CN113858270B - Clamping device, robot clamping jaw and robot - Google Patents
Clamping device, robot clamping jaw and robot Download PDFInfo
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- CN113858270B CN113858270B CN202111353343.2A CN202111353343A CN113858270B CN 113858270 B CN113858270 B CN 113858270B CN 202111353343 A CN202111353343 A CN 202111353343A CN 113858270 B CN113858270 B CN 113858270B
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- connection structure
- gecko
- material pad
- rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The application discloses a clamping device, a robot clamping jaw and a robot, wherein the clamping device comprises: a bracket; the gecko bionic material pad is provided with a first surface, and the first surface is provided with a directional drying and bonding structure; a first connection structure connecting the bracket and a first side of the gecko biomimetic material pad, wherein the first connection structure is retractable; and a second connection structure disposed opposite the first connection structure, connecting the second side of the bracket and the gecko biomimetic material pad, wherein the first connection structure and the second connection structure are configured to cooperate to provide a loading force in a first direction to the gecko biomimetic material pad.
Description
Technical Field
The present application relates generally to clamping mechanisms, and in particular to a clamping device, a robotic gripper and a robot.
Background
Gecko-adhesive bonding is a dry bonding surface inspired by geckos, which provides adhesion through intermolecular interactions. Gecko biomimetic mechanisms typically use flexible tendons (tendons) to load the binding material. The flexible tendons are routed and pre-drilled holes glued onto the edges of the rigid gecko biomimetic material pad, thus being difficult to manufacture and expand and lacking in freedom of adjustment.
In some existing cases, the tendon is attached to the gecko biomimetic material pad only in the preferred shear direction (X-axis direction), which optimizes the load in the X-Z plane (preferred, shear direction-normal direction), but limits the load capacity in the Y-direction (transverse shear direction). For example, such systems typically have an X-direction (preferred shear direction) shear capacity that is 2-3 times greater than the Y-direction (transverse shear direction), resulting in an imbalance in load capacity in the different directions. Furthermore, the tendon of the cord stretches under load (stretching) due to its elasticity and thus cannot lock the mechanism.
Recent developments have proposed a mechanism that adds flexible tendons in the transverse shear (Y) direction to compensate for the load capacity in the Y direction and hopefully achieve a more balanced load capacity in the X and Y directions. Polymeric membrane tendons are used in place of cord tendons. The polymer film slightly reduces tendon elasticity compared to tendon ropes and therefore has less elongation under tension.
However, due to the rigidity, the polymer film tendons have a buckling effect under compression, which can lead to undesired twisting of the gecko biomimetic material pad.
Disclosure of Invention
Based on the above, in order to overcome the defect that the gecko bionic material pad is likely to be distorted in the prior art, the application provides the clamping device, the robot clamping jaw and the robot, which can avoid the distortion in the gecko bionic material pad and enable the whole structure to be more compact.
Specifically, an aspect of the present application provides a clamping device, including: a bracket; a gecko biomimetic material pad having a first surface with directional dry adhesive structures (directional dry adhesion structure); a first connection structure connecting the bracket and a first side of the gecko biomimetic material pad, wherein the first connection structure is retractable; and a second connection structure disposed opposite the first connection structure connecting the bracket and the second side of the gecko biomimetic material pad, wherein the first connection structure and the second connection structure are configured to cooperate to provide a loading force in a first direction to the gecko biomimetic material pad.
In the clamping device, the first connecting structure and the second connecting structure are configured to be matched to provide the loading force in the first direction for the gecko bionic material pad, so that balanced load can be achieved in the first direction for the gecko bionic material pad. In addition, by making the first connection structure stretchable, the occurrence of twisting in the gecko biomimetic material pad can be avoided.
