CN112077864A - Controllable grabbing mechanism capable of actively adapting to surface profile and using method thereof - Google Patents
Controllable grabbing mechanism capable of actively adapting to surface profile and using method thereof Download PDFInfo
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- CN112077864A CN112077864A CN202010694184.1A CN202010694184A CN112077864A CN 112077864 A CN112077864 A CN 112077864A CN 202010694184 A CN202010694184 A CN 202010694184A CN 112077864 A CN112077864 A CN 112077864A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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Abstract
The invention discloses a controllable grabbing mechanism capable of actively adapting to a surface profile and a using method thereof. The base is connected with the rear-end operating mechanism; the controllable adhesion module comprises a flexible bearing unit, a thin plate unit and an adhesion surface unit which are sequentially stacked, wherein one side surface of the flexible bearing unit is fixed on the base; the two driving modules are distributed on two opposite sides of the flexible bearing unit, so that the flexible bearing unit is located between the two driving modules, the two driving modules are installed on the base and are respectively connected with two opposite side portions of the thin plate unit, and the driving modules are used for loading the thin plate unit to enable the thin plate unit to be bent in the forward direction and the reverse direction. The controllable grabbing mechanism capable of actively adapting to the surface profile can realize active adaptation, contact fitting, super-strong adhesion bearing and simple desorption release on the target surface, and can grab objects with large-area plane or curved surface surfaces.
Description
Technical Field
The invention relates to the technical field of mechanisms and robots, in particular to a controllable grabbing mechanism capable of actively adapting to a surface profile and a using method thereof.
Background
The grabbing technology for the plane or the curved surface without obvious grabbing characteristics has great application requirements and application values in the fields of aerospace, large-scale assembly, object transportation, intelligent robots and the like. For objects with large area flat or curved features, conventional mechanical friction or mechanical lock gripping schemes fail due to the lack of grippable features. The suction cup negative pressure type grabbing scheme can effectively process a surface with a certain curvature radius in an atmospheric environment, but cannot simultaneously adapt to various curved surfaces with different curvature radii. While van der waals force-based interfacial adhesion type grabbing schemes are more used to deal with the problem of single plane grabbing, the grabbing schemes for curved objects are still not mature. In the current grabbing technology, the technical scheme of effectively and controllably grabbing various curved surfaces and planes with different curvature radiuses at the same time is still lacked.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a controllable grabbing mechanism actively adapting to a surface profile, which can achieve active adaptation, contact fitting, super strong adhesion bearing and simple desorption release to a target surface; the device can grab objects with large-area plane or curved surface at the same time; the device has the advantages of good adaptability, wide application range, small volume, low power consumption, large load, modularization, easy integration, compact structure, complete functions and convenient operation.
A controllable gripping mechanism for actively adapting to a surface profile according to an embodiment of a first aspect of the invention, comprises:
the base is connected with the rear end operating mechanism;
the controllable adhesion module comprises a flexible bearing unit, a thin plate unit and an adhesion surface unit which are sequentially stacked, wherein one side surface of the flexible bearing unit is fixed on the base;
the two driving modules are distributed on two opposite sides of the flexible bearing unit, so that the flexible bearing unit is located between the two driving modules, the two driving modules are installed on the base and are respectively connected with two opposite side portions of the thin plate unit, and the driving modules are used for loading the thin plate unit to enable the thin plate unit to be bent in the forward direction and the reverse direction.
According to the controllable grabbing mechanism for actively adapting to the surface profile of the embodiment of the first aspect of the invention, the grabbing process comprises the following steps:
adhering and bearing: the driving module drives the thin plate unit and the adhesion surface unit to be reversely bent at first to reach a preparation state; then, the rear-end operating mechanism controls the controllable grabbing mechanism which actively adapts to the surface profile to be aligned with the target surface, and further exerts pre-pressure on the controllable grabbing mechanism which actively adapts to the surface profile, so that the flexible bearing unit is compressed, and the part of the adhesion surface unit, which is opposite to the flexible bearing unit, is in contact with the target surface; then, the driving module drives the thin plate unit and the adhesion surface unit to be positively bent together, so that the adhesion surface unit and the target surface realize adhesion bearing through a gradually-bent rolling contact process.
