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Inchworm-imitation hook-claw-type tail end gripper

A technology of gripper and worm hook claw, applied in the field of software bionic hook claw, can solve the problems of reducing the flexibility of the robot, complex structure of the end device, difficult manufacturing, etc., and achieve a simplified structure and drive, compact structure and convenient operation. Effect

Active Publication Date: 2019-06-04
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For some rough walls and dusty tree surfaces, these adsorption methods are not effective, and the terminal devices using these adsorption methods have complex structures and large volumes, which reduce the flexibility of the robot.
[0003] Although there are claw-type grippers driven by shape memory alloys, their output is small, or the structure is complicated, or the manufacturing is difficult and costly, and it is difficult to meet the requirements of building flexible and lightweight micro-robots. More complex climbing environments and gripping applications

Method used

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  • Inchworm-imitation hook-claw-type tail end gripper
  • Inchworm-imitation hook-claw-type tail end gripper
  • Inchworm-imitation hook-claw-type tail end gripper

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Embodiment 1

[0031] Such as figure 1 , figure 2 with image 3 As shown, this embodiment discloses an imitated inchworm hook type end clamper, which mainly includes a clamping module for clamping an object, a driving module for driving the clamping module to work, and a driving clamp Elastic body module that holds the module reset. The clamping modules are arranged in two groups, which are symmetrically arranged on both sides of the driving module. The driving module is located between the clamping modules, and its two ends are respectively fixedly connected with the clamping module to form the internal skeleton of the clamp and drive the clamping modules to move toward each other. Both ends of the elastic body module are respectively fixedly connected with the clamping module to drive the clamping module to move away from each other.

[0032] Specifically, the driving module includes a shape memory alloy spring 1 for generating driving force, a connecting block 2 for installing the clamping...

Embodiment 2

[0045] This embodiment discloses that the present invention proposes a claw-like end holder of the imitating inchworm.

[0046] See Figure 1 to Figure 3 In the embodiment of the present invention, the imitation inchworm hook type end holder drive includes an SMA drive module 1 arranged in the middle, a copper tube 2, a torsion spring hook 3 and a PCB fixing plate 6 in the hook module, and elastic Spring sheet 4 and silicone rubber 5 (Ecoflex, M4601) in the body. 1 Consists of a single (or multiple) SMA (shape memory alloy) springs, which provide driving force for the entire holder; 4 is formed by bending a spring sheet, and 5 is configured by Ecoflex (silicone rubber) in a specific proportion , Condensation molding, the two together provide the holder with deformability and a certain self-recovery ability; the hook module is composed of two micro-claw units, the micro-claw unit includes a copper tube 2, a torsion spring hook 3 and a circular PCB sheet 6. The two ends of the el...

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Abstract

The invention discloses an inchworm-imitation hook-claw-type tail end gripper, which comprises a driving module, an elastic body and a hook claw module. The driving module is composed of shape memoryalloy (SMA) springs and provides driving force for the whole gripper; the elastic body provides deformability and a certain self-resetting ability for the gripper; and the hook claw module is composedof two micro-claw units, the micro-claw units comprise torsional spring hooks, red copper tubes and circular PCB sheets and are symmetrically distributed at the two ends of the elastic body, each micro-claw unit is provided with the three independent torsional spring hooks, the claw tips are exposed, and the claw root parts are fixedly connected to the copper tubes. An internal skeleton of the whole grippe is composed of the driving module and the hook claw module jointly. The bionic soft gripper is compact in structure and low in self-weight, and an elastic base body can adapt to variable geometrical shapes of objects for clamping; 20 times of grip force of the gripper can be provided, gripping performance is stable, and the resistance to external force is high; and if the gripper is mounted at the tail end of a micro-miniature soft module, operation such as climbing and gripping of a robot in a complex environment is achieved advantageously.

Description

Technical field [0001] The present invention relates to the technical field of intelligent bionic robots, in particular to a soft bionic claw driven by a shape memory alloy spring, which can be installed at the end of a miniature robot to assist its climbing in complex environments with rough surfaces (such as rock walls and tree surfaces). Climb or crawl. Background technique [0002] At present, the conventional adsorption methods include magnetic adsorption, negative pressure adsorption, adhesion and molecular adsorption. When applied to a bionic climbing robot, it can work in a smooth wall and simple geometric environment. For some rough walls and dusty tree surfaces, these adsorption methods are not effective, and the terminal devices using these adsorption methods are complicated in structure and large in size, which reduces the flexibility of the robot. [0003] Although there are currently claw grippers driven by shape memory alloys, their output gripping force is small, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10
Inventor 管贻生苏满佳黄东煜谢荣臻李明军
Owner GUANGDONG UNIV OF TECH