control of rigidity and bending angle is an important direction for solving the problem of low rigidity of the traditional soft hand claw.
Disclosure of Invention
In view of the above, the present invention provides a negative pressure blocking micro soft gripper, which has high working precision and can stably grip an object.
The invention solves the technical problems by the following technical means:
a negative pressure blocking micro soft paw comprises a connecting piece and a flexible clamping piece, wherein one end of the connecting piece is connected with a transmission device;
the utility model discloses a clamp, including flexible holder, centre gripping mouth, inner cavity, outer cavity, shaping granule, outer cavity, trachea and pneumatic control equipment, the centre gripping mouth has been seted up on the flexible holder, the centre gripping mouth is the U-shaped, flexible holder is inside to be provided with to encircle the inner chamber body that the centre gripping mouth set up, inner chamber body bilateral symmetry is provided with outer cavity, outer cavity is filled with moulding granule in, outer cavity passes through the trachea and is connected with pneumatic control equipment.
When the negative pressure blocking micro soft gripper grabs a part, the flexible clamping piece is firstly in a normal pressure state, and when the negative pressure blocking micro soft gripper moves to a designated clamping position, the controller controls the air pressure adjusting equipment to input air into the flexible clamping piece, so that a clamping opening of the flexible clamping piece is in an opening state. Until the flexible clamp contacts the part. Then the controller controls the air pressure adjusting device to be in a negative pressure state, so that the air pressure in the outer cavity is in the negative pressure state, the clamping opening is slowly closed, the moulding particles are extruded and compressed to be in a rigid state, and the clamping opening of the flexible clamping piece is gradually closed and clamps the part. After transmission removed the part and placed the position, the controller controlled atmospheric pressure adjusting equipment once more to the inside input gas of flexible holder to make the atmospheric pressure in the outer cavity risees, moulding granule is because high mobility is full of whole outer cavity rapidly, thereby the inflation makes the centre gripping mouth of flexible holder be in the state of opening once more, places the part on the assigned position, accomplishes the last unloading of part.
Further, the connecting piece includes connecting rod, screw rod and nut, screw rod and connecting rod coaxial coupling, the screw rod passes through the nut and is connected with transmission, the flexible holder is installed on the other end of connecting rod.
Further, moulding granule is high mobility micron order granule, when being the high atmospheric pressure state in the outer cavity, can be full of whole outer cavity rapidly, makes the centre gripping mouth open, when being the negative pressure state in the outer cavity, takes place to extrude and compress to the rigidity state between the moulding granule to increase the structural strength of centre gripping mouth both sides and part contact, the stability of reinforcing centre gripping.
Furthermore, the flexible clamping piece is made of silicon rubber, has good flexibility, and does not damage the surface of the part in the process of clamping the part.
Furthermore, the connecting piece is made of Q-A steel, and has good toughness and long service life.
Furthermore, the flexible clamping piece is of a V-shaped structure on one side of the opening of the clamping opening, so that the clamping opening can be rapidly opened or closed under the condition of air pressure adjustment, and the controllability and the sensitivity of the flexible clamping piece are improved.
Further, the outer cavity is parallel to the axial extension of the connecting piece and is arranged, the air pipe is parallel to the connecting piece, so that the structural layout of the whole device is more compact, the occupied space is reduced during installation, and meanwhile, the automatic control is more facilitated.
The invention has the beneficial effects that:
(1) the protection to the part is good: the flexible clamping piece is made of flexible materials, and no indentation is left on the processing surface of the part;
(2) the grabbing precision is high: the opening and closing of the clamping opening on the flexible clamping piece are gradually processes, the operable space is large during grabbing, the position of a part can be better determined, and the possibility of misoperation is reduced.
(3) The clamping effect is good: the rigidity of the clamping opening on the flexible clamping piece is gradually increased in the closing process, so that the part is restrained and a reliable clamping force is provided.
Drawings
FIG. 1 is a schematic view of a negative pressure blocking micro soft paw according to the present invention;
FIG. 2 is a schematic cross-sectional view of a negative pressure blocking micro soft gripper according to the present invention;
FIG. 3 is a schematic diagram of a negative pressure blocking micro soft paw according to the present invention in a normal state;
FIG. 4 is a schematic structural view of the vacuum blocking micro soft paw of the present invention in an open state;
FIG. 5 is a schematic view of the structure of the vacuum blocking micro soft gripper in the clamping state.
Detailed Description
The invention will be described in detail below with reference to the following figures and specific examples:
as shown in fig. 1-5, the negative pressure blocking micro soft paw comprises a connecting piece 1 with one end connected with a transmission device and a flexible clamping piece 2 connected to the other end of the connecting piece 1;
the utility model discloses a pneumatic pressure regulating device, including flexible holder 2, centre gripping mouth 3 has been seted up on the flexible holder 2, centre gripping mouth 3 is the U-shaped, the inside encirclement that is provided with of flexible holder 2 interior cavity 4 that centre gripping mouth 3 set up, 4 bilateral symmetry in interior cavity are provided with outer cavity 5, be filled with moulding granule 6 in the outer cavity 5, outer cavity 5 passes through trachea 7 and is connected with pneumatic pressure regulating apparatus. The inner cavity 4 is used for abdicating when the clamping port 3 deforms.
