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Spiral winding robot

A helical winding and robot technology, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of small grasping range, slow movement speed, small load, etc., and achieve the effect of large grasping load and stability

Pending Publication Date: 2022-07-22
UNIV OF SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a spiral winding robot, which aims to solve the problems of the existing robot grabbing mechanism with small load, small grabbing range, poor adaptability and slow moving speed

Method used

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Examples

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Embodiment 1

[0047] like Figures 2 to 4 As shown in the figure, a spiral winding robot is used as the end effector of the robot to grab objects, which specifically includes: a main body and a driving mechanism; the driving mechanism drives the main body itself to form one or more sets from an extended state and tight winding. Convert between connected isometric spirals, unfold to drop items or wrap to grab items.

[0048] For the convenience of description, where it is not individually emphasized that it is tightly wound to form a set of equiangular spirals, it can be understood as one or more sets of connected equiangular spirals.

[0049] In this example, the body includes a plurality of helical unit segments 1, where the helical unit segment 1 is designed by discretizing the isometric helix 001 to obtain the size of the discrete unit longitudinal section 002, so it can ensure tight After winding, it forms an isometric spiral. Specifically, the longitudinal thickness dimension of the ...

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Abstract

The invention discloses a spiral winding robot which is used as a tail end executing mechanism of the robot to take and place articles and comprises a body and a driving mechanism. The driving mechanism drives the body to be converted between the stretching state and the tight winding state into one or more sets of connected equiangular spiral shapes, and the body is unfolded to put down an object or is wound to grab the object, so that the problems that an existing robot grabbing mechanism is small in load, small in grabbing range, poor in adaptability and low in movement speed are solved. Through spiral movement, the robot can be tightly curled and wound, larger grabbing load and stability can be provided, and meanwhile, the robot can achieve self-adaptive grabbing of targets of different sizes.

Description

technical field [0001] The invention relates to the technical field of mechanical structures, to a robot end effector, and in particular to a helical winding robot. Background technique [0002] The end effector of the robot is mostly a grasping mechanism, and the grasping mechanism is the key to the research and application of the robot. Currently, widely used robotic grasping mechanisms generally perform grasping actions by bending and gathering several mechanical fingers. Restricted by the materials and structures constituting the robotic fingers, these grasping mechanisms have the disadvantages of small load, small grasping range, poor adaptability and slow movement speed. The existing winding and grabbing mechanism is an arc structure, which cannot form its own tight winding, has small grabbing load and poor stability, and is mostly based on a hinge structure, which has high system complexity and complicated processing and preparation. SUMMARY OF THE INVENTION [00...

Claims

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Application Information

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IPC IPC(8): B25J15/08
CPCB25J15/08
Inventor 王展翅尼克
Owner UNIV OF SCI & TECH OF CHINA
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