In one embodiment, the device further comprises a third connection structure and a fourth connection structure, wherein the third connection structure and the fourth connection structure are connected with the bracket and are respectively arranged on a third side and a fourth side which are opposite to each other of the gecko-shaped bionic material pad, and the third connection structure and the fourth connection structure are configured to be adjustable to be in contact with the third side and the fourth side of the gecko-shaped bionic material pad so as to provide loading force on the gecko-shaped bionic material pad in a second direction, wherein the second direction is perpendicular to the first direction.
In the clamping device, the third connecting structure and the fourth connecting structure provide the loading force in the second direction for the gecko bionic material pad, so that balanced load can be realized in the second direction for the gecko bionic material pad, and the whole structure is more compact.
In one embodiment, the third connection structure and the fourth connection structure are configured to provide a thrust loading force in the second direction to the gecko biomimetic material pad.
In one embodiment, the first connection structure is rotatably connected with the bracket, and the second connection structure is an elastic structure.
In one embodiment, the telescopic range of the first connection structure is adjustable.
In one embodiment, the first connection structure comprises: a first lever; a threaded second rod; and a sleeve with threads, which is sleeved on the first rod and the second rod, and can slide relative to the first rod to adjust the expansion range of the first connecting structure, wherein the second rod is connected with the sleeve through threaded fit, and the second rod is used for limiting the sliding range of the first rod in the sleeve.
In one embodiment, a first hole is provided at one end of the first rod, a stop is provided at the other end of the first rod to limit sliding of the sleeve, a second hole is provided at one end of the second rod, and the first connection structure further includes two pivots respectively inserted into the first hole of the first rod and the second hole of the second rod and connected to the bracket and the gecko biomimetic material pad.
In one embodiment, the first connecting structure further comprises a first fixing nut sleeved on the second rod to lock the relative position between the second rod and the sleeve.
In one embodiment, the third and fourth connection structures are configured to be adjustable in position on the bracket along the first direction.
In one embodiment, one or both of the third connection structure and the fourth connection structure comprises: a point contact; and an adjustment member configured to move the point contact member to point contact with a corresponding side of the gecko biomimetic material pad.
In one embodiment, the point contact is a ball stud.
Another aspect of the application provides a robotic gripper comprising a gripping device as described in any one of the above embodiments.
A further aspect of the application provides a robot comprising a robot jaw as described above.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a side view of a clamping device according to an embodiment of the application.
Fig. 2 is a perspective view of a clamping device (without a bracket) according to an embodiment of the application.
Fig. 3 is a view from the bottom of the clamping device in fig. 2.
Fig. 4 is a perspective view of a first connection structure according to an embodiment of the present application.
Fig. 5 is a cross-sectional view of the first connection structure of fig. 4.
Fig. 6 is an enlarged partial schematic view at a in fig. 3 according to an embodiment of the present application.
Fig. 7 is a sectional view taken along line B-B in fig. 3.
Fig. 8 is an enlarged partial schematic view at C in fig. 7.
Fig. 9 is a perspective view of a clamping assembly according to an embodiment of the application.
Fig. 10 is a side view of a clamping assembly according to an embodiment of the application.
Fig. 11 is a schematic structural view of a robot according to an embodiment of the present application.
Reference numerals:
100. clamping device
101. Gecko bionic material pad
102. First connecting structure
103. Second connecting structure
104. Third connecting structure
105. Fourth connecting structure
106. Bracket
107. Groove(s)
111. A first surface
112. A second surface
200. First connecting structure
201. First rod
202. Second rod
203. Threaded sleeve
204. Pivot shaft
205. First fixing nut
211. A first hole
212. Stop block
213. Second hole
301. Point contact
302. Adjusting piece
303. Second fixing nut
400. Clamping assembly
401. Guide rail
500. Robot
501. Connecting arm
502. Joint
503. Robot gripping jaw.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.
Referring now to fig. 1-3, a clamping device 100 in accordance with an embodiment of the present application is illustrated. Fig. 1 is a side view of a clamping device according to an embodiment of the present application, fig. 2 is a perspective view of the clamping device according to an embodiment of the present application, and fig. 3 is a view from the bottom of the clamping device in fig. 2. Wherein the clamping device of fig. 2 and 3 omits the bracket portion for convenience and clarity of illustration of the various components.
