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Controllable adhesive manipulator with self-adaptive surface curvature

A surface curvature, self-adaptive technology, applied in the field of robots, can solve the problems of uneven load, slow release, low load, etc., to achieve the effect of repeated grasping, uniform load, and good contact

Active Publication Date: 2020-05-19
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] With the diversification of bionic reversible adhesion surfaces, researchers have proposed various adhesion and desorption control technology schemes, but there are still problems such as single structure, uneven load, low load, slow release, etc., which restrict the controllability. Application of Adhesive Grabbing Technology in Practical Production and Life

Method used

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  • Controllable adhesive manipulator with self-adaptive surface curvature
  • Controllable adhesive manipulator with self-adaptive surface curvature
  • Controllable adhesive manipulator with self-adaptive surface curvature

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Embodiment Construction

[0027] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0028] In describing the present invention, it should be understood that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", " The orientation or positional relationship indicated by "outside", "axial" and so on is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have Certain orientations, co...

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Abstract

The invention discloses a controllable adhesive manipulator with a self-adaptive surface curvature. The controllable adhesive manipulator comprises a base and an adhesive foot unit, wherein the adhesive foot unit is arranged on the base; and the adhesive foot unit comprises an adhesive unit base, a bearing unit, a length direction self-adaptive locking mechanism, an angle direction self-adaptive locking mechanism and an adhesive desorption control mechanism. The adhesive unit base is positioned below the base, the adhesive unit base can move up and down relatively to the base, the bearing unitis pivotally arranged on the adhesive unit base, and the bottom of the bearing unit is provided with an adhesive unit. The length direction self-adaptive locking mechanism can lock and release the adhesive unit base. The angle direction self-adaptive locking mechanism can lock and release the bearing unit. A stripping unit is arranged between the bearing unit and the adhesive unit, and the stripping unit can move to strip the adhesive unit from a piece to be grasped. According to the controllable adhesive manipulator with the self-adaptive surface curvature, various objects can be grasped, operated and transferred stably and repeatedly at a high speed.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a controllable adhesion manipulator with adaptive surface curvature. Background technique [0002] In related technologies, the controllable and stable grasping technology for objects of different shapes is an important foundation and key guarantee for the realization of practical applications such as precision manufacturing, mechanical operations, industrial production, and logistics sorting. The traditional manipulator grasping technology is mainly based on friction or coating, and achieves stable grasping of objects through force closure and shape closure. However, these two grasping methods require the size of the object to be grasped to be smaller than the rated grasping range of the manipulator, and it is difficult to directly grasp objects with large curvature radius surfaces. In contrast, the manipulator based on interface adhesion can not only grasp large-area planar obj...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00
CPCB25J15/008
Inventor 田煜李小松李新新李绿洲孟永钢
Owner TSINGHUA UNIV
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