Shark-mouth-imitating full-enveloping flexible robot clamping jaw
A technology imitating sharks and robots, applied in the field of robotic arms, can solve the problems of small grasping force, poor grasping ability, scratches, etc., and achieve the effect of increasing friction
Active Publication Date: 2021-11-30
CENT SOUTH UNIV
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Problems solved by technology
[0002] The traditional rigid gripper grabs objects, which are characterized by high rigidity, high precision and easy operation and control. However, the traditional rigid gripper is limited to grabbing regular and high-hardness objects. The picking ability is poor, and it is necessary to rotate the angle of the irregular object for the rigid gripper to grab, and some soft and hard objects may be scratched during the grabbing process
[0003] Wide application of soft manipulators In various assembly lines, although soft manipulators can grasp soft objects and adapt to objects of various shapes, their grasping strength is relatively small, and they cannot grasp heavy objects, and soft manipulators can only grasp some small objects. Objects, large objects cannot be grasped
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[0026] 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.
[0027] 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 figure). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.
[0028] In addition, in the present inve...
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The invention discloses a shark-mouth-imitating full-enveloping flexible robot clamping jaw. The clamping jaw comprises a mounting base, a driving structure, a bionic jacket and a plurality of jaw parts, the driving structure is arranged on one side of the mounting base, the bionic jacket and the jaw parts are arranged on the other side of the mounting base, one end of each jaw part is hinged to the mounting base, the driving structure is connected to the jaw parts in a driving mode, the driving structure is used for driving the claw parts to be close to or away from the vertical central axis of the mounting base simultaneously, the bionic jacket is vertically arranged, the side, away from the mounting base, of the bionic jacket is open, a plurality of fixing teeth are arranged on the inner wall surface of the bionic jacket, and the claw parts are arranged around the bionic jacket, are connected to the outer wall surface of the bionic jacket and are used for driving an opening of the bionic jacket to be opened, envelope an object and then retract, so that the fixing teeth abut against the surface of the object. According to the technical scheme of the clamping jaw, through the cooperation of the bionic jacket and the claw parts, the clamping claw can grab objects of various shapes and sizes.
Description
technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a fully-enveloping flexible robotic gripper imitating a shark's mouth. Background technique [0002] The traditional rigid gripper grabs objects, which are characterized by high rigidity, high precision and easy operation and control. However, the traditional rigid gripper is limited to grabbing regular and high-hardness objects. The picking ability is poor, and it is necessary to rotate the angle of the irregular object for the rigid gripper to grab, and some soft and hard objects may be scratched during the grabbing process. [0003] Wide application of soft manipulators In various assembly lines, although soft manipulators can grasp soft objects and adapt to objects of various shapes, their grasping strength is relatively small, and they cannot grasp heavy objects, and soft manipulators can only grasp some small objects. Objects cannot be grasped for large objects. T...
Claims
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IPC IPC(8): B25J15/00B25J15/08
CPCB25J15/00B25J15/08
Inventor 陆新江许都李韶
Owner CENT SOUTH UNIV