Stripping and releasing: the driving module drives the thin plate unit and the adhesion surface unit to be reversely bent together, so that the adhesion surface unit is peeled from the target surface, and desorption release is realized.
According to the controllable grabbing mechanism actively adapting to the surface profile, during adhesion bearing, the thin plate unit is positively bent through loading of the driving module, so that the adhesion surface of the adhesion surface unit is maximally adhered to the target surface, and the base, the flexible bearing unit and the adhesion surface unit maximally utilize the adhesion force of the adhesion surface of the whole adhesion surface unit through bearing action, so that high-strength adhesion to the target surface is realized; when peeling and releasing are carried out, the adhesion thin plate unit is reversely bent through loading of the driving module, the adhesion surface unit and the thin plate unit are driven to be synchronously bent, and therefore the contact area, the peeling angle and the peeling rigidity between the adhesion surface and the target surface are changed to reduce the adhesion force, and rapid desorption and release are achieved. In summary, the controllable grabbing mechanism actively adapting to the surface profile has the following advantages: firstly, the rolling type active adaptive contact fitting of various target surfaces with different curvature radii can be realized through the forward bending of the thin plate unit, and the rolling type active adaptive contact fitting has the characteristics of good adaptability and wide application range; secondly, objects with large-area plane or curved surface surfaces can be grabbed simultaneously, and controllable super-strong adhesion bearing and simple desorption release can be realized; thirdly, the power consumption is low, the load is high, the modularization is realized, and the integration is easy; fourthly, the structure is compact, the function is complete, and the control is simple. The controllable grabbing mechanism actively adapting to the surface profile has important application value in grabbing large-area and high-load objects.
According to one embodiment of the first aspect of the present invention, the flexible carrier unit is block-shaped, and opposite side portions of the thin plate unit protrude from the flexible carrier unit.
According to an embodiment of the first aspect of the present invention, the flexible carrier unit and the base, the sheet unit and the flexible carrier unit, and the adhesion surface unit and the sheet unit are fixed by adhesion.
According to a further embodiment of the first aspect of the present invention, a protrusion is disposed on one side surface of the base, and the flexible bearing unit is adhesively fixed on a protruding end surface of the protrusion.
According to some embodiments of the first aspect of the present invention, two of the driving modules are symmetrically or asymmetrically distributed with respect to the flexible carrying unit.
According to some embodiments of the first aspect of the present invention, each of the driving modules comprises a steering engine and a crank link mechanism, the steering engine is fixed on the base, the steering engine is connected with one end of the crank link mechanism, and the other end of the crank link mechanism is connected with the thin plate unit; the steering engine is used for driving the crank link mechanism to rotate forwards and reversely so as to enable the thin plate unit to bend forwards or reversely.
According to some embodiments of the first aspect of the present invention, the crank-link mechanism of each driving module includes a crank and a link, the steering engine is fixed on the base, the steering engine is connected to one end of the crank, the other end of the crank is connected to one end of the link, and the other end of the link is connected to the thin plate unit; the steering engine drives the crank to rotate in the forward direction and the reverse direction, and the crank drives the thin plate unit to bend in the forward direction and bend in the reverse direction through the connecting rod.
According to some embodiments of the first aspect of the present invention, each of the crank-link mechanisms further comprises a driving shaft, a driven hinge support and a driven shaft; the driving shaft penetrates through the other end of the crank and one end of the connecting rod, and the other end of the crank is hinged with one end of the connecting rod; the driven hinged support is fixedly connected with the thin plate unit, the driven shaft penetrates through the other end of the connecting rod and the driven hinged support, and the other end of the connecting rod is hinged to the driven hinged support.
According to some embodiments of the first aspect of the present invention, each of the crank-link mechanisms includes two of the links, the two links are spaced apart from each other, the other end of the crank is located between the two links, and the two links are fixedly supported by a connecting rod.
In a second aspect, the present invention provides a method of using a controllable grasping mechanism that actively adapts to a surface profile.
