A Bionic Flexible Grasping Device with Adhesive and Hook Mixed Contact

Abstract

The invention discloses a bionic flexible grabbing device integrating adhesion and claw mixing contact. When the bionic flexible grabbing device integrating adhesion and claw mixing contact faces a target, front end cavities are filled with air through a pneumatic driving device, front end adhesion parts bend towards the side where the target is located, adhesion materials arranged on lower wallsstably adhere to the target under a certain amount of pressure, the lower walls made of flexible materials are deformed under the pressure, and the adhesion materials make better contact with the target; rigid supports are inlaid in the lower walls, tail end grabbing cavities continue to be filled with air while the target is bonded, and claws of grabbing parts stretch out under the air pressure effect and can hook the target; and adhesion and claw hooking are combined so that the bionic flexible grabbing device integrating adhesion and claw mixing contact can better adapt to targets in various appearances. When the pneumatic driving device sucks air out of the tail end grabbing cavities, the claws retract into the cavities, and the target is loosened; and in addition, the pneumatic driving device sucks air out of the front end cavities, the front end adhesion parts bend towards the side away from the target, and the adhesion device is completely separated from the target through detachment claws of the adhesion materials.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a bionic flexible grasping device with both adhesion and mixed contact with claws. Background technique [0002] A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Its task is to assist or replace human work, such as manufacturing, construction, or hazardous work. A robot is generally composed of an actuator, a drive device, a detection device, a control system, and complex machinery. The actuator is the robot body, and its arm generally uses a space open-chain link mechanism. It is called a joint, and the number of joints is usually the number of degrees of freedom of the robot; the driving device is a mechanism that drives the actuator to move, and according to the command signal sent by the control system, the robot is...

AI Technical Summary

Problems solved by technology

Although the traditional rigid grabbing device has fast grabbing speed and accurate positioning of the target, it is far inferior to the flexible grabbing device in terms of surface adaptability (roughness, surface shape, etc.) and variable stiffness.

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