CN113954117A - Self-adaptive mechanical claw based on Van der Waals force and friction force - Google Patents
Self-adaptive mechanical claw based on Van der Waals force and friction force Download PDFInfo
- Publication number
- CN113954117A CN113954117A CN202111257489.7A CN202111257489A CN113954117A CN 113954117 A CN113954117 A CN 113954117A CN 202111257489 A CN202111257489 A CN 202111257489A CN 113954117 A CN113954117 A CN 113954117A
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- Prior art keywords
- clamping
- angle adjusting
- pad
- elastic
- dry adhesion
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- 238000005411 Van der Waals force Methods 0.000 title claims abstract description 22
- 210000000078 claw Anatomy 0.000 title claims abstract description 15
- 230000000712 assembly Effects 0.000 claims abstract description 4
- 238000000429 assembly Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 44
- 230000003044 adaptive effect Effects 0.000 claims description 8
- 230000001788 irregular Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000010062 adhesion mechanism Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000000274 adsorptive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a self-adaptive mechanical claw based on Van der Waals force and friction force, which comprises a rotating base, two clamping jaw bodies connected to the rotating base, an elastic component connected to the clamping end of one clamping jaw body and a plurality of dry adhesion components connected to the clamping end of the other clamping jaw body. The clamping structure of the traditional mechanical claw is changed, the adhesion pad is adopted to extrude one surface of the to-be-clamped piece to generate van der Waals force, the other surface of the to-be-clamped piece is clamped by means of elasticity and friction force of the elastic assembly, the to-be-clamped piece is subjected to dry adhesion by the clamping jaw body through the van der Waals force, the to-be-clamped piece is driven by the rotating base to realize rotating operation, and accordingly the clamping structure is independent of clamping force of the traditional mechanical clamping jaw. Meanwhile, the angle of the dry adhesion assemblies can be adjusted according to the irregular clamping surface of the piece to be clamped, so that the adhesion pad of each dry adhesion assembly can be completely adhered to the clamping surface of the piece to be clamped, and the purpose of stable clamping is achieved.
Description
Technical Field
The invention relates to the field of robots, in particular to a self-adaptive mechanical claw based on Van der Waals force and friction force.
Background
With the gradual development of the robot technology, the field that the robot can replace the human work is more and more. In the field of electric power, mechanical claws are more widely used to operate switch buttons instead of human. However, conventional mechanical claws tend to have several problems: firstly, most of the existing mechanical claws are used for clamping objects with regular outer surfaces, for example, the chinese patent CN105563377B discloses a mechanical claw which is only suitable for clamping sheet metal objects with regular shapes; secondly, the operation of the mechanical claw completely depends on strong mechanical locking based on friction, for example, the Chinese patent CN106142116B discloses a translational speed-changing mechanical claw which completely depends on the clamping force of clamping jaws at two sides on an object when clamping the object; thirdly, pure adhesion materials cannot meet the requirement of applying larger grabbing force, for example, the chinese patent CN106564629A discloses a space on-orbit capturing device based on bionic gecko dry adhesion materials, and the chinese patent CN110125941B discloses a variable-scale driving bionic dry adhesion mechanism, both rely on van der waals force-based dry adhesion effect to adhere objects, and cannot provide larger grabbing force.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a self-adaptive mechanical claw based on Van der Waals force and friction force, which can grab and operate an irregular piece to be clamped, does not depend on the clamping force of a clamping jaw, and has wider applicability.
