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WO2021164211A1 - Mâchoire de serrage ayant des structures composites sur les surfaces - Google Patents

Mâchoire de serrage ayant des structures composites sur les surfaces Download PDF

Info

Publication number
WO2021164211A1
WO2021164211A1 PCT/CN2020/106972 CN2020106972W WO2021164211A1 WO 2021164211 A1 WO2021164211 A1 WO 2021164211A1 CN 2020106972 W CN2020106972 W CN 2020106972W WO 2021164211 A1 WO2021164211 A1 WO 2021164211A1
Authority
WO
WIPO (PCT)
Prior art keywords
soft hair
clamping
soft
composite structure
clamping jaw
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/106972
Other languages
English (en)
Chinese (zh)
Inventor
王琨
蔡嘉辉
董康
宁萌
章军
曹毅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Xingchen Intelligent Technology Co Ltd
Jiangnan University
Original Assignee
Nanjing Xingchen Intelligent Technology Co Ltd
Jiangnan University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing Xingchen Intelligent Technology Co Ltd, Jiangnan University filed Critical Nanjing Xingchen Intelligent Technology Co Ltd
Publication of WO2021164211A1 publication Critical patent/WO2021164211A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum

Definitions

  • the invention relates to the technical field of robot end effector devices, in particular to a clamping jaw with a composite structure on the surface.
  • the end effector is an execution component that directly interacts with the operation object, and its performance directly affects the effect of the operation task execution and work efficiency.
  • Agriculture, light industry, e-commerce and other industries involved in raw materials, semi-finished products, finished products and inner packaging goods and other grasping objects are various, many have complex morphological characteristics: large size differences, irregular shapes (such as melons and fruits, zongzi, etc.); Soft and easy to deform (such as plastic soft lining for bagged liquids, powders, granules, bulk goods and biscuits); fragile and easy to damage (such as glass ceramics and other daily necessities, biscuits, cakes, peaches and other foods);
  • the location status is chaotic and difficult to straighten out (such as different shapes of inner packaging goods, outer packaging carton parcels). Grasping such items is a difficult point in the design of robot end effectors.
  • Vacuum suction cups can only absorb objects with relatively high smoothness and relatively regular shapes, and it is difficult to effectively grasp objects with irregular or dusty surfaces; the gripping of objects mainly depends on the pressure applied by the grippers on the surface of the object to be grasped. Friction force to achieve grasping. Therefore, it is easy to damage the object when grasping soft and easily deformable objects, and the stability is not high when grasping objects with higher smoothness. In today's flexible manufacturing, these restrictions are difficult to satisfy the effective grasping of products with complex shapes and diverse types.
  • the applicant provides a gripper with a reasonable structure and a composite structure on the surface, which can increase the gripper surface and the surface of the gripping object under the condition of applying less gripping pressure.
  • the adsorption force between them can stably grasp various soft, brittle, irregular, easily damaged and high-finish items, and ensure the stability of grasping under the condition of reducing the grasping pressure.
  • a clamping jaw with a composite structure on the surface includes two clamping plates that move relative to each other.
  • the two clamping plates are driven by a driving mechanism to make a synchronous relative movement to hold or loosen the object to be grasped.
  • the clamping The surface of the board is provided with a soft hair body structure, which includes a first soft hair part fixed on the surface of the clamping plate, and a plurality of closely arranged second soft hair parts are arranged on one end of the first soft hair part.
  • the soft bristles are suspended above the surface of the clamping plate.
  • the structure of the driving mechanism includes a piston rod, the piston rod penetrates a fixed bracket, the fixed bracket has two symmetrically arranged inverted V-shaped struts, the ends of the two struts are respectively hinged with one end of a connecting arm ;
  • Located at the lower end of the piston rod between the two rods is provided with a hinge seat, the hinge seat is hinged with one end of the two connecting rods at the same time, the other ends of the two connecting rods are respectively hinged with the middle of the two connecting arms, and the other ends of the two connecting arms are connected with one The clamping plate.
  • the sizes of the clamping plate, the first soft hair part and the second soft hair part are millimeter, micrometer and nanometer, respectively.
  • the clamping jaws are arranged symmetrically with the piston rod as the center axis; the inner side of the connecting arm is provided with a groove for installing the hinge assembly, and the connecting rod extends into the groove to be hinged with the hinge assembly.
  • the two connecting arms form an outward convex arc structure.
  • the lower part of the two clamping plates is inclined to the center position of the clamping jaws.
  • Both the first soft hair part and the second soft hair part are in a square strip, rod-shaped or cone-shaped structure.
