Pneumatic serial-connection flexible hinge multi-finger paw of compliant mechanism

Abstract

The invention relates to a pneumatic serial-connection flexible hinge multi-finger paw of a compliant mechanism. The multi-finger paw consists of a palm and three flexible fingers, and the palm has a rectangular structure and a hexagonal structure; the structure of each flexible finger is identical, and each flexible finger structure mainly consists of an internal guide air cylinder and a serial-connection flexible hinge; the multi-finger paw is driven by an air cylinder to produce a grasping force, the multi-finger paw is applied to a fragile object or used for grasping a specially-shaped object with a varied shape and varied size; and the flexible finger of the multi-finger paw is a compliant mechanism, and the serial-connection flexible hinge is a deformation element of the compliant mechanism. The pneumatic serial-connection flexible hinge multi-finger paw has the characteristics that: a good flexible degree of freedom and good buffering performance can be realized for an outer load, and the flexible adaptability is good. The pneumatic serial-connection flexible hinge multi-finger paw belongs to the technical field of the robot and mechatronics; and the pneumatic serial-connection flexible hinge multi-finger paw is connected with a robot main body and particularly suitable for the production and logistics field such as the grasping, sorting and packaging of food, agricultural products and light products.

Description

Technical field: [0001] The invention relates to a multi-fingered gripper with a pneumatic serial flexible hinge of a compliant mechanism. The multi-fingered gripper consists of a palm and three flexible fingers, and the palm has two structures: rectangular and hexagonal; each flexible finger has the same structure, mainly including one Composed of an inner-guided cylinder and a series flexible hinge; driven by the cylinder to generate gripping force, this multi-fingered gripper is used for grasping fragile and brittle objects, or special-shaped objects with changing shapes and sizes, and belongs to the category of robotics and mechatronics. Field of application technology; connected with the robot body, especially suitable for production and logistics fields such as grabbing, sorting and packaging of food, agricultural products and light industrial products. Background technique: [0002] For the large-scale production of light industry and food industry, in order to meet t...

AI Technical Summary

Problems solved by technology

Before the present invention, the patent application (a multi-joint flexible manipulator, 200810023616.5) proposed a flexible bending joint driven by a rubber bellows expansion-loaded pneumatic artificial muscle driver and connected in series with flexible hinge skeletons. The disadvantages are: ① rubber bellows The inner cavity pressure of the pneumatic artificial muscle driver is not strong enough, and it can be restored to the initial straight state by the action of the series flexible hinge; ②The working length of the series flexible hinge cannot be adjusted, and the versatility of grabbing objects is not good enough; ③With the series flexible hinge The greater the amount of deformation, the greater the pressure increment of the artificial muscle cavity required for the unit increment of the deformation amount, and the more difficult it is to bend the flexible hinge in series, that is, the bending angle of the flexible finger - the slope of the air pressure curve is getting smaller and smaller;④ Especially driven by artificial muscles, the tensile stress on the series flexible hinge increases with the increase of the pressure in the artificial muscle cavity, and the minimum cross-sectional area of ​​the series flexible hinge needs to be increased to meet the strength requirements, and the minimum cross-sectional area of ​​the series flexible hinge needs to be increased. At the same time, it will increase the difficulty of large deformation of the series flexible hinge, increase the output force of the cylinder to deform the series flexible hinge, thereby reducing the grasping force output by the flexible joint

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