As shown in fig. 1-3, a clamping device 100 is provided that can be attached to or detached from an article to be clamped to perform clamping, transporting, and releasing operations. The clamping device 100 includes: a carriage 106; a gecko biomimetic material pad 101 having a first surface 111, the first surface 111 having a directional dry bonding structure; a first connection structure 102 connecting the bracket 106 and a first side (e.g., an upper side in a direction X in fig. 1) of the gecko biomimetic material pad 101, wherein the first connection structure 102 is retractable; and a second connection structure 103 disposed opposite to the first connection structure 102, connecting the bracket 106 and a second side (e.g., a lower side in a direction X in fig. 1) of the gecko biomimetic material pad 101. The first connection structure 102 and the second connection structure 103 are configured to cooperate to provide a loading force in a first direction (X-direction) to the gecko biomimetic material pad 101, which loading force in the first direction can be used to activate the directional dry bonding structure of the gecko bonding material pad 101.
In the gecko biomimetic material pad 101, the first surface 111 may have a predetermined area of releasable adhesive material. For example, as such a releasable adhesive material, a directional dry adhesive structure with a plurality of micro wedges (hereinafter also referred to as a micro wedge structure) may be employed, and adhesion and release to an object to be held are achieved by controlling the micro wedges. Hereinafter, a micro-wedge structure will be described as an example. For example, the bonding material of the micro-wedge structure may be made of a rubber material having a low surface energy (e.g., a silicone material such as PDMS silicone). In general, the micro-wedge structure is straight, such that in a default state, the contact surface of the micro-wedge structure with the surface of the object to be clamped only comprises the tip of the micro-wedge structure. Because of the small contact surface area between the micro-wedge structure and the surface of the object, the first surface 111 does not adhere to the surface of the object. While during clamping, the micro-wedge structure of the gecko biomimetic material pad 101 is bent by a preloading operation, which significantly increases the contact area between the micro-wedge structure and the surface of the object, whereby the adhesive material is activated and can adhere to the surface of the object.
Further, a more detailed description of the gecko biomimetic material pad 101 and the micro-wedge structure loading principle can be found in the inventor's patent documents "opposing, controllable gecko biomimetic gripper system with expandable manufacturability" (CN 110769988A) and "robot and gripper with synthetic fiber glue" (CN 110730707B).
Thus, by configuring the first connection structure 102 and the second connection structure 103 to cooperate to provide a loading force in a first direction (X-direction) to the gecko biomimetic material pad 101, a balanced load in the first direction (X-direction) can be achieved for the gecko biomimetic material pad 101. Further, by making the first connection structure 102 stretchable, the occurrence of twisting in the gecko biomimetic material pad 101 can be avoided.
In particular, in some embodiments, the first connection structure 102 is rotatably connected with the carriage 106, and the second connection structure 103 is a resilient structure. By such a configuration, when the gecko biomimetic material pad 101 is moved up and down in the third direction (Z direction) as needed, the first connection structure 102 can be moved accordingly, so that the gecko biomimetic material pad 101 can realize a small movement in the third direction (Z direction) and a small swing in the first direction (X direction), thereby allowing the gecko biomimetic material pad 101 to be easily attached to the surface of an object to be grasped. In some embodiments, the second connecting structure 103 is, for example, an elastomer or a spring, or may also be a membrane structure, the specific material of which may vary depending on the desired performance characteristics.
Further, the clamping device 100 further comprises a third connecting structure 104 and a fourth connecting structure 105, wherein the third connecting structure 104 and the fourth connecting structure 105 are connected with the bracket 106 and are respectively arranged on a third side and a fourth side opposite to the gecko biomimetic material pad 101. For example, the third connection structure 104 is disposed on a third side (e.g., the right side along the direction Y in fig. 3) of the gecko-like material pad 101, and the fourth connection structure 105 is disposed on a fourth side (e.g., the left side along the direction Y in fig. 3) of the gecko-like material pad 101.
