Initial vertical line type bent and twined arm and capture equipment
A technology of capturing equipment and winding arms, applied in the field of grabbing, can solve the problems of complex structure and high cost of adaptive grabbing devices
Active Publication Date: 2020-08-28
PENG CHENG LAB
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Problems solved by technology
[0003] The main purpose of the present invention is to propose an initial vertical curved winding arm, which aims to solve the technical problem of complex structure and high cost of adaptive grabbing device
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[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0040] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.
[0041]In addition, in th...
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The invention discloses an initial vertical line type bent and twined arm and capture equipment. The initial vertical line type bent and twined arm comprises a first component, a second component andat least two tensioning mechanisms, wherein the first component comprises two first elements connected through a first revolute pair; the second component comprises two second elements connected through a second revolute pair; the second revolute pair and the first revolute pair are rotatably connected; two opposite side edges of each first element and each second element are independently provided with a first rotation part and a second rotation part; one end of each tensioning mechanism is connected with each first element, and the other end is connected with each second element; when the tensioning mechanisms extend, a gap is in the presence between each first rotation part and each second rotation part; and when the tensioning mechanisms are tensioned, the first rotation parts and thesecond rotation parts can form rotatable connection. The initial vertical line type bent and twined arm of the technical scheme can realize large-range adaptive capture.
Description
technical field [0001] The invention relates to the technical field of grabbing, in particular to an initial vertical curved winding arm and a capturing device. Background technique [0002] At present, the rigid grabbing arm used in the industry generally drives several rigid claws to fold together to form a grabbing action. This kind of grabbing method cannot be well adapted to the grasped object because the rigid claws are not deformable. . Although the existing underactuated adaptive grippers can adapt to bending according to the shape of the grasped object, their adaptive bending drive and components are relatively complicated, the cost is high, and the scope of application is not wide. Contents of the invention [0003] The main purpose of the present invention is to propose an initial vertical curved winding arm, which aims to solve the technical problem of complex structure and high cost of the self-adaptive grasping device. The specific scheme of the initial ver...
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Login to View More IPC IPC(8): B65G47/90
CPCB65G47/90
Inventor 邓豪孔文超赖宇锋苏杭王超
Owner PENG CHENG LAB