The use method of the actively surface contour adaptive controllable gripping mechanism according to the second embodiment of the present invention, which is any one of the actively surface contour adaptive controllable gripping mechanisms according to the first embodiment of the present invention, includes the following steps:
adhering and bearing: the driving module drives the thin plate unit and the adhesion surface unit to be reversely bent at first to achieve a preparation state; then, the rear-end operating mechanism controls the controllable grabbing mechanism which actively adapts to the surface profile to be aligned with the target surface, and further exerts pre-pressure on the controllable grabbing mechanism which actively adapts to the surface profile, so that the flexible bearing unit is compressed, and the part of the adhesion surface unit, which is opposite to the flexible bearing unit, is in contact with the target surface; then, the driving module drives the thin plate unit and the adhesion surface unit to be positively bent together, so that the adhesion surface unit and the target surface realize adhesion bearing through a gradually-bent rolling contact process;
stripping and releasing: the driving module drives the thin plate unit and the adhesion surface unit to reversely bend together, so that the adhesion surface unit is peeled from the target surface, and desorption release is realized.
According to the use method of the controllable grabbing mechanism actively adapting to the surface profile of the embodiment of the second aspect of the invention, the rear-end operating mechanism is controlled and operated, so that the controllable grabbing mechanism 1000 actively adapting to the surface profile can grab large-area and high-load objects, and can realize controllable super-strong adhesion bearing and simple desorption release, and the operation is simple and convenient.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a controllable gripping mechanism for actively adapting a surface profile according to an embodiment of the first aspect of the present invention.
Fig. 2 is a schematic structural diagram of a controllable gripping mechanism for actively adapting a surface profile according to an embodiment of the first aspect of the present invention in an initial state.
Fig. 3 is a schematic structural diagram of a controllable gripping mechanism for actively adapting a surface profile according to an embodiment of the first aspect of the present invention in a ready state.
Fig. 4 is a schematic structural diagram of a controllable gripping mechanism for actively adapting a surface profile according to an embodiment of the first aspect of the present invention in a gripping state.
Fig. 5 is a schematic structural diagram of a controllable gripping mechanism for actively adapting a surface profile according to an embodiment of the first aspect of the present invention in a released state.
Reference numerals:
Crank-link mechanism 32 crank 321 connecting rod 322 driving shaft 323
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A controllable gripping mechanism 1000 according to an embodiment of the first aspect of the present invention is described below with reference to fig. 1 to 5.
As shown in fig. 1 to 5, a controllable gripping mechanism 1000 for actively adapting to a surface profile according to an embodiment of the first aspect of the present invention includes a base 1, a controllable adhesion module 2, and a driving module 3. The base 1 is connected with a rear-end operating mechanism; the controllable adhesion module 2 comprises a flexible bearing unit 21, a thin plate unit 22 and an adhesion surface unit 23 which are sequentially stacked, wherein one side surface of the flexible bearing unit 21 is fixed on the base 1; the two driving modules 3 are distributed on two opposite sides of the flexible bearing unit 21, so that the flexible bearing unit 21 is positioned between the two driving modules 3, the two driving modules 3 are installed on the base 1 and are respectively connected with two opposite side parts of the thin plate unit 22, and the driving modules 3 are used for loading the thin plate unit 22 to enable the thin plate unit 22 to be bent in the forward direction and the reverse direction.
Specifically, the base 1 is connected to the rear-end operating mechanism, for example, as shown in fig. 1, a countersunk hole may be formed in the base 1, and the base 1 may be connected to the rear-end operating mechanism through a screw, or the base 1 may be connected to the rear-end operating mechanism through flange connection, hinge connection, or the like, so as to mount the controllable grabbing mechanism 1000 actively adapting to the surface profile on the rear-end operating mechanism; it should be noted that the rear end operating mechanism may be a mechanical arm or an operating handle, etc. for driving the controllable gripping mechanism 1000 actively adapting to the surface profile to move. The base 1 also has the function of providing mounting support for the adherable modules 2 and the driver module 3.
The controllable adhesion module 2 comprises a flexible bearing unit 21, a thin plate unit 22 and an adhesion surface unit 23 which are sequentially stacked, wherein one side surface of the flexible bearing unit 21 is fixed on the base 1; it will be appreciated that the flexible carrier unit 21, the sheet unit 22 and the adhesion surface unit 23 are arranged one above the other as shown in fig. 1, so that the controllable adhesion module 2 is structurally simple; the flexible bearing unit 21 and the thin plate unit 22, and the thin plate unit 22 and the adhesion surface unit 23 can be connected by flexible adhesive or bonding process, so that the operation is simple and the connection is firm and reliable; one side of the flexible bearing unit 21 is fixed on the base 1, and the flexible bearing unit 21 and the base 1 can also be connected in a flexible adhesive or bonding process and other manners, so that the operation is simple and the connection is firm and reliable. The two driving modules 3 are distributed on two opposite sides of the flexible bearing unit 21, so that the flexible bearing unit 21 is positioned between the two driving modules 3, the two driving modules 3 are installed on the base 1 and are respectively connected with two opposite side parts of the thin plate unit 22, and the driving modules 3 are used for loading the thin plate unit 22 to enable the thin plate unit 22 to be bent in the forward direction and the reverse direction. It should be noted that, for example, referring to fig. 3 to 5, the driving module 3 may vertically load the thin plate unit, under the vertical loading of the driving module 3, when the thin plate unit 22 is bent in the forward direction, the adhesion surface unit 23 may adhere to the target surface 4, thereby realizing adhesion bearing, and when the thin plate unit 22 is bent in the reverse direction, the adhesion surface unit 23 may peel off from the target surface 4, thereby realizing peeling release; the two driving modules 3 are distributed on two opposite sides of the flexible bearing unit 21, the flexible bearing unit 21 is located between the two driving modules 3, the two driving modules 3 are installed on the base 1 and are respectively connected with two opposite side portions of the thin plate unit 22, and by the arrangement mode, the thin plate unit 22 can realize bidirectional bending deformation under the vertical loading action of the driving modules 3, and has a large bending deformation range, so that the adhesion surface unit 23 can adhere to various target surfaces 4 with different curvature radiuses.
It should be noted that the flexible bearing unit 21 can be made to be in tension and compression deformation, for example, the flexible bearing unit 21 can be a rubber piece, a fiber piece, etc., and the purpose of the flexible bearing unit 21 is to make the flexible bearing unit 21 bear the normal adhesion force of the adhesion surface unit 23, so as to achieve high adhesion strength; the purpose of the compressive deformation is to allow the thin plate unit 22 to be bent and the adhesion surface unit 23 to be peeled off from the target surface 4. The thin plate unit 22 is a long thin plate-like structure with high elastic modulus, for example, the thin plate unit 22 may be a thin steel plate, a polymer plate, or the like, so that the thin plate unit 22 can be bent in the forward direction and the reverse direction under the loading action of the driving module 3, and when the elastic deformation is recovered, the thin plate unit 22 can be recovered to a planar state; the adhesion surface unit 23 is a flat surface adhesion layer or a microstructure surface adhesion layer with adhesion enhancing effect, for example, the adhesion surface unit 23 may be a flat tape, a bionic surface with a disc-shaped or funnel-shaped microstructure array, or the like, and the adhesion surface unit 23 may be bent and deformed together with the thin plate unit 22, so as to realize firm adhesion and bearing of the grabbed object, and when the thin plate unit 22 is in a planar state after elastic deformation is recovered, the adhesion surface unit 33 is also in a planar state, at which time a planar object may be firmly adhered and borne.
As shown in fig. 2 to 5, the operation of the controllable gripping mechanism 1000 for actively adapting to the surface profile according to the embodiment of the first aspect of the present invention is as follows:
adhering and bearing: the driving module 3 drives the thin plate unit 22 and the adhesion surface unit 23 to perform reverse bending together to reach a preparation state; then, the rear-end operating mechanism controls the controllable grabbing mechanism 1000 actively adapting to the surface profile to align with the target surface 4, and further applies pre-pressure to the controllable grabbing mechanism 1000 actively adapting to the surface profile, so that the flexible bearing unit 21 is compressed, and the part of the adhesion surface unit 23 opposite to the flexible bearing unit 21 is in contact with the target surface 4; next, the driving module 3 drives the thin plate unit 22 and the adhesion surface unit 23 to be positively bent together, so that the adhesion surface unit 23 and the target surface 4 are subjected to adhesion bearing through a gradually curved roll-to-roll contact process.
Stripping and releasing: the driving module 3 drives the thin plate unit 22 and the adhesion surface unit 23 to be reversely bent together, so that the adhesion surface unit 23 is peeled from the target surface 4, and desorption release is achieved.
According to the controllable grabbing mechanism 1000 actively adapting to the surface profile of the embodiment of the first aspect of the present invention, during adhesion bearing, the thin plate unit 22 is positively bent by loading of the driving module 23, so that the adhesion surface of the adhesion surface unit 23 is maximally adhered to the target surface 4, and the base 1, the flexible bearing unit 21 and the adhesion surface unit 33 maximally utilize the adhesion force of the adhesion surface of the whole adhesion surface unit 32 through bearing action, so as to realize high-strength adhesion to the target surface 4; when the peeling is released, the adhesion sheet unit 22 is reversely bent by the loading of the driving module 3, and the adhesion surface unit 23 and the sheet unit 22 are driven to be synchronously bent, so that the contact area, the peeling angle and the peeling rigidity between the adhesion surface and the target surface 4 are changed to reduce the adhesion force, and the quick desorption release is realized. In summary, the controllable gripping mechanism 1000 actively adapting to the surface profile has the following advantages: firstly, the rolling type active adaptive contact fitting of various target surfaces 4 with different curvature radiuses (from a curved surface with a certain minimum curvature radius to a plane with an infinite curvature radius) can be realized through the forward bending of the thin plate unit 22, and the rolling type active adaptive contact fitting has the characteristics of good adaptability and wide application range; secondly, objects with large-area plane or curved surface surfaces can be grabbed simultaneously, and controllable super-strong adhesion bearing and simple desorption release can be realized; thirdly, the power consumption is low, the load is high, the modularization is realized, and the integration is easy; fourthly, the structure is compact, the function is complete, and the control is simple. The controllable grabbing mechanism 1000 actively adapting to the surface profile has important application value in grabbing objects with large area and high load.
According to one embodiment of the first aspect of the present invention, the flexible carrier unit 21 is block-shaped, and opposite side portions of the thin plate unit 22 protrude from the flexible carrier unit 21. It can be understood that the block-shaped flexible bearing unit 21 is convenient to fix on the base 1, the structure is simple, and the processing is convenient; the block-shaped flexible bearing unit 21 has better performance of generating tensile and compressive deformation and can bear a target object with heavy weight; the flexible bearing units 21 extend out of the two opposite sides of the thin plate unit 22, so that the thin plate unit 22 can better realize bidirectional bending deformation under the loading action of the driving module 3, and has a larger bending deformation range, and the adhesion surface unit 23 can adhere to various target surfaces 4 with different curvature radiuses.
According to one embodiment of the first aspect of the present invention, the flexible carrier unit 21 and the base 1, the thin plate unit 22 and the flexible carrier unit 21, and the adhesion surface unit 23 and the thin plate unit 22 are fixed by adhesion. It can be understood that the bonding and fixing operation is simple and the fixing is firm; specifically, a flexible adhesive may be used for bonding and fixing.
According to a further embodiment of the first aspect of the present invention, the base 1 is provided with a protrusion 11 on one side surface thereof, and the flexible carrier unit 21 is adhesively fixed on a protruding end surface of the protrusion 11. It can be understood that the bump 11 is arranged on one side surface of the base 1 to provide a mounting position for fixing the flexible bearing unit 21 on the base 1, and the flexible bearing unit 21 is fixedly bonded on the convex end surface of the bump 11, so that the operation is simple and the bonding fixation is firm; specifically, a flexible adhesive may be used for bonding and fixing.
According to some embodiments of the first aspect of the present invention, the two driving modules 3 are symmetrically or asymmetrically distributed with respect to the flexible carrying unit 21. Thus, the two driving modules 3 can respectively load the two side parts of the thin plate unit 22, so that the thin plate unit 22 can be bent in two directions, and the bending deformation range is large, so that the adhesion surface unit 23 can adhere to various target surfaces 4 with different curvature radiuses, the adaptability is improved, and the application range is expanded.
According to some embodiments of the first aspect of the present invention, each driving module 3 comprises a steering engine 31 and a crank link mechanism 32, the steering engine 31 is fixed on the base 1, the steering engine 31 is connected with one end of the crank link mechanism 32, and the other end of the crank link mechanism 32 is connected with the thin plate unit 22; the steering gear 31 is used for driving the crank link mechanism 32 to rotate in the forward direction and the reverse direction so as to bend the thin plate unit 22 in the forward direction or in the reverse direction. It can be understood that, the steering engine 31 is adopted to drive the crank link mechanism 32, the structure is simple, the operation is convenient, the power consumption is low, specifically, as shown in fig. 1, two side parts of the base 1 can be provided with a cantilever structure and corresponding threaded holes for fixedly mounting the steering engine 31, the steering engine 31 is used as a driving unit of the driving module 3 to generate driving force to drive the crank link mechanism 32 to generate forward rotation or reverse rotation, so that the sheet unit 22 is bent forward or reversely, and the adhesion surface unit 33 is driven to realize adhesion bearing or peeling release.
The driving module 3 may also be a driver such as a pneumatic cylinder, a pneumatic muscle, or a dielectric elastomer.
According to some embodiments of the first aspect of the present invention, the crank-link mechanism 32 of each driving module 3 includes a crank 321 and a link 322, the steering engine 31 is fixed on the base 1, the steering engine 31 is connected to one end of the crank 321, the other end of the crank 321 is connected to one end of the link 322, and the other end of the link 322 is connected to the thin plate unit 22; the steering engine 31 drives the crank 321 to rotate forward and backward, and the crank 321 drives the thin plate unit 22 to bend forward and backward through the connecting rod 322. Like this, simple structure, the transmission is convenient, specifically, as shown in fig. 1, the both sides portion of base 1 can be equipped with cantilever structure and the screw hole that corresponds, be used for fixed mounting steering wheel 31, the one end of crank 321 can be equipped with the internal tooth and cooperate with steering wheel 31's pivot external tooth, and fasten the one end of crank 321 in steering wheel 31's pivot through the screw, thereby realize linking to each other steering wheel 31 with crank 321's one end, when steering wheel 31's pivot rotated, drive crank 321 forward rotation and reverse rotation, connecting rod 322 produces vertical movement under crank 321's drive, thereby carry out vertical loading to sheet metal unit 22, it produces forward bending and direction bending to drive sheet metal unit 22.
According to some embodiments of the first aspect of the present invention, each crank-link mechanism 32 further comprises a driving shaft 323, a driven hinge support 324 and a driven shaft 325; wherein, the driving shaft 323 passes through the other end of the crank 321 and one end of the connecting rod 322, and the other end of the crank 321 is hinged with one end of the connecting rod 322; the driven hinge support 324 is fixedly connected to the thin plate unit 22, and the driven shaft 325 passes through the other end of the connecting rod 322 and the driven hinge support 324 to hinge the other end of the connecting rod 322 and the driven hinge support 324. Therefore, the flexibility and the stability of the crank connecting rod mechanism 32 are improved, the crank connecting rod mechanism 32 can flexibly and stably run and efficiently transmit under the driving of the steering engine 31, and the load capacity of the controllable grabbing mechanism 1000 which actively adapts to the surface profile is enhanced. Specifically, the driven hinge support 324 may be fixedly connected to the thin plate unit 22 through the flexible connection block 326, one side surface of the flexible connection block 326 is fixedly bonded to the driven hinge support 324, and the other side surface of the flexible connection block 326 is fixedly bonded to the thin plate unit 22, so that the flexible connection block 326 may avoid the problem of inconsistent deformation of each bent thin plate unit 32 due to installation errors of the crank link mechanism 32.
According to some embodiments of the first aspect of the present invention, each crank-link mechanism 32 includes two connecting rods 322, the two connecting rods 322 are spaced apart, and the other end of the crank 321 is located between the two connecting rods 322, and the two connecting rods 322 are fixedly connected and supported by a connecting rod 327. Thus, the stiffness to mass ratio of the entire crank linkage 32 is increased, and the stability of the crank linkage 32 is improved, thereby enhancing the load capacity of the controllable gripping mechanism 1000 that actively adapts to the surface profile.
A second aspect of the present invention provides a method of using a controllable gripping mechanism 1000 that actively adapts to a surface profile.
As shown in fig. 2 to 5, according to the method for using the controllable gripping mechanism 1000 for actively adapting to the surface profile of the second aspect of the present invention, the controllable gripping mechanism 1000 for actively adapting to the surface profile is any one of the controllable gripping mechanisms 1000 for actively adapting to the surface profile of the first aspect of the present invention, and includes the following steps:
adhering and bearing: the driving module 3 drives the thin plate unit 22 and the adhesion surface unit 23 to perform reverse bending together to reach a preparation state; then, the rear-end operating mechanism controls the controllable grabbing mechanism 1000 actively adapting to the surface profile to align with the target surface 4, and further applies pre-pressure to the controllable grabbing mechanism 1000 actively adapting to the surface profile, so that the flexible bearing unit 21 is compressed, and the part of the adhesion surface unit 23 opposite to the flexible bearing unit 21 is in contact with the target surface 4; next, the driving module 3 drives the thin plate unit 22 and the adhesion surface unit 23 to be positively bent together, so that the adhesion surface unit 23 and the target surface 4 are subjected to adhesion bearing through a gradually curved roll-to-roll contact process.
Stripping and releasing: the driving module 3 drives the thin plate unit 22 and the adhesion surface unit 23 to be reversely bent together, so that the adhesion surface unit 23 is peeled from the target surface 4, and desorption release is achieved.
The method of using the controllable gripping mechanism 1000 for actively adapting to the surface profile according to the embodiment of the second aspect of the present invention is described in detail below with reference to a specific embodiment.
Referring to fig. 1-5, in this particular embodiment, a method of using a controllable grasping mechanism 1000 that actively adapts to a surface profile includes the steps of:
adhering and bearing: firstly, a control circuit sends an instruction, the steering engine 31 rotates reversely for a certain angle to drive the crank 321 and the connecting rod 322 to rotate reversely, so that the thin plate unit 22 and the adhesion surface unit 23 are bent reversely to a certain degree to achieve a preparation state. Then, the robot arm or the operator controls the controllable gripping mechanism 1000 actively adapting to the surface profile to align with the target surface 4 (plane or curved surface), and further applies pre-pressure along the direction of the symmetry axis of the controllable gripping mechanism 1000 actively adapting to the surface profile, so that the flexible bearing unit 21 generates a certain compression, and the middle of the controllable gripping mechanism 1000 actively adapting to the surface profile makes contact with the target surface 4. Then, the control circuit sends an instruction, the steering engine 31 rotates forwards for a certain angle, the crank 321 and the connecting rod 322 are driven to rotate forwards, the thin plate unit 22 and the adhesion surface unit 23 are bent forwards to a certain degree, and a good adhesion state is formed through a gradually-bent rolling contact process. Finally, the robotic arm or operator performs a corresponding operation on the target surface 4 via the controllable gripping mechanism 1000 that actively adapts to the surface profile.
Stripping and releasing: firstly, a control circuit sends an instruction, the steering engine 31 rotates reversely for a certain angle to drive the crank 321 and the connecting rod 322 to rotate reversely, so that the thin plate unit 22 and the adhesion surface unit 23 are bent reversely, and the adhesion surface unit 23 is peeled from the target surface 4 to reach a peeling state. To this end, the contact area of the controllable gripping mechanism 1000 actively adapting to the surface profile with the target surface 4 is greatly reduced and a larger peel angle is formed. Then, the controllable grasping mechanism 1000 actively adapting to the surface profile is moved away from the target surface 4 by the robot arm or the operator, and desorption release can be achieved.
According to the use method of the controllable grabbing mechanism 1000 actively adapting to the surface profile of the embodiment of the second aspect of the present invention, by controlling and operating the rear end operating mechanism, the controllable grabbing mechanism 1000 actively adapting to the surface profile can grab large-area and high-load objects, and can realize controllable super strong adhesion bearing and simple desorption release, and the operation is simple and convenient.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A controllable grasping mechanism that actively adapts to a surface profile, comprising:
the base is connected with the rear end operating mechanism;
the controllable adhesion module comprises a flexible bearing unit, a thin plate unit and an adhesion surface unit which are sequentially stacked, wherein one side surface of the flexible bearing unit is fixed on the base;
the two driving modules are distributed on two opposite sides of the flexible bearing unit, so that the flexible bearing unit is located between the two driving modules, the two driving modules are installed on the base and are respectively connected with two opposite side portions of the thin plate unit, and the driving modules are used for loading the thin plate unit to enable the thin plate unit to be bent in the forward direction and the reverse direction.
2. A positive surface contour conforming controllable gripping mechanism according to claim 1 wherein the flexible load bearing unit is block shaped with opposite sides of the sheet unit extending beyond the flexible load bearing unit.
3. A controlled gripping mechanism for actively adapting to surface contours as defined in claim 1 wherein the flexible carrier unit is secured to the base, the thin sheet unit is secured to the flexible carrier unit, and the adhesive surface unit is secured to the thin sheet unit by adhesive bonding.
4. A mechanism as claimed in claim 3, wherein the base is provided with a projection on one side, and the flexible load-bearing unit is adhesively secured to the projecting end of the projection.
5. The mechanism of any one of claims 1-4, wherein the two driving modules are symmetrically or asymmetrically distributed with respect to the flexible carrier unit.
6. The controllable grabbing mechanism capable of actively adapting to the surface profile of claim 5, wherein each driving module comprises a steering engine and a crank link mechanism, the steering engine is fixed on the base, the steering engine is connected with one end of the crank link mechanism, and the other end of the crank link mechanism is connected with the thin plate unit; the steering engine is used for driving the crank link mechanism to rotate forwards and reversely so as to enable the thin plate unit to bend forwards or reversely.
7. The controllable grabbing mechanism capable of actively adapting to the surface profile of claim 6, wherein the crank-link mechanism of each driving module comprises a crank and a link, the steering engine is fixed on the base, the steering engine is connected with one end of the crank, the other end of the crank is connected with one end of the link, and the other end of the link is connected with the thin plate unit; the steering engine drives the crank to rotate in the forward direction and the reverse direction, and the crank drives the thin plate unit to bend in the forward direction and bend in the reverse direction through the connecting rod.
8. The mechanism of claim 6, wherein each of said crank-link mechanisms further comprises a driving shaft, a driven hinged support and a driven shaft; the driving shaft penetrates through the other end of the crank and one end of the connecting rod, and the other end of the crank is hinged with one end of the connecting rod; the driven hinged support is fixedly connected with the thin plate unit, the driven shaft penetrates through the other end of the connecting rod and the driven hinged support, and the other end of the connecting rod is hinged to the driven hinged support.
9. A controllable grabbing mechanism for actively adapting to a surface profile according to claim 6, wherein each said crank-link mechanism comprises two said links, the two said links are spaced apart, and the other end of the crank is located between the two said links, and the two said links are connected to a fixed support through a connecting rod.
10. Use of an actively adapted surface contour controllable gripping mechanism according to any of claims 1-9, characterized in that it comprises the steps of:
adhering and bearing: the driving module drives the thin plate unit and the adhesion surface unit to be reversely bent at first to achieve a preparation state; then, the rear-end operating mechanism controls the controllable grabbing mechanism which actively adapts to the surface profile to be aligned with the target surface, and further exerts pre-pressure on the controllable grabbing mechanism which actively adapts to the surface profile, so that the flexible bearing unit is compressed, and the part of the adhesion surface unit, which is opposite to the flexible bearing unit, is in contact with the target surface; then, the driving module drives the thin plate unit and the adhesion surface unit to be positively bent together, so that the adhesion surface unit and the target surface realize adhesion bearing through a gradually-bent rolling contact process;
stripping and releasing: the driving module drives the thin plate unit and the adhesion surface unit to reversely bend together, so that the adhesion surface unit is peeled from the target surface, and desorption release is realized.
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| CN202010694184.1A CN112077864A (en) | 2020-07-17 | 2020-07-17 | Controllable grabbing mechanism capable of actively adapting to surface profile and using method thereof |
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| CN202010694184.1A CN112077864A (en) | 2020-07-17 | 2020-07-17 | Controllable grabbing mechanism capable of actively adapting to surface profile and using method thereof |
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Application publication date: 20201215 |