Underactuation vacuum chuck paw having multiple grabbing modes
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A vacuum suction cup and underactuated technology, which is applied in the field of robot grippers, can solve problems such as single function, small grasping force, and high friction, and achieve the goal of expanding the size range, improving the ability to grasp loads, and reducing modeling requirements. Effect
Active Publication Date: 2018-08-28
UNIV OF SCI & TECH OF CHINA
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Problems solved by technology
Existing underactuated rigid-soft grippers usually rely on the friction force generated by contacting the surface of the grasped object to grasp the object, but due to the limitation of the material, they cannot provide a large friction force, resulting in the load can not be very Large, and the objects grasped at the same time are not stable enough
In addition, the claws cannot grasp large or special items, such as
Method used
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specific Embodiment approach
[0019] The preferred embodiment of the underactuated vacuum chuck gripper with multiple grabbing modes of the present invention is:
[0020] Includes multiple fingers, substrate, motor and air pump;
[0021] The finger includes an elastic plate, the elastic plate is equipped with at least 5 hard phalanges, the hard phalanx is covered with a layer of silicone film, and the suction cup connector passes through the elastic plate, the hard phalanx, the silicone film and the suction cup Connection, the suction cup is connected to the air pump through a catheter, the fingers are connected to the base and the motor through a steel wire, and the steel wire is placed between the hard phalanx and the silicone membrane;
[0022] The base includes a base, the base is provided with a finger support, wire routing pulleys and rollers, the motor is fixed on the base, the rollers are fixed on the output shaft of the motor, and the steel wire is carried on the On the steel wire running pulley ...
specific Embodiment
[0048] refer to figure 1 , figure 2 , image 3 , the present embodiment includes two fingers, a substrate, a motor 10 and an air pump; the fingers are connected to the finger support 2 of the substrate by bolts, the motor 10 is fixed on the substrate by a motor seat, and the air pump is connected to the suction cup 7 through a conduit.
[0049] The finger includes an elastic plate 4 of PVC material, a hard phalanx 5, a silicone film 6, a suction cup 7, a suction cup connector 3, a catheter, and a steel wire 8. The two fingers are symmetrical about the midline, and the principle is the same; 5 hard phalanxes 5; the hard phalanges 5 are covered with a layer of silicone film 6 made of 3D printing mold; the suction cup 7 connector passes through the elastic plate 4, the hard phalanx 5 and the silicone film 6, and is connected with the suction cup 7 The catheter connects the suction cup 7 to the air pump, and controls the suction force of the suction cup 7 through the opening an...
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Abstract
The invention discloses an underactuation vacuum chuck paw having multiple grabbing modes. The underactuation vacuum chuck paw having the multiple grabbing modes comprises at least two fingers, a base, a motor and an air pump, each finger comprises an elastic plate which is provided with at least five hard phalanxes, the hard phalanxes are each covered with a silica membrane, a chuck connecting piece penetrates through the elastic plates, the hard phalanxes and the silica membranes to be connected with a chuck, the chuck is connected with the air pump through a guide pipe, and the fingers areconnected with the base and the motor through steel wires; and the base is provided with a finger support, a steel wire routing sliding wheel, the motor and a roller, the steel wires are carried on the steel wire routing sliding wheel to be connected with the roller, and the two fingers are the same in structure and are symmetrically installed on the finger support. By combining advantages of softand hard paws and through the manner that a soft material and a hard material are adopted at the same time on the structure, the paw grabbing loading capacity is improved to a certain degree, and thepaw can be applied to object grabbing and the like under multiple environments. The underactuation vacuum chuck paw can be applied to the fields including but not limited to domestic services, logistics and rubbish sorting.
Description
technical field [0001] The invention relates to a robot gripper, in particular to an underactuated vacuum suction cup gripper with multiple gripping modes. Background technique [0002] The existing traditional robotic grippers mostly use hard metal materials as the supporting structure, and are driven by motors or hydraulic pressure. This type of gripper is relatively stable and easy to operate; in addition, it uses superelastic soft materials such as silicone Driven by air pressure, this type of gripper has high flexibility and is relatively safe. Now all kinds of claws have been used in industrial robots, sorting robots, home service robots and other robots to perform grabbing objects or other operations. [0003] In daily life, there is an increasing demand for human-computer interaction, especially on household robots, while traditional hard grippers are easy to damage themselves, damage objects, and even cause harm to the human body in a dynamic environment. In the h...
Claims
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Application Information
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