Variable-stiffness end effector based on wedge-shaped bristle bundles

Abstract

The invention discloses a variable-stiffness end effector based on a wedge-shaped bristle bundle, and relates to the technical field of soft end effects.The variable-stiffness end effector comprises a wedge-shaped bristle bundle unit, a tangential loading and desorption unit, a variable-stiffness unit and an outer frame unit, wherein the outer frame unit comprises an outer frame, the top of the outer frame is used for being connected with an external connecting mechanism, the variable-stiffness unit comprises a connecting block and a soft bag, the connecting block is connected with a driving device, the driving device is installed in the outer frame, the soft bag is installed on the connecting block, the soft bag is filled with particulate matter, an air pipe joint is arranged on the connecting block, is communicated with the soft bag and is used for generating negative pressure in the soft bag, the tangential loading and desorption unit comprises an extension spring, one end of the extension spring is connected with the outer frame, the other end of the extension spring is connected with the connecting block, the wedge-shaped bristle bundle unit comprises a wedge-shaped bristle bundle, and the wedge-shaped bristle bundle is installed on the soft bag and used for making contact with and adhering to a target object. According to the invention, the contact area of the wedge-shaped bristle bundle is increased, and stable tangential loading and unloading of the wedge-shaped bristle bundle are achieved.

Description

technical field [0001] The invention relates to the technical field of soft body end effectors, in particular to a variable stiffness end effector based on wedge-shaped bristle bundles. Background technique [0002] With the continuous development of the integrated circuit industry, more and more flexible and rigid circuit boards, wafers, etc. are used in electronic equipment, which have the characteristics of thin thickness, smooth surface, and light weight. Some traditional pick-up methods have limitations. For example, there should be no holes in the contact area between the sucker and the target during vacuum adsorption, and high voltage may damage electrical components during electrostatic adsorption. In recent years, the dry adhesion operation based on the setae of bionic gecko feet has developed rapidly. The structure has outstanding controllable shape, can quickly switch between the state of adhesion and desorption, and uses silica gel material, which will not damage...

AI Technical Summary

Problems solved by technology

[0003] The traditional guide rail slider type tangential drive generates pure tangential displacement by driving the slider on the guide rail to drive the wedge-shaped bristle bundles to bend under force to achieve the loading process, but this method cannot ensure that the symmetrically distributed bristle bundles are on the same plane Due to the flatness of the surface, some bristle bundles in one or two units cannot touch the target, and the contact area of ​​the two units is asymmetrical, which makes some areas fail to load, and then the entire system fails.

Therefore, the traditional guide rail slider type tangential drive technology has problems such as poor stability and inability to guarantee the contact area, it is difficult to provide reliable loading, and it is easy to cause adhesion failure

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