Flexible magnetic net type mechanical grabbing device

Abstract

The invention discloses a flexible magnetic net type mechanical grabbing device, and relates to the technical field of mechanical grabbing. The flexible magnetic net type mechanical grabbing device can adapt to the appearances of objects different in shape and can firmly grab objects. Meanwhile, the structure is simpler, and control is more convenient. The flexible magnetic net type mechanical grabbing device comprises an arm and a clamping structure, wherein the clamping structure is arranged at the tail end of the arm and comprises two clamping faces, the clamping faces are a magnet plate and a flexible net correspondingly, and the edge of the flexible net and a positioning magnet block are fixedly connected. According to the flexible magnetic net type mechanical grabbing device, the contact manner of a mechanical claw and a grabbed object is optimized, meanwhile, force application control during grabbing is improved, feedback force application control is achieved, and the advantages that better attachment to the grabbed object is achieved, the object is not damaged during clamping, force application is more uniform, control owning feedback can be achieved, the device is simple, mechanical arm position control is convenient and accurate, and the gravity center of the device is stable are achieved.

Description

technical field [0001] The invention relates to the technical field of mechanical grabbing, in particular to a flexible magnetic net type mechanical grabbing device. Background technique [0002] In modern industrial production or daily life, in order to reduce the manual and mechanized repetitive actions of sorting items, robots and their claws are often required to complete the tasks of grabbing items and placing them in other locations. The robotic gripper is mainly divided into two parts: the arm and the end effector. The common way for the end effector to complete the grasping action is to use suction cup adsorption and clamp clamping. Among them, fixture clamping is divided into rigid mechanical claws and flexible mechanical claws. And its clamping driving mode is divided into pneumatic and mechanical transmission. Rigid mechanical claws grip firmly, but they are easy to cause damage to the grasped objects and their surfaces, and it is difficult to adapt to objects ...

AI Technical Summary

Problems solved by technology

Rigid mechanical claws grip firmly, but they are easy to cause damage to the grasped objects and their surfaces, and it is difficult to adapt to objects of different shapes, such as spheres, cubes, curved surfaces and composites, etc.; while flexible mechanical claws are flexible Good, easy to adapt to objects of various shapes, but there are still problems such as insufficient grasping, low load bearing capacity, and excessive deformation, which are only suitable for grasping lighter objects. At the same time, its system must be designed as a closed loop structure and configured Pressure compensator, relatively bulky and complex

At the same time, flexible mechanical claws are often driven mainly by pneumatics, the structure is more complex, and the energy consumed in the process of compressing gas is also relatively large

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