  • the soft hair structure is uniformly and densely distributed on the surfaces of the two clamping plates close to each other.
  • the present invention is compact and reasonable in structure and convenient to operate.
  • the clamping plate is distributed with a composite soft hair body structure.
  • the soft soft hair body structure is more effective than the grasped object under the pressure of the clamping plate.
  • the large adsorption force firmly adsorbs the object to be grabbed, which can realize the effective grabbing of the objects with higher smoothness and improve the work efficiency.
  • Figure 1 is a schematic diagram of the three-dimensional structure of the present invention.
  • Figure 2 is a schematic diagram of the structure of the soft hair of the present invention.
  • Figure 3 is a front view of the present invention.
  • Fig. 4 is an enlarged view of part A in Fig. 3.
  • Fig. 5 is a schematic diagram of the clamping object state of the present invention.
  • the clamping jaws with a composite structure on the surface of this embodiment include two clamping plates 1 that move relative to each other.
  • the two clamping plates 1 are driven by a driving mechanism to perform synchronous relative movement.
  • a soft hair structure 6 is provided on the surface of the clamping plate 1, which includes a first soft hair part 61 fixed on the surface of the clamping plate 1, and one end surface of the first soft hair part 61
  • the structure of the driving mechanism includes a piston rod 5, which penetrates through a fixed bracket 4.
  • the fixed bracket 4 has two support rods 41 symmetrically arranged in an inverted V-shaped structure. Hinged; located at the lower end of the piston rod 5 between the two rods 41 is provided with a hinge seat 7, the hinge seat 7 is hinged with one end of the two connecting rods 3 at the same time, the other end of the two connecting rods 3 are hinged with the middle of the two connecting arms 2, the two are connected The other end of the arm 2 is connected to a clamping plate 1 respectively.
  • the dimensions of the clamping plate 1, the first soft hair part 61 and the second soft hair part 62 are millimeter, micrometer, and nanometer, respectively.
  • the clamping jaws are arranged symmetrically with the piston rod 5 as the central axis; the inner side of the connecting arm 2 is provided with a groove for mounting the hinge assembly, and the connecting rod 3 extends into the groove and is hinged with the hinge assembly.
  • the two connecting arms 2 form a convex arc structure.
  • the lower part of the two clamping plates 1 is inclined toward the center of the clamping jaws.
  • Both the first soft hair portion 61 and the second soft hair portion 62 are in a square strip, rod-shaped or cone-shaped structure.
  • the soft hair structure 6 is uniformly and densely distributed on the surfaces of the two clamping plates 1 close to each other.
  • the support arm 2 and the connecting rod 3 and the support rod 4 are respectively connected by a pin, and the hinge seat 7 of the piston rod 5 is connected with the connecting rod 3 by a pin.
  • the upper end of the piston rod 5 can be connected with a cylinder.
  • the external cylinder controls the movement of the piston rod 5 up and down, and the fixed bracket 4 is fixed.
  • the first soft bristles 61 and the second soft bristles 62 are uniformly arranged on the surface of the clamping plate 1 in an array or other similar form.
  • the composite structure clamping plate 1 is a millimeter, micrometer, and nanometer composite structure.
  • the size of the board 1 is on the millimeter level, and the cross-sectional dimensions of the first soft hair portion 61 and the second soft hair portion 62 are on the micron level and nanometer level, respectively.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne une mâchoire de serrage ayant des structures composites sur les surfaces, comprenant deux plaques de serrage qui se déplacent l'une par rapport à l'autre. Les deux plaques de serrage sont entraînées par un mécanisme d'entraînement pour effectuer des mouvements relatifs synchrones afin de maintenir ou de relâcher un objet saisi. Une structure à poils souples est disposée sur une surface de chaque plaque de serrage. Chaque structure à poils souples comprend des premières parties de poils souples fixées sur la surface de chaque plaque de serrage. Une pluralité de deuxièmes parties de poils souples étroitement agencées sont disposées sur une surface d'extrémité de chaque première partie de poils souples, et les deuxièmes parties de poils souples sont disposées au-dessus des surfaces des plaques de serrage. Les plaques de serrage, les premières parties de poils souples et les deuxièmes parties de poils souples sont respectivement de taille millimétrique, micrométrique et nanométrique. Lorsqu'un objet est saisi par les plaques de serrage de la présente invention, une force d'adsorption relativement grande est produite entre les structures à poils souples et l'objet saisi en raison de la pression des plaques de serrage, de sorte qu'un objet particulièrement lisse peut être saisi efficacement.
PCT/CN2020/106972 2020-02-18 2020-08-05 Mâchoire de serrage ayant des structures composites sur les surfaces Ceased WO2021164211A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010099582.9A CN111216158A (zh) 2020-02-18 2020-02-18 一种表面具有复合结构的夹爪
CN202010099582.9 2020-02-18