The technical scheme of the invention is as follows:
a self-adaptive mechanical claw based on Van der Waals force and friction force comprises a rotating base, two clamping jaw bodies connected to the rotating base, an elastic component connected to the clamping end of one clamping jaw body and a plurality of dry adhesion components connected to the clamping end of the other clamping jaw body;
the elastic assembly comprises an elastic guide base, an elastic guide shaft, a spring and a clamping pad, the elastic guide base is fixed on the clamping end of the corresponding clamping jaw main body, the inner end part of the elastic guide shaft is inserted on the elastic guide base, the spring is sleeved on the periphery of the elastic guide shaft, the inner end of the spring is fixedly connected with the elastic guide base, the outer end of the spring is fixedly connected with the outer end of the elastic guide shaft, and the clamping pad is fixed on the outer end of the elastic guide shaft;
each dry adhesion assembly comprises a transmission guide base, a transmission shaft, guide springs, an angle adjusting seat, a dry adhesion pad and two angle adjusting springs, wherein the transmission guide base is fixed on the clamping end of the corresponding clamping jaw main body, the inner end part of the transmission shaft is inserted into a guide sleeve in the middle of the transmission guide base, the guide springs are sleeved on the periphery of the transmission shaft, the inner ends of the guide springs are fixedly connected with the guide sleeve of the transmission guide base, the outer ends of the springs are fixedly connected with the outer end of the transmission shaft, the middle part of the angle adjusting seat is hinged on the outer end of the transmission shaft, the dry adhesion pad is fixed on the outer end face of the angle adjusting seat, and of the two angle adjusting springs, the two ends of one angle adjusting spring are respectively fixedly connected with one end of the transmission guide base and one end of the angle adjusting seat, and the two ends of the other angle adjusting spring are respectively fixedly connected with the other end of the transmission guide base, The other end of the angle adjusting seat is fixedly connected;
when the two clamping jaw bodies clamp the to-be-clamped piece, the elastic component on one clamping jaw body extrudes one surface of the to-be-clamped piece, and the dry adhesion pads of the dry adhesion components on the other clamping jaw body are extruded and adhered to the other surface of the to-be-clamped piece.
The clamping end parts of the two clamping jaw bodies are parallel and opposite to each other.
The clamping pad of the elastic assembly is a hemispherical rubber pad, the hemispherical surface of the clamping pad faces outwards, and the circular plane of the clamping pad is fixed on the outer end of the elastic guide shaft.
The dry adhesion assemblies are distributed in one row or multiple rows.
The dry adhesion pad comprises a supporting pad and wedge-shaped bristle bundles fixed on the supporting pad, the inner end face of the supporting pad is fixed on the outer end face of the angle adjusting seat, the wedge-shaped bristle bundles are fixed on the outer end face of the supporting pad, and the inclined faces of the wedge-shaped bristle bundles face towards the same direction.
The two ends of the transmission guide base and the two ends of the angle adjusting seat are respectively provided with a spring connecting lug plate, and the two ends of the angle adjusting spring are respectively connected with the corresponding spring connecting lug plates in a locking mode.
The middle part of the inner end face of the angle adjusting seat is provided with a U-shaped hinged seat, the shortest connecting line between two vertical parts of the U-shaped hinged seat is perpendicular to the axis between two ends of the angle adjusting seat, and the outer end of the transmission shaft is hinged to the U-shaped hinged seat through a pin shaft.
The invention has the advantages that:
the clamping structure of the traditional mechanical claw is changed, one surface of the to-be-clamped piece is clamped by means of elasticity and friction force of the elastic component, the other surface of the to-be-clamped piece is extruded by the dry adhesion pad to generate van der Waals force, the to-be-clamped piece is subjected to dry adhesion by the clamping jaw body through the van der Waals force, the to-be-clamped piece is driven by the rotating base to achieve rotating operation, and accordingly the clamping structure is independent of clamping force of the traditional mechanical clamping jaw. Meanwhile, the angle of the dry adhesion assemblies can be adjusted according to the irregular clamping surface (plane, convex surface or concave surface) of the piece to be clamped, so that the dry adhesion pad of each dry adhesion assembly can be completely adhered to the clamping surface of the piece to be clamped, and the purpose of stable clamping is realized.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of the construction of the elastic member of the present invention.
Fig. 3 is an exploded view of a dry-stick assembly of the present invention.
Fig. 4 is a schematic structural diagram of the concave switch of the present invention.
FIG. 5 is a schematic view of a clamped convex switch according to the present invention.
FIG. 6 is a schematic diagram of a dry pad switch according to the present invention.
Fig. 7 is a schematic view of the rotary unloading structure of the present invention.
