A Rigid-Flexible Gripper with Large-scale Adjustable Friction Force

Abstract

The invention discloses a rigid-flexible grabber for large-scale regulation and control of friction, which includes a main body plate, a handle connected above the main body plate, and three grabbing chains connected below the main body plate. The grabbing chain includes a rigid base plate, The flexible layer, rigid thorns, air bag channel, air bag and air pump used to wrap around the object, three grabbing chains wrap around the object to be grabbed under the main plate for easy grabbing, through three grabbing chains The chain is opened to grasp the object to be grasped, and the grasping chain is closed by passing gas into the air bag, and each rigid substrate is gradually rotated so that the flexible layer is around the object to be grasped, and the inner rigid spine of the grasping chain will The surface of the object to be grasped is fixed to complete the grasping operation; this structure effectively improves the load capacity of the contact interface, improves the control range of interface friction, has more deformation freedom, better fits the surface of the object and makes each contact Point synergy, providing redundant loads to ensure the stability of the grabbing work.

Description

Technical field[0001]The present invention relates to the field of grabbing mechanical technology, and in particular, there is a rigid binding grabber for a wide range of regulatory friction.Background technique[0002]During the surface rough type spherical object, the friction-regulating ability of the flexible grab and the object contact interface is insufficiently caused by interfacial slip and grip, which is a bottleneck that hinders the performance improvement and extensive industrial application.[0003]The existing flexible grabber generally has a problem of low interface friction, small attachment, easy to slip off. The prior art flexible grabber mainly has a pneumatic silica gel drive and a shape memory alloy driven two deformation control methods, and the flexible grabber manufactured by aerodynamic silica gel is used, and the groove is designed and groove on the surface, so that in the pump When entering the high pressure air, due to the difference between the expansion defo...

AI Technical Summary

Problems solved by technology

[0006] 1. The pure rigid gripper has no deformation ability and cannot adapt to grasping objects of various shapes, and because there are many rigid units, the control system is very complicated, resulting in slow response speed and low fault tolerance rate;

[0007] 2. Due to the natural low stiffness of the material, the purely flexible gripper can provide very limited friction at the gripping interface, making it unsuitable for high-load conditions;

But in essence, it cannot avoid the shortcomings of complex control system and poor deformation ability

In addition, due to the lack of synergy between the individual hooks, once the individual hooks are uncoupled, the entire interface will slip

[0009] 4. Most of the current grabbers are prone to load concentration due to complex control and too few action points, which is not conducive to grabbing under high-load conditions

Even if some grippers have made some improvements on the contact interface to increase the interface friction, long-term operation will easily cause the gripper's working surface to wear out and fail

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