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A bistable passively triggered soft gripper with adjustable energy barrier

An energy barrier and bistable technology, applied in the field of soft grippers, can solve problems such as difficulty in taking into account passive gripping and collision buffer performance, trigger energy barriers cannot be adjusted, and difficult gripping requirements, etc., to achieve improved passive gripping Achieve the effect of simple efficiency, processing method and equipment, and low cost

Active Publication Date: 2022-08-09
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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  • A bistable passively triggered soft gripper with adjustable energy barrier
  • A bistable passively triggered soft gripper with adjustable energy barrier
  • A bistable passively triggered soft gripper with adjustable energy barrier

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

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

[0030] This embodiment provides a bistable passive trigger soft gripper with adjustable energy barrier, which can take into account passive trigger performance and collision buffering 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, it improves the buffering ability of moving objects, avoids damage caused by collision, and protects the target object. At the same time, it has the advantages of light weight and simple operation.

[0031] like figure 1 As shown, the soft gripper includes: a gripper 1, a connecting rod 2, a mounting base 3 and a latch 4; such as figure 2 As shown, the gripper 1 includes: a ring portion 5 and a claw portion 6;

[0032] The ring portion 5 is a circular ring structure, and the claw portion 6 is a struc...

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PUM

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Abstract

The invention discloses a bistable passive trigger soft gripper with adjustable energy potential barrier, comprising: a gripper, a connecting rod and a mounting base; the edge of the gripper is overlapped on the upper end and the center of the mounting base It is fixedly connected with the upper end of the connecting rod, the lower end of the connecting rod is vertically inserted into the channel provided on the upper end of the installation base, and the lower end of the connecting rod is provided with a flange, and the bolt is horizontally inserted into any group of pre-displacement gears on the installation base In the slot, the flange limits the upward movement of the connecting rod, and the gripper can push the connecting rod to slide down under the impact of the target object and complete the grasping of the target object; wherein, the lower end of the mounting base is supported on a horizontal plane The upper, middle and lower parts are provided with two or more sets of pre-displacement gear slots arranged along the upper and lower directions of the channel.

Description

technical field [0001] The invention relates to the technical field of soft grippers, in particular to a bistable passively triggered soft gripper with adjustable energy barrier. Background technique [0002] Soft gripper belongs to the field of soft robotics. It is mainly made of soft materials such as silicone. It has the characteristics of flexibility, suppleness, safety, and good human-computer interaction performance. It has advantages in grasping soft objects. The complex and rich mechanical properties of soft materials also Offers a variety of possibilities for the design and control of soft grippers. However, the current soft gripper has shortcomings such as complicated driving 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...

Claims

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Application Information

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Patent Type & Authority Patents(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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