When the negative pressure blocking micro soft gripper is used for grabbing a part, as shown in fig. 3, the flexible clamping piece 2 is firstly in a normal pressure state, when the negative pressure blocking micro soft gripper moves to a designated clamping position, the controller controls the air pressure adjusting device to input air into the flexible clamping piece 2, so that the air pressure in the outer cavity 5 is increased, the whole outer cavity 5 is quickly filled with the shaping particles 6 due to high fluidity, and therefore the clamping port 3 of the flexible clamping piece 2 is in an open state due to expansion, as shown in fig. 4, until the flexible clamping piece 2 is in contact with the part. Then, the controller controls the air pressure adjusting device to be in a negative pressure state, so that the air pressure in the outer cavity 5 is in a negative pressure state, the clamping opening 3 is slowly closed, the plastic particles 6 are extruded and compressed to be in a rigid state, and the clamping opening 3 of the flexible clamping piece 2 is gradually closed and clamps the part, as shown in fig. 5. After transmission removed the part and placed the position, the controller controlled atmospheric pressure adjusting equipment once more to the inside input gas of flexible holder 2 to make the atmospheric pressure in the outer cavity 5 risees, moulding granule 6 is full of whole outer cavity 5 rapidly because high mobility, thereby the inflation makes the centre gripping mouth 3 of flexible holder 2 be in the state of opening once more, places the part on the assigned position, accomplishes the last unloading of part.
Further, the connecting piece 1 comprises a connecting rod 8, a screw rod 9 and a nut 10, the screw rod 9 is coaxially connected with the connecting rod 8, the screw rod 9 is connected with a transmission device through the nut 10, and the flexible clamping piece 2 is installed at the other end of the connecting rod 8.
Further, moulding granule 6 is high mobility micron order granule, when being the high atmospheric pressure state in outer cavity 5, can be full of whole outer cavity 5 rapidly, makes centre gripping mouth 3 open, when being the negative pressure state in outer cavity 5, takes place to extrude and compress to the rigidity state between moulding granule 6 to increase the structural strength of 3 both sides of centre gripping mouth and part contact, the stability of reinforcing centre gripping.
Further, the flexible clamping piece 2 is made of silicon rubber, has good flexibility, and does not damage the surface of the part in the process of clamping the part.
Furthermore, the connecting piece 1 is made of Q235-A steel, and has good toughness and long service life.
Further, flexible holder 2 is the V-arrangement structure in 3 opening one sides of centre gripping mouth, is convenient for centre gripping mouth 3 to open or close under atmospheric pressure adjusts fast, improves the controllability and the sensitivity of flexible holder 2.
Further, outer cavity 5 is on a parallel with 1 axial extension setting of connecting piece, trachea 7 is on a parallel with 1 setting of connecting piece makes whole device structural layout compacter, reduces occupation space during the installation, more is favorable to carrying out the automation simultaneously and controls.
The negative pressure blocking micro soft paw provided by the embodiment has the following effects:
(1) the protection to the part is good: the flexible clamping piece is made of flexible materials, and no indentation is left on the processing surface of the part;
(2) the grabbing precision is high: the opening and closing of the clamping opening on the flexible clamping piece are gradually processes, the operable space is large during grabbing, the position of a part can be better determined, and the possibility of misoperation is reduced.
(3) The clamping effect is good: the rigidity of the clamping opening on the flexible clamping piece is gradually increased in the closing process, so that the part is restrained and a reliable clamping force is provided.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims. The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (7)
1. The utility model provides a miniature software hand claw is blocked to negative pressure which characterized in that: comprises a connecting piece (1) with one end connected with a transmission device and a flexible clamping piece (2) connected with the other end of the connecting piece (1);
the utility model discloses a flexible clamping piece, including flexible clamping piece (2), centre gripping mouth (3) have been seted up on flexible clamping piece (2), centre gripping mouth (3) are the U-shaped, flexible clamping piece (2) inside be provided with encircle interior cavity (4) that centre gripping mouth (3) set up, interior cavity (4) bilateral symmetry is provided with outer cavity (5), be filled with moulding granule (6) in outer cavity (5), outer cavity (5) are connected with atmospheric pressure adjusting equipment through trachea (7).
2. The negative pressure blocking micro soft gripper as claimed in claim 1, wherein: connecting piece (1) includes connecting rod (8), screw rod (9) and nut (10), screw rod (9) and connecting rod (8) coaxial coupling, screw rod (9) are connected with transmission through nut (10), install flexible holder (2) on the other end of connecting rod (8).
3. The negative pressure blocking micro soft gripper as claimed in claim 1, wherein: the shaping particles (6) are high-fluidity micron-sized particles.
