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Shape memory alloy driven electrostatic adsorption flexible gripper

A technology of memory alloy and electrostatic adsorption, which is applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of high impact force of movement, poor flexibility, and complexity, so as to achieve enhanced bonding effect, good work adaptability, and excellent Effect of Flexibility and Anti-Fatigue Properties

Active Publication Date: 2018-10-23
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the purpose of the present invention is to solve the problems of the existing gripper structure such as complex control, poor compliance ability, and large movement impact force, and provide an electrostatic adsorption flexible gripper driven by shape memory alloy, so as to improve robot Versatility and reliability for end effector operations

Method used

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  • Shape memory alloy driven electrostatic adsorption flexible gripper
  • Shape memory alloy driven electrostatic adsorption flexible gripper
  • Shape memory alloy driven electrostatic adsorption flexible gripper

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Experimental program
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Embodiment Construction

[0029] figure 1 It is a schematic diagram of the structure of the present invention, as shown in the figure: a shape memory alloy-driven electrostatic adsorption flexible gripper, including a palm base, a plurality of elastic fingers arranged on the palm base, and one-to-one correspondingly connected to the elastic fingers SMA spring 5; each of the elastic fingers is closed in a free state; after the SMA spring 5 is energized, each of the elastic fingers connected to it can be pulled outward to open the elastic fingers; the elastic fingers can adopt any existing form, A material or structure with strong elastic deformation ability. When the SMA spring 5 is energized, the current heats the spring, causing the SMA spring 5 to contract and pull the elastic fingers to bend, so that the gripper can be opened; when a low duty cycle or zero duty is applied After the specific voltage, the SMA spring 5 is released, and the elastic fingers are restored, so that the grip is closed.

[0030...

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Abstract

The invention discloses a shape memory alloy driven electrostatic adsorption flexible gripper. The shape memory alloy driven electrostatic adsorption flexible gripper comprises a palm seat, multiple elastic fingers arranged on the palm seat and SMA springs in one-to-one corresponding connection to the elastic fingers; the elastic fingers are closed in the free state, the SMA springs are powered on, the elastic fingers connected with the springs are pulled outwards, the elastic fingers are opened, each elastic finger comprises a finger body formed through silicone curing and an elastic rib embedded in the finger body, and the elastic fingers further comprise worm-comb electrodes arranged on the inner side grabbing faces of the finger bodies. Through shrinking and releasing of the shape memory alloy spring, elastic deforming of the elastic inner ribs and the silicone fingers is driven to achieve opening and closing of the flexible gripper, and in combination with the electrostatic adsorption force of the comb electrodes, flexible laminating and stable grabbing of a grabbed object can be achieved.

Description

Technical field [0001] The present invention relates to the field of flexible grips, and in particular to a flexible grip that can be opened and closed through the contraction and release of a shape memory alloy spring to drive elastic inner ribs and silicone tentacles to realize the opening and closing of the flexible grip, and combined with the static electricity of comb-shaped electrodes The adsorption force achieves a smooth fit and smooth grasping of the grasped object. Background technique [0002] The gripping device is one of the most important working devices of the robot. Full-drive / under-driven grippers, rigid / flexible grippers, etc. have all been extensively studied in recent years. The ultimate goal of the grabbing device should be able to achieve safe and reliable grabbing of objects of different shapes and materials. The traditional mechanical gripper can only grasp some specific shapes and small-volume objects, and has a complex structure and poor versatility. F...

Claims

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Application Information

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IPC IPC(8): B25J15/12B25J15/00
CPCB25J15/0085B25J15/12
Inventor 柏龙邓玉鹏陈晓红陈锐肖方杰
Owner CHONGQING UNIV
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