A Variable Stiffness Multi-directional Grasping Robot Based on Folding Plate Mechanism

A variable stiffness and robot technology, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve problems such as self-adaptive capacity limitations

Active Publication Date: 2021-09-14
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the addition of multi-section rigid members, although its variable stiffness effect and bearing capacity can be enhanced, its self-adaptive ability will also be limited

Method used

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  • A Variable Stiffness Multi-directional Grasping Robot Based on Folding Plate Mechanism
  • A Variable Stiffness Multi-directional Grasping Robot Based on Folding Plate Mechanism
  • A Variable Stiffness Multi-directional Grasping Robot Based on Folding Plate Mechanism

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Embodiment Construction

[0025] Below in conjunction with embodiment the present invention is described in further detail:

[0026] Such as Figure 1 to Figure 5 As shown, a variable-stiffness multi-directional grasping robot based on a folding plate mechanism includes a planar moving mechanism, a pneumatic control mechanism fixed on the planar moving mechanism, a lifting and rotating actuator, and a moving mechanism connected to the lifting and rotating actuator. Variable stiffness flexible gripper 6;

[0027] The variable stiffness flexible gripper 6 includes two variable stiffness grasping units with the same structure and arranged symmetrically, the variable stiffness grasping unit includes a contact layer 6-4, a variable stiffness layer 6-5 and a The flexible driving layer 6-6 on the outer side of 6-5, the interior of the variable stiffness layer 6-5 is divided into multiple independent compartments by the folding plate mechanism 6-10, and variable stiffness modules are arranged in each of the m...

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Abstract

The invention discloses a variable-stiffness multi-directional grasping robot based on a folding plate mechanism, which includes a plane moving mechanism, a pneumatic control mechanism fixed on the plane moving mechanism, a lifting and rotating actuator, and a lifting and rotating actuator that is movably connected The variable stiffness flexible gripper includes two variable stiffness grabbing units with the same structure and symmetrically arranged, and the lifting and rotating actuator includes a vertical lifting platform support block and a vertical lifting platform support block. The vertical lifting platform and the electric push rod fixedly connected at each end, the pneumatic control mechanism includes a small air pump and a small vacuum pump, a single-chip microcomputer and a storage battery, and the plane moving mechanism includes a motor and four mecanum wheels. The actual requirements of flexible contact objects and rigid support grasping required by the object can meet the grasping of fragile objects, and at the same time, it can grasp heavier objects in a state of variable stiffness.

Description

technical field [0001] The invention relates to the field of grasping robots, in particular to a variable-stiffness multi-directional grasping robot based on a folding plate mechanism. Background technique [0002] In the future, the safety of robot-human collaboration is crucial, and future robots need to perform different tasks, so it is of great significance to develop a manipulator with reliable human-computer interaction safety and multi-function. Compared with the traditional rigid gripper, the soft gripper has the advantages of high safety index and strong adaptability, and is favored by many scholars. The patent application number is CN107718021A, which proposes a pneumatic soft gripper. By setting a hard rubber layer on the inner concave surface of the pneumatic finger unit, it can prevent unnecessary expansion and deformation, and has a good bending effect. Patent application number CN109927070A proposes a multifunctional soft gripper for object sorting, which can...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J15/08B25J13/08B25J5/00
CPCB25J5/007B25J13/085B25J15/0023B25J15/08
Inventor 赵延治单煜韦航
Owner YANSHAN UNIV
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