Pneumatic boost serial loose hinge flexible multi-finger claw

Abstract

The invention relates to a pneumatic boost serial loose hinge flexible multi-finger claw, which consists of a palm and three flexible fingers, wherein the palm has two structures, namely a rectangular structure and a hexagonal structure; the flexible fingers have the same structure which mainly comprises an inner guide cylinder and a serial loose hinge; the hinge mandrel of the serial loose hinge is providedwith a torsional spring; the characteristic parameters and the pretightening angle of the torsional spring are optimized according to the characteristics of a grasped object; grasping force is generated under the drive of the cylinder, and the multi-finger claw is applied to grasping fragile objects or special objects with changing shapes and sizes; and the flexible fingers of the multi-finger claw have the characteristics of good flexible degree of freedom and buffer performance to an external load and high flexible adaptiveness. The pneumatic boost serial loose hinge flexible multi-finger claw belongs to the field of application of robot and mechanical and electrical integration; and when the pneumatic boost serial loose hinge flexible multi-finger claw is connected with a robot body, the pneumatic boost serial loose hinge flexible multi-finger claw is particularly suitable for the fields of production and logistics such as grasping, sorting and packaging of foods, agricultural products and light industrial products.

Description

Technical field: [0001] The invention relates to a flexible multi-fingered gripper with a pneumatically boosted series loose-leaf hinge. 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 It consists of an inner guide cylinder and a series hinge; a torsion spring is installed on the hinge mandrel of the series hinge. The characteristic parameters and pre-tightening angle of the torsion spring are optimized according to the characteristics of the object to be grasped; it is generated by the cylinder drive. Gripping force, this multi-fingered claw is applied to the grasping of fragile and brittle objects, or special-shaped objects with changing shapes and sizes, and belongs to the application technology field of robots and mechatronics; it is connected with the robot body, especially suitable for food, Production and logistics fields su...

AI Technical Summary

Problems solved by technology

Before the present invention, the patent application (a multi-joint flexible manipulator, 200810023616.5) proposed a rubber bellows expansion-loaded pneumatic artificial muscle driver, a flexible bending joint of the hinge skeleton, and its disadvantages are: ① rubber bellows pneumatic The pressure in the inner chamber of the artificial muscle driver is not strong enough, and it is restored to the initial straight state by the action of the torsion spring; ②The position of the driving force acting on the loose-leaf hinge skeleton cannot be adjusted, and the versatility of grabbing objects is not good enough; ③The force of the loose-leaf hinge The state is not good. A considerable part of the output force of the artificial muscle acts on the torsion spring to deform it, thereby reducing the grasping force output by the flexible joint. As the angular displacement of the hinge increases, the proportion of the force spent on the deformation of the torsion spring ④ Especially driven by the artificial muscle, with the greater the angular displacement of the hinge, the greater the pressure increment of the artificial muscle cavity required for the unit increment of the angular displacement, the harder the hinge is to bend, that is, the flexible The slope of the angular displacement-air pressure curve of the finger hinge is getting smaller and smaller. Even if the air pressure increases, the angular displacement cannot continue to be generated, but the angular displacement is reduced.

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