Self-locking type rigid-soft coupling mechanical gripper

Abstract

The invention discloses a self-locking type rigid-soft coupling mechanical gripper. The self-locking type rigid-soft coupling mechanical gripper comprises an adjustable mounting seat, self-locking outer skeletons and a finger assembly, and the self-locking outer skeletons are disposed at the two ends of the adjustable mounting seat in a center symmetrical mode; the finger assembly is disposed under the adjustable mounting seat; the self-locking outer skeletons are disposed on the finger assembly and connect the adjustable mounting seat and the finger assembly into a whole; each self-locking outer skeleton comprises a fixing upper frame, a movable lower limb, a pin rod and a self-locking mechanism; the finger assembly comprises a finger seat and a soft finger; each self-locking mechanism comprises a ratchet wheel, a pawl, a compression spring, a pneumatic unlocking ejector pin and an unlocking ejector pin air supply pipe; and sliding grooves which are used for being connected with the finger assembly are symmetrically formed in the two sides of the adjustable mounting seat. By additionally arranging the self-locking outer skeletons, rigid and soft coupling driving is achieved; and due to the self-locking function, the flexibility of gripping of a soft gripper is guaranteed, the gripping loading capacity and stability are greatly improved, and thus energy consumption during gripping is greatly reduced.

Description

technical field [0001] The invention relates to a technology in the field of soft robots, in particular to a self-locking rigid-soft coupling mechanical gripper. Background technique [0002] In recent years, with the development of soft robotics technology, soft grippers made of soft materials such as silicone rubber and polymers have attracted extensive attention from academia and industry. The fingers of the soft hand are usually bent and deformed by inflation and expansion, so as to realize the grasping action, which has good flexibility and adaptability, and reduces the control complexity, and is especially suitable for grasping fragile, fragile and changeable objects. However, due to the common problems of insufficient rigidity and poor stability of the soft materials used to manufacture the soft gripper, the gripping ability and carrying capacity of the soft gripper for larger mass objects are limited, and the soft gripper does not have self-locking ability. When gra...

AI Technical Summary

Problems solved by technology

However, due to the common problems of insufficient rigidity and poor stability of the soft materials used to make soft grippers, the ability of the soft gripper to grasp and carry large objects is limited, and the soft gripper does not have self-locking ability. When holding an object, the power device is often required to provide a firm grip torque all the time, and it is easy to fall off during the movement of the grasped object

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