Controllable Adhesion Manipulator with Adaptive Surface Curvature

A surface curvature and self-adaptive technology, applied in the field of robotics, can solve problems such as uneven loading, slow release, and single structure

Active Publication Date: 2021-09-21
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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 Adhesion Manipulator with Adaptive Surface Curvature
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  • Controllable Adhesion Manipulator with 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 surface curvature self-adaptive controllable adhesive manipulator, comprising: a base and an adhesive foot unit, the adhesive foot unit is arranged on the base, and the adhesive foot unit includes: an adhesive unit base, a bearing unit , the self-adaptive locking mechanism in the length direction, the self-adaptive locking mechanism in the angle direction and the adhesion-detachment control mechanism. The base of the adhesion unit is located below the base, the base of the adhesion unit can move up and down relative to the base, the carrying unit is pivotally arranged on the base of the adhesion unit, and the bottom of the carrying unit is provided with the adhesion unit. A lengthwise adaptive locking mechanism locks and releases the base of the adhesive unit. The angular orientation adaptive locking mechanism locks and releases the carrier unit. The peeling unit is arranged between the bearing unit and the adhesion unit, and the peeling unit can be moved to make the adhesion unit peel off relative to the object to be grasped. According to the controllable adhesion manipulator with adaptive surface curvature according to the embodiment of the present invention, it can perform high-speed, stable and repeated grasping, manipulation and transfer of various objects.

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 Patents(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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