Flexible mechanical grasping device and grabbing method thereof

A gripping device and mechanical technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of small applicable range, unreliability, and small applicable range, so as to improve the applicable range, operation level and operation efficiency, Guaranteed reliability and wide application range

Active Publication Date: 2019-12-20
SICHUAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] (1) Due to its nature, the rigid manipulator has a small scope of application, which is easy to cause damage to the clamped object and unreliable clampin

Method used

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  • Flexible mechanical grasping device and grabbing method thereof
  • Flexible mechanical grasping device and grabbing method thereof
  • Flexible mechanical grasping device and grabbing method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] The present invention provides a flexible mechanical grasping device. In the first embodiment of the present invention, the main body of the flexible mechanical grasping device includes a grasping component 100 and a regulating component 200, and the regulating component 200 is connected to the grasping component 200. Components 100 are connected.

[0038] refer to Figure 1 ~ Figure 2 Specifically, the grabbing assembly 100 includes bending fingers 101 and an adsorption film 102, the adsorption film 102 is arranged between two of the bending fingers 101, and the bending fingers 101 are pumped and aired by the control assembly 200. Air intake, clamping and loosening the object to be taken, when the control assembly 200 draws air, the adsorption film 102 stretches and forms a negative pressure, and clings to the object to be taken.

[0039] Preferably, the knuckle of the bent finger 101 has a wrinkled texture, and the meaning of the wrinkle is the potential elongation l...

Embodiment 2

[0051] refer to Figure 1 ~ Figure 2 , in the second embodiment of the flexible mechanical grasping device provided by the present invention, this embodiment is different from the first embodiment in that: in this embodiment, the grasping component 100 also includes a surface film 103, the The surface film 103 is attached to the inner side of the bending finger 101; the surface film 103 is composed of a plurality of evenly distributed small squares, and the raised small squares are pressed against the object after inflation, and the The small square is under negative pressure.

[0052] Specifically, the main body of the flexible mechanical grasping device includes a grasping component 100 and a regulating component 200 , and the regulating component 200 is connected with the grasping component 100 .

[0053] The grasping component 100 includes a bending finger 101, an adsorption film 102 and a surface film 103, the adsorption film 102 is arranged between two of the bending fi...

Embodiment 3

[0062] refer to Figure 1 ~ Figure 2 , in the third embodiment of the flexible mechanical gripping device provided by the present invention, this embodiment is different from the second embodiment in that: the second knuckle 101b is provided with an electromagnet, and after power is applied, the second finger The fingertips of the knuckles 101b form a magnetic field that attracts each other, and the second knuckles 101b gather together.

[0063] It should be noted that the size of the magnetism needs to be changed according to the weight and compression resistance of the clamped item, so as to avoid damage to the clamped item and unreliable clamping. At the same time, the energizing voltage of the magnetic size is manually adjusted.

[0064] All the other structures are similar to the second embodiment.

[0065] The working principle in this embodiment is: slowly open toward the first knuckle 101a, increase the ventilation volume, until the second knuckle 101b expands inward...

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PUM

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Abstract

The invention discloses a flexible mechanical grasping device and a grabbing method. The flexible mechanical grasping device comprises a grabbing assembly and a regulating and controlling assembly. The regulating and controlling assembly is connected to the grabbing assembly. The grabbing assembly comprises bending fingers and adsorption films. The adsorption films are arranged between the bendingfingers in pairs. The bending fingers clamp and loosen a grabbed object as the regulating and controlling assembly extracts air and sucks air. When the regulating and controlling assembly extracts air, the adsorption films are stretched to form negative pressures to cling to the grabbed object. The flexible mechanical grasping device has the beneficial effects that the flexible mechanical grasping device provides a larger application range to a clamping operation and can wrap the object self-adaptively through the adsorption films; and by designing an electromagnet, the clamping force can beimproved greatly and the flexible clamping reliability is improved.

Description

technical field [0001] The technical field to which the present invention relates, in particular, relates to a flexible mechanical grasping device and a grasping method thereof. Background technique [0002] The gripper of the robot, as the actuator for the interaction between the robot and the environment, determines the operating level and efficiency of the robot. In the field of mechanical clamping, the clamped objects often have different shapes and weights. According to the nature and requirements of the clamped objects, certain requirements are also made on the force exerted by the clamping manipulator. Most of the existing robot end effectors are rigid mechanisms with poor adaptability. Sometimes the clamped objects will be damaged due to unreasonable force selection and the clamping is unreliable. Sometimes objects with large differences in size cannot be clamped. Therefore, variable stiffness soft manipulators have gradually appeared on the market, which is an appl...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/06B25J15/12
CPCB25J15/00B25J15/0009B25J15/06B25J15/0616B25J15/12
Inventor 周青华唐雪峰时志奇王家序黄彦彦周广武蒲伟
Owner SICHUAN UNIV
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