Efficient grabbing method for complicated-shaped object

A technology for complex shapes and objects, which is applied in the field of efficient grasping of complex shaped objects, can solve the problems of variable size and difficulty in convenient grasping of objects, so as to improve firmness and reliability, improve grasping efficiency, and control principles simple effect

Active Publication Date: 2020-01-21
CHINA JILIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the prior art, the robotic arm claw of the bionic octopus tentacles has limitations in the application field, and is currently mainly used for the clamping of small objects; for the efficient collection of complex-shaped specimens in the deep-sea field, and the dynamic rec

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  • Efficient grabbing method for complicated-shaped object
  • Efficient grabbing method for complicated-shaped object
  • Efficient grabbing method for complicated-shaped object

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Embodiment Construction

[0026] refer to figure 1 , figure 2 , image 3 , Figure 4 and Figure 5 , the present invention is a high-efficiency grasping method for objects with complex shapes. The grasping method utilizes the air-controlled mechanical claws of the bionic octopus tentacles to grasp objects. The mechanical claws include a mechanical arm support 1, a plurality of mechanical arms 2 and a control chamber 3 , the front end of each of the mechanical arms 2 is set on the mechanical arm support 1, the first air pump 4 and the second air pump 5 are arranged in the control compartment 3, and each of the mechanical arms 2 is provided with a plurality of Disc-shaped framework 201, the disc-shaped framework 201 is formed by injection molding, the middle part of the disc-shaped framework 201 is pierced and fixed with a first joint 202, and a second joint 203 is hinged between adjacent first joints 202. The upper and lower end faces of the frame 201 are respectively provided with through first ai...

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Abstract

The invention discloses an efficient grabbing method for a complicated-shaped object. The method includes the following steps that A, mechanical arms of a mechanical gripper are opened and moved to the position above an object, and a second suction cup at the center of the bottom of a mechanical arm support makes contact with the surface of the object; B, the mechanical arms of the mechanical gripper are folded up so that all the mechanical arms can be wound on the object, and a plurality of first suction cups on the mechanical arms make contact with the surface of the object; and C, the firstsuction cups and the second suction cup generate negative pressure and are attached to the surface of the object. The complicated-shaped object can be grabbed, and the grabbing efficiency is high.

Description

【Technical field】 [0001] The invention relates to the technical field of manipulator clamping, in particular to a high-efficiency grasping method for complex-shaped objects. 【Background technique】 [0002] In the salvage and collection of underwater objects, as well as the grasping and transfer of engineering objects, considering the characteristics of the caught or transferred objects in different shapes and wide ranges of size and weight, using traditional manipulators for automatic operations is not only difficult to operate, but also traditional Traditional manipulators have great limitations due to the problems of large clamping force, uncontrollable grip, and small opening and closing range of the manipulator claws. [0003] With the development of the bionic robot field, the mechanical arm claw of the bionic octopus tentacles has a certain research basis. In the prior art, the mechanical arm claws of the bionic octopus tentacles are used to hold fragile small items (s...

Claims

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Application Information

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IPC IPC(8): B25J15/06B25J15/10
CPCB25J15/0616B25J15/10
Inventor 陈源潘永健甘圆严天宏方祺政甘园园
Owner CHINA JILIANG UNIV
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