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An adaptive flexible gripper and robot based on torsion spring

A torsion spring, self-adaptive technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of immature technology and less application of continuous robots, and achieve the effect of strong self-adaptive ability

Active Publication Date: 2021-11-12
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the current application of continuous robots is still very small, and the technology is relatively immature.

Method used

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  • An adaptive flexible gripper and robot based on torsion spring
  • An adaptive flexible gripper and robot based on torsion spring
  • An adaptive flexible gripper and robot based on torsion spring

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Embodiment Construction

[0023] The idea, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0024] It should be noted that, unless otherwise specified, when a feature is called "fixed" or "connected" to another feature, it can be directly fixed and connected to another feature, or indirectly fixed and connected to another feature. on a feature. In addition, descriptions such as up, down, left, right, front, and back used in the present invention are only relative to the mutual positional relationship of the components of the present invention in the drawings.

[0025] Also, unless defined otherwise, all technical and scientific ter...

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Abstract

The invention relates to the technical field of continuous robots, and discloses an adaptive flexible gripper and a robot based on torsion springs. The self-adaptive flexible gripper based on torsion springs of the present invention includes a driving device, a transmission device and flexible fingers, the transmission device includes a first bevel gear, a second bevel gear, a torsion spring and a capstan shaft, the first bevel gear is connected with the driving device, The second bevel gear meshes with the first bevel gear, and the second bevel gear is sleeved on the bevel gear shaft. One end of the torsion spring is fixedly connected to the bevel gear shaft, and the other end is fixedly connected to the capstan shaft. The flexible finger is provided with a driving rope. The driving rope is wound on the winch shaft, and its free end is fixedly connected to the end of the flexible finger. The robot of the present invention includes a robot main body and the above-mentioned flexible gripper fixed on the robot main body. The self-adaptive flexible gripper and the robot based on the torsion spring of the present invention have good adaptability and can adapt to unstructured environments.

Description

technical field [0001] The invention relates to the technical field of continuous robots, in particular to an adaptive flexible gripper and a robot based on torsion springs. Background technique [0002] Today, robot technology has been widely used in the field of industrial production, and the application of robots has brought great benefits to human production and life. At present, most of the robots used in the market are discrete robots. Discrete robots are generally composed of 5 to 7 rigid degree-of-freedom joints connected by rigid rods, with limited degrees of freedom and weak adaptability to non-structural environments, so they cannot perform tasks in complex environments. [0003] Compared with discrete robots, continuous robots adopt a "spineless" flexible structure similar to an elephant trunk, without discrete joints and rigid connecting rods, can flexibly change their own bending shape, and have strong adaptability to unstructured environments. However, the a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/10B25J9/10
CPCB25J9/104B25J15/10
Inventor 袁晗陈鑫杰徐文福周丽丽
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL