Self-adaptive mechanical claw based on Van der Waals force and friction force

Abstract

The invention discloses a self-adaptive mechanical claw based on Van der Waals force and friction force. The self-adaptive mechanical claw based on Van der Waals force and friction force comprises a rotating base, two clamping claw main bodies connected to the rotating base, an elastic assembly connected to the clamping end of one clamping claw main body and a plurality of dry adhesion assemblies connected to the clamping end of the other clamping claw main body. According to the invention, a clamping structure of a traditional mechanical claw is changed, one surface of a to-be-clamped piece is extruded through adhesion pads to generate the Van der Waals force, the other surface of the to-be-clamped piece is clamped through elasticity of the elastic assembly and the friction force, the clamping claw main bodies carry out dry adhesion on the to-be-clamped piece through the Van der Waals force, the rotating base drives the to-be-clamped piece to realize rotating operation, and therefore the rotating base does not depend on clamping force of the traditional mechanical clamping claw. Meanwhile, the plurality of dry adhesion assemblies can be subjected to angle adjustment according to the irregular clamping surface of the to-be-clamped piece, so that the adhesion pad of each dry adhesion assembly can be completely adhered to the clamping surface of the to-be-clamped piece, and the purpose of stable clamping is realized.

Description

technical field [0001] The invention relates to the field of robots, in particular to an adaptive mechanical claw based on van der Waals force and frictional force. Background technique [0002] With the gradual development of robot technology, there are more and more fields where robots can be used instead of manual work. In the field of electricity, mechanical claws are more used to replace manual operation of switch buttons. However, conventional mechanical claws often have several problems: First, most of the current mechanical claws are used to grip objects with regular outer surfaces. For example, Chinese patent CN105563377B discloses a mechanical claw that is only suitable for gripping sheet metal with regular shapes. Object; the second is that the operation of the mechanical claw is completely dependent on the strong mechanical lock based on friction. For example, the Chinese patent CN106142116B discloses a translational speed-changing mechanical claw, which complet...

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Problems solved by technology

However, conventional mechanical claws often have several problems: First, the current mechanical claws are mostly used to grip objects with regular outer surfaces. For example, Chinese patent CN105563377B discloses a mechanical claw that is only suitable for gripping sheet metal with regular shapes. Object; the second is that the operation of the mechanical claw is completely dependent on the strong mechanical lock based on friction. For example, the Chinese patent CN106142116B discloses a translational variable speed mechanical claw, which completely depends on the clamping force of the two sides of the claw on the object when picking up the object; The third is that pure adhesive materials cannot meet the requirements of applying a large grasping force. For example, Chinese patent CN106564629A discloses a space on-orbit capture device based on bionic gecko dry adhesive materials, and Chinese patent CN110125941B discloses a variable-scale drive bionic dry adhesive. Mechanisms, all rely on the dry adhesion effect based on van der Waals force to adhere to objects, which cannot provide a large grasping force

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