Further, the third connection structure 104 and the fourth connection structure 105 are configured to be adjustable into contact with the third side and the fourth side of the gecko biomimetic material pad 101 to provide a loading force in a second direction (Y-direction) to the gecko biomimetic material pad 101, wherein the second direction (Y-direction) is perpendicular to the first direction (X-direction).
Further, the third connection structure 104 and the fourth connection structure 105 may be configured to provide a thrust loading force in the second direction to the gecko biomimetic material pad 101, described in detail below. Alternatively, the third connection structure 104 and the fourth connection structure 105 may be configured to provide a pulling force loading force in the second direction to the gecko biomimetic material pad 101, e.g., the third connection structure 104 and the fourth connection structure 105 may be connected to the gecko biomimetic material pad 101 in the second direction (Y direction) and pull the gecko biomimetic material pad 101 as needed to provide a pulling force loading force in the second direction.
Thus, by having the third connection structure 104 and the fourth connection structure 105 provide the gecko-like material pad 101 with a loading force in the second direction (Y direction), a balanced load in the second direction (Y direction) for the gecko-like material pad 101 can be achieved and the overall structure of the clamping device 100 can be made more compact. Further, by configuring the third connection structure 104 and the fourth connection structure 105 to be adjustable into contact with the third side and the fourth side of the gecko biomimetic material pad 101, the third connection structure 104 and the fourth connection structure 105 can be adjusted in position with respect to the gecko biomimetic material pad 101 as needed, one or both of the third connection structure 104 and the fourth connection structure 105 can abut against the gecko biomimetic material pad 101 when a thrust loading force in the second direction (Y direction) needs to be provided, and separate from the gecko biomimetic material pad 101 when the gecko biomimetic material pad 101 needs to be moved up and down in the third direction (Z direction) without causing interference. For example, when the clamping device 100 is used for grabbing an object, if only the grabbed object needs to be lifted upwards, the third connecting structure 104 and the fourth connecting structure 105 are not required to provide the loading force in the second direction (Y direction) for the gecko-shaped bionic material pad 101, and the third connecting structure 104 and the fourth connecting structure 105 can be adjusted so as not to contact the gecko-shaped bionic material pad 101; if the object to be grabbed is required to move in a plane perpendicular to the lifting direction (e.g. move in the second direction), the third connection structure 104 and the fourth connection structure 105 are required to provide the gecko-like material pad 101 with a loading force in the second direction (Y direction), and the third connection structure 104 and the fourth connection structure 105 may be adjusted to be in contact with the gecko-like material pad 101.
Further, the third connection structure 104 and the fourth connection structure 105 can be simultaneously abutted against the gecko-shaped biomimetic material pad 101, and thus a thrust loading force is applied on the opposite side of the gecko-shaped biomimetic material pad 101 in the second direction (Y direction) as required, whereby a shearing force can be generated in the second direction (Y direction), and real-time and directional accuracy of the shearing force application in the second direction (Y direction) are ensured.
Although in the above examples, the gecko biomimetic material pad 101 is illustrated as an example, it should be appreciated that the clamping device 100 may also include other structures, such as pad portions, flexible layers, structural frames, adapting structures, etc., disposed on the gecko biomimetic material pad 101 to form a Glue Assembly (GA). The glue assembly can likewise achieve the above-mentioned technical effect by providing a surface consisting of releasable adhesive material on one side. In addition, the first connection structure 102, the second connection structure 103, the third connection structure 104, and the fourth connection structure 105 may be connected to other structures or layers of the glue assembly as long as the loading force can be transferred to the gecko biomimetic material pad 101 in the first direction (X direction) or the second direction (Y direction).
Referring now to fig. 4-5, a first connection structure 200 according to an embodiment of the present application will be described. Fig. 4 is a perspective view of a first connection structure 200 according to an embodiment of the present application, and fig. 5 is a sectional view of the first connection structure 200 in fig. 4.
As shown in fig. 4 to 5, the first connection structure 200 according to an embodiment of the present application includes: a first lever 201; a threaded second rod 202; a threaded sleeve 203 is sleeved on the first rod 201 and the second rod 202 and can slide relative to the first rod 201 to adjust the telescopic range of the first connecting structure 200, wherein the second rod 202 is connected with the sleeve 203 through a threaded fit, and the second rod 202 is used for limiting the sliding range of the first rod 201 in the sleeve 203.
Further, in some embodiments, a first hole 211 is provided at one end of the first rod 201. At the other end of the first rod 201, a stopper 212 is provided to limit the sliding of the sleeve 203. At one end of the second rod 202, a second hole 213 is provided. The first connection structure 200 further includes two pivots 204 inserted into the first hole 211 of the first rod 201 and the second hole 213 of the second rod 202, respectively, and connected to the bracket 106 and the gecko biomimetic material pad 101 described above. The first connection structure 200 is connected to the bracket 106 and the gecko biomimetic material pad 101 by a pivot 204 such that the first connection structure 200 can rotate relative to the bracket 106 and the gecko biomimetic material pad 101, respectively.
Further, in some embodiments the first connection structure 200 further comprises a first fixation nut 205 that is sleeved on the second rod 202 in order to lock the relative position between the second rod 202 and the sleeve 203.
The first connection structure 200 of the present embodiment uses a telescopic rod type structure, which makes it easier to mass manufacture and assemble, and also facilitates the size expansion of similar structures, as compared to conventional tendon type gecko material activation devices.
Next, a third connection structure according to an embodiment of the present application will be described with reference to fig. 3 and fig. 6 to 8. Fig. 6 is a partially enlarged schematic illustration of fig. 3 a, fig. 7 is a sectional view taken along line B-B of fig. 3, and fig. 8 is a partially enlarged schematic illustration of fig. 7C, according to an embodiment of the application.
As shown in fig. 3 and 6-8, according to an embodiment of the present application, a third connection structure 104 is disposed on a third side of the gecko-shaped material pad 101, and a fourth connection structure 105 is disposed on a fourth side of the gecko-shaped material pad 101. Further, in some embodiments, the third connection structure 104 and the fourth connection structure 105 are configured to be adjustable in position along the first direction (X-direction) on the carriage 106. For example, a slot 107 (as shown in fig. 1 and 9) may be provided on the carriage 106 such that the third and fourth connection structures 104, 105 can be adjusted in position along the slot 107. Specifically, as shown in fig. 1 and 9, the third connection structure 104 or the fourth connection structure 105 may be fixed at one end to a groove 107 in the carriage 106, for example, by a nut. When it is desired to adjust the position of the third connection structure 104 or the fourth connection structure 105, the nut may be loosened and the third connection structure 104 or the fourth connection structure 105 slid along the groove 107 and the nut re-tightened in place to lock.
It should be noted that in the description herein, the description is specifically given with an example of the third connection structure, but the third connection structure and the fourth connection structure may have the same or similar structures. In addition, the number of each of the third connection structure and the fourth connection structure is not limited to one, and a plurality of third connection structures or fourth connection structures may be provided on the respective sides of the gecko-like material pad 101 according to the shape design of the gecko-like material pad 101. In addition, the third connection structure and the fourth connection structure may be symmetrically or asymmetrically distributed at both sides of the gecko biomimetic material pad 101.
Further, in some embodiments, the third connection structure 104 includes: a point contact 301; and an adjustment member 302 configured to move the point contact member 301 to be in point contact with the corresponding side surface of the gecko biomimetic material pad 101. In addition, the third connection structure 104 may further include a second fixing nut 303 for fixing the distance between the point contact 301 and the gecko biomimetic material pad 101. Alternatively, the point contact 301 is a ball stud.
