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Flexible gripper and manipulator

A technology of manipulators and claws, applied in the field of industrial robots, can solve problems such as large structures and immutable action programs

Inactive Publication Date: 2021-01-22
WUHAN POLYTECHNIC UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its main features are accurate and reliable movement and high frequency of action, but the structure is large and the action program is immutable.

Method used

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  • Flexible gripper and manipulator
  • Flexible gripper and manipulator
  • Flexible gripper and manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0030] Please refer to figure 1 , this embodiment provides a flexible gripper 10, the flexible gripper 10 includes a plurality of gripper units 100 and a controller. Each gripper unit 100 includes a coil, the controller is electrically connected to the coil, and the controller is configured to control the direction of the coil. A plurality of gripper units 100 are connected by a flexible tube 200 . When the coil is energized in the forward direction, two adjacent gripper units 100 attract or repel each other. A coil is provided on the gripper unit 100, and when the coil is energized, according to the principle of electromagnetism, the coil will generate N and S magnetic poles. The purpose of controlling the polarity can be achieved by controlling the direction of the current in each gripper unit 100 by the controller. When the direction of the current passing through the coils of the adjacent gripper units 100 is opposite, the polarities generated on the two opposing surfac...

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Abstract

The invention provides a flexible gripper and a manipulator, and relates to the technical field of industrial robots. The flexible gripper comprises a plurality of gripper units and a controller. Eachgripper unit comprises a coil, the controller is electrically connected with the coil, and the controller is configured to control the electrifying direction of the coil. The gripper units are connected through flexible pipes. When the coils are electrified in the forward direction, every two adjacent gripper units attract each other or repel each other. The manipulator comprises a rack and a plurality of the flexible grippers, and the plurality of flexible grippers are connected with the rack. The flexible gripper is electromagnetically driven, and compared with traditional pneumatic and hydraulic grippers, the flexible gripper is more diversified in available environment and also more stable in work. Compared with traditional mechanical and electrically driven traditional flexible grippers, the designed grabbing function is more diverse, and the gripper can adapt to the size and shape of a grabbed object and is also more complex. Due to the fact that digitization of electric signalscan be achieved, the grabbing force of the flexible gripper can be accurately controlled through calculation. The manipulator is good in adaptability to the grabbed object.

Description

technical field [0001] The present application relates to the technical field of industrial robots, in particular, to a flexible gripper and a manipulator. Background technique [0002] Most of the existing flexible manipulator products adopt hydraulic, pneumatic, mechanical and electric transmission. [0003] The hydraulic transmission manipulator is a manipulator that drives the movement of the actuator by the pressure of the oil. Its main features are: the grasping weight can reach more than several hundred kilograms, the transmission is stable, the structure is compact, and the action is sensitive. However, the sealing device is strictly required, otherwise the oil leakage will have a great impact on the working performance of the manipulator. And the hydraulic transmission manipulator should not work under high temperature and low temperature. If the manipulator adopts an electro-hydraulic servo drive system, it can realize continuous trajectory control and expand th...

Claims

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Application Information

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IPC IPC(8): B25J15/02B25J15/10
CPCB25J15/0246B25J15/10
Inventor 李彬刘积祯刘羽祚杨军胜程铭王可胜
Owner WUHAN POLYTECHNIC UNIVERSITY
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