Spring steel sheet type variable-rigidity gripper assembly and gripper mechanism thereof

Abstract

The invention discloses a spring steel sheet type variable-rigidity gripper assembly and a gripper mechanism of the spring steel sheet type variable-rigidity gripper assembly. The spring steel sheet type variable-rigidity gripper assembly comprises a gripper body, an elastic connecting piece and a connecting frame. The gripper body is provided with grippers. The connecting frame comprises a gripper displacement fine adjusting part, and the gripper displacement fine adjusting part is connected with the gripper body through the elastic connecting piece. The elastic connecting piece is a series-connection elastic connection group and formed by connecting elastic pieces of different rigidities in series, the rigidities of all the elastic pieces in the series-connection elastic connection group change gradually, and the rigidity of the elastic pieces away from the gripper displacement fine adjusting part is larger than that of the elastic pieces adjacent to the gripper displacement fine adjusting part. It can thus be seen that the stability of grabbing of a climb robot can be improved greatly through the variable-rigidity character of the gripper assembly, and the spring steel sheet type variable-rigidity gripper assembly can provide larger grabbing force, be suitable for more complex working environments and have a wider application range.

Description

technical field [0001] The present invention relates to the grasping claws of climbing robots on rough surfaces of high-altitude buildings (such as rough concrete walls, cliff walls, and water-brushed stone walls), in particular to a variable stiffness that can stably and effectively grasp the walls of high-altitude buildings The claw belongs to the field of intelligent bionic robots. Background technique [0002] At present, climbing robots have been widely used in the detection of smooth walls, but for high-altitude walls that are made of rough concrete, square bricks and rocks, there is a lot of dust, and there is a small low-frequency vibration, there is no good adsorption method yet. In recent years, domestic high-altitude building accidents have been frequent, such as the collapse of the Fenghuang Bridge in Hunan in 2007, the collapse of the Changzhou Highway Bridge in 2007, the rupture of the Yangmingtan Bridge in Harbin in 2012, the collapse of the Yichang Bridge in ...

AI Technical Summary

Problems solved by technology

[0007] 1. The rigidity of the elastic connector 103' is very small, and the grasping force is mainly provided by the rigid limiter. Since the optimal grasping positions of several claws in a grasping unit are different, the elastic connector 103 of each claw 'The amount of elongation is different. The claw tips of individual claws are already at the limit displacement, while the claw tips of some claws have not reached the limit position, which leads to uneven grasping force provided by multiple claws in the grabbing unit. , some claws have a large grasping force, and some claws have a small effect, and even cause only one or two claws in a grasping unit to work, and the grasping force provided by a single grasping unit is small ;

[0008] 2. The force between the claw tip and the concave-convex feature of the wall is relatively complex. The disturbance of external environmental factors and the uncertainty of the microstructure strength of the wall itself will cause the claw tip to separate from the wall. It is difficult to establish a secondary grasp, resulting in a decrease in the stability of the grasping action, and it is easy to cause a safety accident in which the robot falls from the wall;

[0009] 3. The rigidity adjustment range is small and inconvenient to adjust, which restricts the scope of application of the climbing robot

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