Electric push rod drive controlled flexible gripper with plate spring frameworks

Abstract

The invention relates to an electric push rod drive controlled flexible gripper with plate spring frameworks. The gripper comprises a palm and three flexible fingers, wherein one flexible finger 1 is installed in the left symcenter of a rectangular palm 2 and the other two flexible fingers 1 are respectively installed on the two sides of the right symcenter of the rectangular palm 2; the three flexible fingers 1 are respectively installed on three corresponding edges of a hexagonal palm 3; each flexible finger has the same structure and mainly comprises an electric push rod and a plate spring; the plate spring as a framework is divided into a deformation section and a gripping section; the lengths of the two sections can be adjusted relatively. The multi-finger gripper is applied to gripping fragile objects or special-shaped objects with shapes and sizes varying and belongs to the technical fields of applications of robots and mechatronics. The gripper is connected with a robot body and is especially suitable for the production and logistics places for gripping, sorting and packaging food, agricultural products and light industrial products.

Description

Technical field: [0001] The invention belongs to the technical field of robotics and mechatronics, and relates to a flexible gripper with a plate spring frame driven and controlled by an electric push rod, which is used in production and logistics occasions 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 the logistics and packaging needs of raw materials, semi-finished products and finished products with complex shapes and various physical properties, and to solve the problems of high labor cost and poor working conditions of simple labor, it is necessary to grasp logistics Take the paw. The types of complex objects to be grasped: ① Deformable soft objects (bread, soft packaging items); ② Fragile brittle objects (eggs, glass ceramic products); ③ Irregular shapes and large differences in size ( fruits, ve...

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Problems solved by technology

Before the present invention, the authorized patent (Pneumatic Flexible Bending Joint with Plate Spring Framework, ZL200410065130.X) proposed a flexible bending joint with a rubber bellows expansion-loaded pneumatic artificial muscle driver and a plate spring framework. The disadvantages are: ①The internal cavity pressure of the rubber bellows pneumatic artificial muscle driver is not large enough, and it is returned to the initial straight state by the action of the leaf spring; ②The length of the bent part (that is, the deformed section) of the leaf spring cannot be adjusted, and the versatility of the grasping object is not good enough ; ③ With the larger the deformation of the leaf spring, the greater the pressure increment of the artificial muscle cavity required for the unit increment of the deformation, the more difficult it is for the leaf spring to bend, that is, the bending angle of the flexible finger - the slope of the air pressure curve ④ Especially driven by the artificial muscle, the tensile stress on the leaf spring increases with the increase of the pressure in the inner cavity of the artificial muscle. It is necessary to increase the cross-sectional area of ​​the leaf spring to meet the strength requirements, and to increase the cross-sectional area of ​​the leaf spring At the same time, it will increase the difficulty of large deformation of the leaf spring. The output force of the artificial muscle increases the force to deform the leaf spring and reduces the grasping force output by the flexible joint.

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