Thus, the third connection structure 104 (and likewise, the fourth connection structure 105) may be made of a rigid material, such as metal, to greatly reduce elongation under load. In addition, since the third connection structure 104 is separate from the gecko biomimetic material pad 101, the third connection structure 104 is used only when the gecko biomimetic material pad 101 requires a lateral force. And when no lateral force is needed, the third connecting structure 104 can be in point contact with the gecko bionic material pad 101 and even further separated from contact, thereby eliminating buckling effect problems. Further, the spherical point contact 301 can ensure that the pushing force exerted on the gecko biomimetic material pad 101 is perpendicular to the contacted surface, i.e. along the second direction (Y direction). Alternatively, the position of the third connection structure 104 relative to the gecko biomimetic material pad 101 in the third direction (Z direction) may be made adjustable, such that the pushing force can be exerted on the gecko biomimetic material pad 101 at different positions in the third direction (Z direction) as desired. In this way, the pushing force does not create additional force components in other directions that would otherwise distort or lift or undesirably rotate the gecko biomimetic material pad 101.
Referring now to fig. 9-10, a clamp assembly in accordance with an embodiment of the present application will be described. Fig. 9 is a perspective view of a clamping assembly according to an embodiment of the present application, and fig. 10 is a side view of the clamping assembly according to an embodiment of the present application.
The clamping assembly 400 may include the clamping device 100 described in any of the embodiments above. As shown in fig. 9-10, the clamping assembly 400 may include two clamping devices 100, each clamping device 100 may include: a bracket; the gecko bionic material pad is provided with a first surface, and the first surface is provided with a directional drying and bonding structure; a first connection structure connecting the bracket and a first side of the gecko biomimetic material pad, wherein the first connection structure is retractable; and a second connection structure disposed opposite the first connection structure, connecting the bracket and a second side of the gecko biomimetic material pad. The first connection structure and the second connection structure are configured to cooperate to provide a loading force in a first direction to the gecko biomimetic material pad.
In addition, the clamping device 100 may further comprise a third connection structure and a fourth connection structure. The third connection structure and the fourth connection structure are connected with the bracket and are respectively arranged on a third side and a fourth side which are opposite to each other of the gecko bionic material pad, and the third connection structure and the fourth connection structure are configured to be adjustable to be in contact with the third side and the fourth side of the gecko bionic material pad so as to provide loading force on a second direction to the gecko bionic material pad, wherein the second direction is perpendicular to the first direction.
In the clamping assembly 400 described above, by configuring the first and second connection structures to cooperate to provide a loading force in a first direction to the gecko biomimetic material pad, a balanced load in the first direction can be achieved for the gecko biomimetic material pad. In addition, by making the first connection structure stretchable, the occurrence of twisting in the gecko biomimetic material pad can be avoided. Further, by enabling the third connection structure and the fourth connection structure to provide the gecko biomimetic material pad with a loading force in the second direction, a balanced load in the second direction can be achieved for the gecko biomimetic material pad, and the whole structure is made more compact.
In addition, as shown in fig. 9 to 10, in the clamping assembly 400 according to an embodiment of the present application, two clamping devices 100 are connected in series by a guide rail 401. Thereby, by sliding the two clamping devices 100 along the guide rail 401, the positions of the two clamping devices 100 relative to each other can be changed, and the outer shape of the object to be clamped can be adaptively fitted.
Further, the direction of the oriented dry adhesive structure of one of the two or more clamping devices 100 is different from the direction of the oriented dry adhesive structure of the other of the two or more clamping devices 100. Thereby, the adhesion of the clamping device 100 to the object can be enhanced. For example, in the case of two clamping devices 100, their directions of oriented dry adhesive construction are opposite (e.g., both point toward the center).
