Catapulting type fast grabbing robot

Abstract

The invention relates to a catapulting type fast grabbing robot. The catapulting type fast grabbing robot comprises a trigger mechanism, a base, a shrinking mechanism and an adhering grabbing mechanism; the trigger mechanism comprises a first sleeve, a second sleeve, a third sleeve and a fourth sleeve which are sequentially connected in a nested manner from big to small; a trigger mechanism tail end is connected in the fourth sleeve in a nested manner; the sleeve walls of the second sleeve, the third sleeve and the fourth sleeve are each provided with a plurality of channels; the adjacent sleeves are connected through a plurality of cylinder pins and the fourth sleeve and the trigger mechanism tail end are connected through a plurality of cylinder pins; each cylinder pin is externally sleeved with a spring; the shrinking mechanism comprises a servo motor installed on the base and a rotating shaft; an output shaft of the servo motor is connected with the rotating shaft; the starting endof a non-elastic rope is fixed to the rotating shaft, and the tail end of an elastic rope is connected with the trigger mechanism tail end; and the adhering grabbing mechanism comprises an adhering plate which is connected with the trigger mechanism tail end through a connection device. Compared with a traditional grabbing robot, the characteristics that speed is high, the grabbing range is wide,maneuverability is high, and environment adaptability is high are achieved.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a ejection type fast grabbing robot. Background technique [0002] In the existing technology, industrial grabbing robots can only be used in structured environments, and there are problems such as immovable bodies, no stretchability, and poor environmental adaptability. Extended, efficient gripping. With the development and cross-integration of biomechanics, mechanical design, bionic materials, optimal control and other disciplines, researchers have studied various grasping robots. The method simulates the continuous flexible structure of the elephant trunk, and uses the motor to drive the rope to drive the elastic body to bend, so as to realize the long-distance heavy object grasping in the unstructured environment of the elephant-like continuous robot. Trivedi et al. developed an imitation octopus antenna The robot uses pneumatic artificial muscles (Pneumatic Artif...

AI Technical Summary

Problems solved by technology

[0003] The above-mentioned types of robots have strong stretching ability, large operating range, and can effectively realize long-distance target grasping, but the grasping speed is slow (all less than 0.1m / s), which cannot meet the grasping speed requirements in practical applications.

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