4. The negative pressure blocking micro soft gripper as claimed in claim 1, wherein: the flexible clamping piece (2) is made of silicon rubber.
5. The negative pressure blocking micro soft gripper as claimed in claim 1, wherein: the connecting piece (1) is made of Q235-A steel.
6. The negative pressure blocking micro soft gripper as claimed in claim 1, wherein: the flexible clamping piece (2) is of a V-shaped structure at one side of the opening of the clamping opening (3).
7. The negative pressure blocking micro soft gripper as claimed in claim 1, wherein: the outer cavity (5) is parallel to the axial extension of the connecting piece (1), and the air pipe (7) is parallel to the connecting piece (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010770288.6A CN111872971A (en) | 2020-08-04 | 2020-08-04 | Negative pressure blocking micro soft paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010770288.6A CN111872971A (en) | 2020-08-04 | 2020-08-04 | Negative pressure blocking micro soft paw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111872971A true CN111872971A (en) | 2020-11-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010770288.6A Pending CN111872971A (en) | 2020-08-04 | 2020-08-04 | Negative pressure blocking micro soft paw |
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| Country | Link |
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| CN (1) | CN111872971A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113079956A (en) * | 2021-05-13 | 2021-07-09 | 河南科技大学 | Mushroom crop picking head and mushroom crop picking mechanism using same |
| CN113733133A (en) * | 2021-09-14 | 2021-12-03 | 清华大学深圳国际研究生院 | Bionic flexible manipulator |
| CN114536387A (en) * | 2022-03-01 | 2022-05-27 | 张家港江苏科技大学产业技术研究院 | Soft pneumatic gripper with touch perception |
Citations (9)
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|---|---|---|---|---|
| CN101554730A (en) * | 2008-04-11 | 2009-10-14 | 江南大学 | Articulated flexible manipulator |
| CN104070528A (en) * | 2014-06-05 | 2014-10-01 | 河海大学 | Device and method for grabbing and releasing object |
| CN105643649A (en) * | 2014-11-15 | 2016-06-08 | 张桂春 | Six-joint three-finger manipulator for grabbing apples |
| CN105818143A (en) * | 2016-05-26 | 2016-08-03 | 南京理工大学 | Flexible multi-arm pneumatic gripper based on active wrapping and passive shaping |
| CN107002721A (en) * | 2014-06-09 | 2017-08-01 | 软机器人公司 | Use software robot's actuator of asymmetric surface |
| CN107756385A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
| CN109746907A (en) * | 2019-02-26 | 2019-05-14 | 武汉理工大学 | A kind of low-boiling point liquid and the curved variation rigidity software clamper of marmem combination drive |
| CN111152246A (en) * | 2020-01-21 | 2020-05-15 | 苏州迪天机器人自动化有限公司 | Flexible gripping device |
| US20200215700A1 (en) * | 2016-07-01 | 2020-07-09 | Suzhou Soft Robot Tech Co., Ltd. | Soft-bodied finger, soft-bodied gripper and soft-bodied robot |
-
2020
- 2020-08-04 CN CN202010770288.6A patent/CN111872971A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101554730A (en) * | 2008-04-11 | 2009-10-14 | 江南大学 | Articulated flexible manipulator |
| CN104070528A (en) * | 2014-06-05 | 2014-10-01 | 河海大学 | Device and method for grabbing and releasing object |
| CN107002721A (en) * | 2014-06-09 | 2017-08-01 | 软机器人公司 | Use software robot's actuator of asymmetric surface |
| CN105643649A (en) * | 2014-11-15 | 2016-06-08 | 张桂春 | Six-joint three-finger manipulator for grabbing apples |
| CN105818143A (en) * | 2016-05-26 | 2016-08-03 | 南京理工大学 | Flexible multi-arm pneumatic gripper based on active wrapping and passive shaping |
| US20200215700A1 (en) * | 2016-07-01 | 2020-07-09 | Suzhou Soft Robot Tech Co., Ltd. | Soft-bodied finger, soft-bodied gripper and soft-bodied robot |
| CN107756385A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
| CN109746907A (en) * | 2019-02-26 | 2019-05-14 | 武汉理工大学 | A kind of low-boiling point liquid and the curved variation rigidity software clamper of marmem combination drive |
| CN111152246A (en) * | 2020-01-21 | 2020-05-15 | 苏州迪天机器人自动化有限公司 | Flexible gripping device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113079956A (en) * | 2021-05-13 | 2021-07-09 | 河南科技大学 | Mushroom crop picking head and mushroom crop picking mechanism using same |
| CN113733133A (en) * | 2021-09-14 | 2021-12-03 | 清华大学深圳国际研究生院 | Bionic flexible manipulator |
| CN114536387A (en) * | 2022-03-01 | 2022-05-27 | 张家港江苏科技大学产业技术研究院 | Soft pneumatic gripper with touch perception |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201103 |