Referring now to fig. 11, a robotic gripper and robot according to an embodiment of the application will be described. Fig. 11 is a schematic structural view of a robot according to an embodiment of the present application. As shown, the robot 500 may include a plurality of connecting arms 501, with each two connecting arms 501 being pivotably connected by a respective joint 502. The robot 500 further comprises a robot jaw 503, one end of the robot jaw 503 being connected to a corresponding connecting arm 501, while at the other end of the robot jaw 503, a clamping device 100 or a clamping assembly 400 as described above is provided. Thus, the robot 500 may be used to grasp or capture objects. It should be appreciated by those of ordinary skill in the art that the structure shown in fig. 11 is merely an exemplary embodiment of the robot 500. In other embodiments, robot 500 may include more or fewer components, such as additional connecting arms and end effectors. Some components (e.g., two or more connecting arms) may be combined, and different or additional types of components than those depicted may be employed. For example, the robot may also include I/O devices, network access devices, communication buses, processors, memory, actuators, and sensors to enable control of the system. For example, robot 500 may include a processor and a memory storing instructions that, when executed by the processor, cause the processor to implement a control system. The memory may also store instructions that, when executed by the processor, cause the processor to activate or deactivate the robotic gripper 503 in order to capture or release an object to be grasped.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two unless explicitly defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (13)
1. A clamping device, comprising:
a bracket;
a gecko biomimetic material pad having a first surface with a directional dry bonding structure comprising a plurality of micro wedges;
a first connection structure connecting the bracket and a first side of the gecko biomimetic material pad in a first direction, wherein the first connection structure is a telescopic rod type structure; and
a second connection structure disposed opposite to the first connection structure, connecting the bracket and the second side of the gecko biomimetic material pad in the first direction, the second connection structure being an elastic structure,
wherein the first connection structure and the second connection structure are configured to cooperate to provide a loading force in the first direction to the gecko biomimetic material pad for activating the directional drying adhesive structure.
2. The clamping device as recited in claim 1, further comprising a third connection structure and a fourth connection structure, the third connection structure and the fourth connection structure being connected to the bracket and being disposed on opposite third and fourth sides of the gecko biomimetic material pad, respectively,
the third connection structure and the fourth connection structure are configured to be adjustable into contact with the third side and the fourth side of the gecko biomimetic material pad to provide a loading force in a second direction to the gecko biomimetic material pad, wherein the second direction is perpendicular to the first direction.
3. The clamping device of claim 2, wherein the third and fourth connection structures are configured to provide a thrust loading force in the second direction to the gecko biomimetic material pad.
4. The clamping device as recited in claim 1, characterised in that said first connection structure is rotatably connected with said bracket.
5. The clamping device of claim 4, wherein the extent of expansion of the first connection is adjustable.
6. The clamping device of claim 5, wherein the first connection structure comprises:
a first lever;
a threaded second rod; and
the sleeve with threads is sleeved on the first rod and the second rod and can slide relative to the first rod so as to adjust the telescopic range of the first connecting structure, wherein the second rod is connected with the sleeve through threaded fit, and the second rod is used for limiting the sliding range of the first rod in the sleeve.
7. The clamping device as claimed in claim 6, characterized in that at one end of the first rod a first hole is provided, at the other end of the first rod a stop is provided to limit the sliding of the sleeve,
a second hole is arranged at one end of the second rod,
the first connection structure further includes two pivots inserted into the first hole of the first rod and the second hole of the second rod, respectively, and connected to the bracket and the gecko biomimetic material pad.
8. The clamping device of claim 6, wherein the first connection structure further comprises a first securing nut that is sleeved on the second rod to lock a relative position between the second rod and the sleeve.
9. The clamping device of claim 2, wherein the third and fourth connection structures are configured to be adjustable in position on the bracket along the first direction.
10. The clamping device of claim 2, wherein one or both of the third and fourth connection structures comprise:
a point contact; and
and an adjustment member configured to move the point contact member to point contact with a corresponding side surface of the gecko biomimetic material pad.
11. The clamping device of claim 10, wherein the point contact is a ball stud.
12. A robotic gripper characterized in that it comprises a gripping device according to any one of claims 1 to 11.
13. A robot characterized by comprising a robot jaw according to claim 12.
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