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Two-phase driving flexible paw

A flexible and gripper technology, applied in the field of soft robots, can solve the problems of high cost and high noise, and achieve the effects of low cost, no noise, and increased thermal conductivity

Pending Publication Date: 2022-07-29
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a two-phase drive flexible gripper in order to solve the above-mentioned deficiencies in the prior art, which solves the problems of high cost and high noise caused by the need for pneumatic clamping of the flexible gripper in the prior art

Method used

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Examples

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Embodiment 1

[0034] like Figure 1-Figure 6 As shown, a two-phase drive flexible gripper provided in this embodiment includes a gripper base 1, a sealing device 2, a trachea 3 and a hollow flexible gripper 4, and a gripper base 1 is provided below the gripper base 1. In the above-mentioned flexible clamping jaws 4, the upper part of each flexible clamping jaw 4 is communicated with the lower port of the air pipe 3 through a driving plug 5, and a sealing device 2 is connected to the upper port of each air pipe 3. , the lower part of the driving plug 5 is connected with a heating wire 6 inserted into the hollow of the flexible jaw 4, and the driving plug 5 is provided with a delivery hole 7 that communicates the hollow part of the flexible jaw 4 with the trachea 3. The flexible gripper 4 described above is filled with a low-boiling liquid of type HFE7000. The low boiling point liquid described in this example adopts HFE-7000, which is an electronic fluoride liquid product with no flash poin...

Embodiment 2

[0054] like Figure 14 As shown in the figure, for a two-phase drive flexible gripper provided in this embodiment, in order to prevent the material of the prism tooth shell 42 from being scalded after being added inside, the heating section 64 is covered with more than one spacer set at intervals. The heat ball 64-1, by covering the heating section 64 with a plurality of heat insulation balls 64-1, can prevent the material of the prism tooth shell 42 from being scalded after being added inside, thereby damaging the jaws and reducing the service life.

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Abstract

The invention discloses a two-phase driving flexible gripper which comprises a clamping jaw base, a sealing device, an air pipe and hollow flexible clamping jaws, more than one flexible clamping jaw is arranged below the clamping jaw base, the upper portion of each flexible clamping jaw is communicated with a lower port of the air pipe through a driving plug, and the upper portion of each flexible clamping jaw is communicated with a lower port of the air pipe through a driving plug. The upper end opening of each air pipe is connected with one sealing device, the lower portion of the driving plug is connected with a heating wire inserted into the hollow portion of the flexible clamping jaw, the driving plug is provided with a conveying hole enabling the hollow portion of the flexible clamping jaw to be communicated with the air pipes, and the flexible clamping jaw is filled with low-boiling-point liquid with the model of HFE7000. The low-boiling-point liquid is packaged in the sealed flexible paw, the low-boiling-point liquid is gasified through heating, the pressure intensity in the paw is changed, the bending angle of the paw is changed, and therefore objects are grabbed, and the defects that an original pneumatic and hydraulic flexible paw is complex and huge in structure and high in cost are overcome.

Description

technical field [0001] The invention relates to a flexible gripper, belonging to the field of soft robots, in particular to a two-phase drive flexible gripper which utilizes the gas-liquid two-phase change of a low-boiling liquid to change the internal pressure of a cavity to trigger a gripper action. Background technique [0002] At present, in industrial production and life, the main material and structure of the gripper are materials with strong rigidity, high hardness and not easy to deform. The contact area is small and the stress is large, which will cause damage to the surface of the grasped object. In order to overcome this defect, the main solution is to attach a flexible material such as rubber to the contact surface of the gripper to generate partial deformation ability and increase the grasping area and friction. , but this method does not cure the symptoms. The emergence of the flexible gripper essentially overcomes the natural defects of the rigid gripper. It ...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/08
CPCB25J15/00B25J15/0023B25J15/08
Inventor 王祥冯陆颖张晟吴晶军关清儒夏庆华汪倩倩王春鸽孙晓彤宋泽宁孙煦
Owner ZHEJIANG UNIV
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