Publications (1)

Publication Number Publication Date
WO2021164211A1 true WO2021164211A1 (fr) 2021-08-26

Family

ID=70810765

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/106972 Ceased WO2021164211A1 (fr) 2020-02-18 2020-08-05 Mâchoire de serrage ayant des structures composites sur les surfaces

Country Status (2)

Country Link
CN (1) CN111216158A (fr)
WO (1) WO2021164211A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113859991A (zh) * 2021-10-26 2021-12-31 杭州迁移科技有限公司 吸盘式拆垛装置
EP4494821A1 (fr) * 2023-07-17 2025-01-22 MacDonald, Dettwiler and Associates Inc. Système, procédé et dispositif de préhension d'objets fragiles ou de forme irrégulière

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111216158A (zh) * 2020-02-18 2020-06-02 江南大学 一种表面具有复合结构的夹爪
CN112192140B (zh) * 2020-09-29 2022-12-23 太原复兴不锈钢科技有限公司 一种不锈钢管道焊接连接用可调心连接夹具
CN113857989A (zh) * 2021-10-08 2021-12-31 泰州市金鹰齿轮有限公司 一种机械传动件合金锥齿轮生产去毛刺加工设备

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105364936A (zh) * 2014-08-19 2016-03-02 通用汽车环球科技运作有限责任公司 可贴合干燥附着保持装置
CN106378894A (zh) * 2016-09-09 2017-02-08 清华大学 仿壁虎干黏附表面、具有其的制品及其制作方法
WO2018009754A1 (fr) * 2016-07-07 2018-01-11 The Board Of Trustees Of The Leland Stanford Junior University Vessie à air améliorée avec adhésif de type gecko pour des applications de préhension
CN107787682A (zh) * 2017-11-22 2018-03-13 陈华 一种自动采摘抓果机械手
CN108501015A (zh) * 2018-06-25 2018-09-07 南京航空航天大学 一种兼具黏附与钩爪混合接触的仿生柔性抓取装置
US20190143532A1 (en) * 2017-11-15 2019-05-16 The Board Of Trustees Of The Leland Stanford Junior University Patterned and instrumented directional adhesives for enhanced gripping with industrial manipulators
CN110002223A (zh) * 2019-05-17 2019-07-12 江南大学 一种具有表面黏附能力的夹持器
US20190314999A1 (en) * 2016-08-10 2019-10-17 Hoowaki, Llc Microstructure arrangement for gripping low coefficient of friction materials
CN110730707A (zh) * 2018-08-22 2020-01-24 上海非夕机器人科技有限公司 具有合成纤维胶的机器人和抓取器
CN111216158A (zh) * 2020-02-18 2020-06-02 江南大学 一种表面具有复合结构的夹爪

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105364936A (zh) * 2014-08-19 2016-03-02 通用汽车环球科技运作有限责任公司 可贴合干燥附着保持装置
WO2018009754A1 (fr) * 2016-07-07 2018-01-11 The Board Of Trustees Of The Leland Stanford Junior University Vessie à air améliorée avec adhésif de type gecko pour des applications de préhension
US20190314999A1 (en) * 2016-08-10 2019-10-17 Hoowaki, Llc Microstructure arrangement for gripping low coefficient of friction materials
CN106378894A (zh) * 2016-09-09 2017-02-08 清华大学 仿壁虎干黏附表面、具有其的制品及其制作方法
US20190143532A1 (en) * 2017-11-15 2019-05-16 The Board Of Trustees Of The Leland Stanford Junior University Patterned and instrumented directional adhesives for enhanced gripping with industrial manipulators
CN107787682A (zh) * 2017-11-22 2018-03-13 陈华 一种自动采摘抓果机械手
CN108501015A (zh) * 2018-06-25 2018-09-07 南京航空航天大学 一种兼具黏附与钩爪混合接触的仿生柔性抓取装置
CN110730707A (zh) * 2018-08-22 2020-01-24 上海非夕机器人科技有限公司 具有合成纤维胶的机器人和抓取器
CN110002223A (zh) * 2019-05-17 2019-07-12 江南大学 一种具有表面黏附能力的夹持器
CN111216158A (zh) * 2020-02-18 2020-06-02 江南大学 一种表面具有复合结构的夹爪

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113859991A (zh) * 2021-10-26 2021-12-31 杭州迁移科技有限公司 吸盘式拆垛装置
EP4494821A1 (fr) * 2023-07-17 2025-01-22 MacDonald, Dettwiler and Associates Inc. Système, procédé et dispositif de préhension d'objets fragiles ou de forme irrégulière

Also Published As

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