Self-locking rigid-soft coupling mechanical gripper

Abstract

A self-locking rigid-flexible coupling mechanical gripper, comprising: an adjustable mounting base, a self-locking exoskeleton and a finger assembly arranged symmetrically at both ends of the adjustable mounting base, wherein: the finger assembly is arranged under the adjustable mounting base, and automatically The locking exoskeleton is set on the finger assembly and the adjustable mount and the finger assembly are connected as a whole; the self-locking exoskeleton includes: fixed upper frame, movable lower limbs, pin rod and self-locking mechanism; the finger assembly includes: finger seat and software Finger; the self-locking mechanism includes: ratchet, pawl, compression spring, pneumatic unlocking thimble and air supply pipe for unlocking the thimble; both sides of the adjustable mounting seat are symmetrically provided with slide grooves for connecting with the finger assembly. The present invention realizes rigid-soft coupling drive by adding self-locking exoskeleton, and because of its self-locking function, it not only ensures the flexibility and softness of the soft grasping hand, but also greatly improves the load capacity and stability of grasping. Thereby greatly saving the energy consumption in the grabbing process.

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 widespread attention from academia and industry. The fingers of the soft hand are usually bent and deformed by inflation to realize the grasping action, which has good flexibility and adaptability, and reduces the complexity of control, 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 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 pro...

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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