Smart flexible grabbing device
A grasping device and flexible technology, applied in the field of smart and flexible grasping devices, can solve the problems of poor flexibility and adaptability, many driving elements, complex structure, etc., and achieve the effects of low cost, avoidance of coordinated control, and simple overall structure
Active Publication Date: 2020-04-14
SHENYANG JIANZHU UNIVERSITY
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Problems solved by technology
Most of the flexible grasping devices currently in use have disadvantages such as poor compliance and adaptability, or many driving elements, many sensors, complex structures, and cumbersome controls.
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[0044] The invention will be further described below in conjunction with the accompanying drawings in the present invention, but it should not be understood that the scope of the above-mentioned main body of the present invention is limited to the following embodiments. Without departing from the above idea of the present invention, various replacements and changes made according to common technical knowledge and customary means in this field shall be included in the protection scope of the present invention.
[0045] A smart and flexible grabbing device, comprising a frame 1, a double helical transmission shaft 2, a boom a3, a boom b4, a flexible sheet 5 and a motor 6;
[0046] One end of the boom a3 and the boom b4 is connected to the double helical transmission shaft 2, and the other end is sleeved on the flexible sheet 5;
[0047] The double helix transmission shaft 2 is fixed on the upper end of the frame 1, and one end of the double helix transmission shaft 2 is connec...
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The invention relates to a smart flexible grabbing device which comprises a rack, a double-helix transmission shaft, a movable arm a, a movable arm b, a flexible piece and a motor. One end of the movable arm a and one end of the movable arm b are connected to the double-helix transmission shaft, and the other ends of the two sleeve the flexible piece; the double-helix transmission shaft is fixed to the upper end of the rack, and one end of the double-helix transmission shaft is connected with the motor; the flexible piece is fixed at the lower end of the rack; the motor drives the double-helixtransmission shaft to rotate, so that the movable arm a and the movable arm b are driven to move, and the flexible piece wraps and clamps a clamped object. The flexible grabbing device can flexibly grab a flexible object, a fragile brittle object or a special-shaped object with variable shapes and sizes without damaging the surface of the object. A grabbing hand can be assembled on the outwards-extending part of a mechanical arm, the posture of the grabbing hand can be changed through movement of the mechanical arm and self-adjustment of the grabbing hand, flexible grabbing of special objectsis achieved through motor driving, and the function of the flexible mechanical hand is achieved more easily and efficiently.
Description
technical field [0001] The invention relates to the application technical field of robots and mechatronics, in particular to a smart and flexible grasping device. Background technique [0002] Flexible machinery is a type of machinery that uses the elastic deformation of the components that make up the machinery to achieve the design function. Due to some advantages of flexible machinery compared with rigid machinery in performance, flexible machinery is widely used in the fields of micro-electromechanical, aerospace, biomedicine and other fields. [0003] The end effector of the grasping device is an important component of the grasping actuator, and the quality of the design has a great influence on the grasping effect and work efficiency of the grasping hand. Most of the end effectors of conventional grabbing hands are of rigid structure, and most of the objects to be grasped are those with hard appearance and regular shape. In the automatic packaging process of agricult...
Claims
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IPC IPC(8): B25J15/00
CPCB25J15/00
Inventor 韩泽光郝瑞琴徐向鑫韩煜刘振鹏
Owner SHENYANG JIANZHU UNIVERSITY