A Fully Enveloping Flexible Robot Gripper Imitating a Shark Mouth
A technology imitating sharks and robots, applied in the field of robotic arms, can solve the problems of small grasping force, inability to grasp heavy objects, and inability to grasp large objects, and achieve the effect of increasing friction.
Active Publication Date: 2022-02-08
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 full-enveloping flexible robotic gripper imitating a shark mouth, which includes a mounting seat, a driving structure, a bionic jacket and several claws, the driving structure is arranged on one side of the mounting seat, and the bionic jacket and each claw are arranged. On the other side of the mounting seat, one end of each claw is hinged to the mounting seat, and the driving structure drives and connects each claw, and the driving structure is used to drive each claw to approach or move away from the vertical central axis of the mounting seat at the same time; the bionic jacket vertically The side of the bionic jacket facing away from the mounting seat is open, and the inner wall of the bionic jacket is provided with a number of fixed teeth; each claw is arranged around the bionic jacket, and each claw is respectively connected to the outer wall of the bionic jacket. The claws are used to drive the opening of the bionic jacket to open and retract after enveloping the object, so that each fixed tooth abuts against the surface of the object. In the technical proposal proposed by the invention, through the cooperation of the bionic jacket and each claw part, the clamping claws can grasp 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