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Bistable passive triggering soft gripper with adjustable energy potential barrier

An energy barrier and bistable technology, applied in the field of soft grippers, can solve the problems of difficult to balance passive grasping and collision buffer performance, trigger energy barriers cannot be adjusted, and difficult grasping requirements, etc.

Active Publication Date: 2021-09-10
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the trigger energy barrier of the general bistable structure cannot be adjusted, it is difficult to meet the grasping requirements of different targets with large differences in kinetic energy at the same time, and it is difficult to achieve both passive grasping and collision buffering.

Method used

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  • Bistable passive triggering soft gripper with adjustable energy potential barrier
  • Bistable passive triggering soft gripper with adjustable energy potential barrier
  • Bistable passive triggering soft gripper with adjustable energy potential barrier

Examples

Experimental program
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Embodiment Construction

[0029] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0030] This embodiment provides a bistable passive trigger soft gripper with adjustable energy barrier, which can take into account both passive trigger performance and collision buffer performance, and can adjust the trigger energy barrier of the soft gripper according to the mass and movement speed of the target object , while achieving passive grasping, improve the buffering capacity of moving objects, avoid damage caused by collisions, protect the target object, and have the advantages of light weight and simple operation.

[0031] Such as figure 1 As shown, the soft gripper includes: a gripper 1, a connecting rod 2, an installation base 3 and a pin 4; as figure 2 As shown, the gripper 1 includes: a ring portion 5 and a claw portion 6;

[0032] The ring part 5 is a ring structure, and the claw part 6 is a structure formed by intersecting soft bars f...

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PUM

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Abstract

The invention discloses a bistable passive triggering soft gripper with an adjustable energy barrier. The bistable passive triggering soft gripper comprises a gripper, a connecting rod and a mounting base, wherein the edge of the gripper is in lap joint with the upper end of the mounting base, the center of the gripper is fixedly connected with the upper end of the connecting rod, and the lower end of the connecting rod is vertically inserted into a channel formed in the upper end of the mounting base; a flange is arranged at the lower end of the connecting rod; a latch is horizontally inserted into any set of pre-displacement gear slots in the mounting base; and the flange limits upward movement of the connecting rod. The gripper can push the connecting rod to slide downwards under the impact effect of a target object and complete gripping of the target object. The lower end of the mounting base is supported on a horizontal plane, and more than two sets of pre-displacement gear slots which are arranged along the vertical direction of the channel are formed in the lower middle part of the mounting base.

Description

technical field [0001] The invention relates to the technical field of soft grippers, in particular to a bistable passive trigger soft gripper with an adjustable energy barrier. Background technique [0002] The soft gripper belongs to the field of soft robots. It is mainly made of soft materials such as silica gel. It has the characteristics of flexibility, suppleness, safety, and good human-computer interaction performance. It has advantages in grasping soft objects. It provides many possibilities for the design and control of the soft gripper. However, the current soft grippers have disadvantages such as complex drive equipment and slow gripping response. [0003] A bistable structure is a structure with two static equilibrium states in its motion space (no external energy input is required in the open and closed states), and it has two system potential energy minimum points, corresponding to the structure Two stable positions, at which point the structure can maintain ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J15/12
CPCB25J15/00B25J15/12
Inventor 罗凯刘宇航
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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