Multi-degree-of-freedom multi-scale soft body grabbing device

Abstract

The invention relates to a multi-degree-of-freedom multi-scale soft body grabbing device, which comprises a mounting platform, a crankshaft assembly and at least three sets of finger assemblies. The crankshaft assembly comprises a crankshaft, a driving gear connected with the crankshaft, and a driving motor, the crankshaft comprises at least three connecting shafts, and hinging shafts located on the different sides of the connecting shafts are arranged at the two ends of the connecting shafts correspondingly; and each finger assembly comprises a sliding block assembly, a finger located on thelower part of the sliding block assembly and a connecting rod connected with the sliding block assembly, one ends of the connecting rods are hinged to the sliding block assemblies, the other ends of the connecting rods are hinged to the hinging shafts, one ends of the fingers are connected with the sliding block assemblies, the other ends of the fingers penetrate through strip-shaped penetrating holes in the mounting platform, each finger comprises a limiting layer and strain layers located on the inner side and the outer side of the limiting layer, and the elasticity of the strain layers is higher than that of the limiting layers. The multi-degree-of-freedom multi-scale soft body grabbing device is high in adaptability, simple in mechanical structure, low in cost and easy to control.

Description

technical field [0001] The invention relates to a flexible gripper of a robot, in particular to a multi-degree-of-freedom and multi-scale soft body grabbing device. Background technique [0002] The multi-degree-of-freedom and multi-scale grasping device is the terminal execution part of the robot. Its functional structure directly determines the advanced degree of the robot's operating ability and self-adaptive ability. It has considerable application requirements, and also has practical applications and requirements in the aerospace field. For the gripper device, it is generally divided into a mechanical structure part and an electrical drive part. The mechanical structure part is driven by the electric drive part as a driver to achieve operations such as grasping the target. [0003] Although many experts and scholars at home and abroad have researched on rigid and flexible mechanical gripper devices, the shapes and sizes of grasping targets are usually unknown, and rigi...

AI Technical Summary

Problems solved by technology

[0003] Although many experts and scholars at home and abroad have researched on rigid and flexible mechanical gripper devices, the shapes and sizes of grasping targets are usually unknown, and rigid contact grasping may cause damage, and it is difficult to control the grasping force of fragile objects. This requires that the gripper device has high sensitivity, high adaptability, and high control precision.

This makes the mechanical structure of the gripper device complex, the sensor arrangement is precise and the control is difficult. In addition, most software grippers are limited to the design size and cannot capture large-sized targets, and are unreliable for too small-sized targets, so they cannot meet high adaptability. functional requirements

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