Reference numerals: 1-a rotating base, 2-a clamping jaw body, 3-an elastic assembly, 4-a dry adhesion assembly, 5-a switch, 31-an elastic guide base, 32-an elastic guide shaft, 33-a spring, 34-a clamping pad, 41-a transmission guide base, 42-a transmission shaft, 43-a guide spring, 44-an angle adjusting base, 45-a dry adhesion pad, 46-an angle adjusting spring, 47-a guide sleeve, 48-a U-shaped hinged base, 49-a spring connecting lug plate and 410-a pin shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an adaptive mechanical gripper based on van der waals force and friction force comprises a rotating base 1, two clamping jaw bodies 2 connected to the rotating base 1, an elastic component 3 connected to a clamping end of one clamping jaw body 2 and three dry adhesion components 4 connected to a clamping end of the other clamping jaw body 2, wherein the clamping ends of the two clamping jaw bodies 2 are parallel and opposite to each other, and the three dry adhesion components 4 are arranged in a row;
referring to fig. 2, the elastic assembly 3 includes an elastic guide base 31, an elastic guide shaft 32, a spring 33 and a clamping pad 34, the elastic guide base 31 is fixed on the clamping end of the corresponding jaw body 2, the inner end of the elastic guide shaft 32 is inserted on the elastic guide base 31, the spring 33 is sleeved on the periphery of the elastic guide shaft 32, the inner end of the spring 33 is fixedly connected with the elastic guide base 31, the outer end of the spring 33 is fixedly connected with the outer end of the elastic guide shaft 32, the clamping pad 34 is a hemispherical rubber pad, the hemispherical surface of the clamping pad 34 faces outwards, and the circular plane of the clamping pad 34 is fixed on the outer end of the elastic guide shaft 33;
referring to fig. 3, each dry adhesion assembly 4 comprises a transmission guide base 41, a transmission shaft 42, a guide spring 43, an angle adjusting seat 44, a dry adhesion pad 45 and two angle adjusting springs 46, the transmission guide base 41 is fixed on the clamping end of the corresponding clamping jaw body 2, the inner end of the transmission shaft 42 is inserted into a guide sleeve 47 in the middle of the transmission guide base 41, the guide spring 43 is sleeved on the periphery of the transmission shaft 42, the inner end of the guide spring 43 is fixedly connected with the guide sleeve 47 of the transmission guide base, the outer end of the spring 43 is fixedly connected with the outer end of the transmission shaft 42, a U-shaped hinge seat 48 is arranged in the middle of the inner end face of the angle adjusting seat 44, the shortest connecting line between the two vertical parts of the U-shaped hinge seat 48 is perpendicular to the axis between the two ends of the angle adjusting seat 44, the outer end of the transmission shaft 43 is hinged on the U-shaped hinge seat 48 through a pin 410, the dry adhesion pad 45 is fixed on the outer end face of the angle adjusting seat 44, spring connecting lug plates 49 are respectively arranged on two ends of the transmission guide base 41 and two ends of the angle adjusting seat 44, in the two angle adjusting springs 46, two ends of one angle adjusting spring 46 are respectively and fixedly connected with the spring connecting lug plate 49 on one end of the transmission guide base 41 and the spring connecting lug plate 49 on one end of the angle adjusting seat 44, and two ends of the other angle adjusting spring 46 are respectively and fixedly connected with the spring connecting lug plate 49 on the other end of the transmission guide base 41 and the spring connecting lug plate 49 on the other end of the angle adjusting seat 44; the transmission shaft 42 axially moves in the guide sleeve 47 of the transmission guide base 41, the guide spring 43 provides reverse elasticity for pressing the dry adhesion pad 45 to the transmission shaft 42, and meanwhile, the middle part of the angle adjusting seat 44 is hinged to the outer end of the transmission shaft 42, so that the angle adjusting seat 44 can rotate to realize angle adjustment, the dry adhesion pad 45 can be attached to switches 5 (see fig. 4 and 5) with different curved surfaces, and the adsorption effect is ensured;
referring to fig. 6, the dry adhesive pad 45 includes a support pad 451 and wedge-shaped bristle bundles 452 fixed to the support pad 451, an inner end surface of the support pad 451 is fixed to an outer end surface of the angle adjusting base 44, the wedge-shaped bristle bundles 452 are fixed to the outer end surface of the support pad 451, and inclined surfaces of the wedge-shaped bristle bundles 452 face the same direction;
referring to fig. 6 and 7, when the two jaw bodies 2 clamp the switch 5, the elastic component 3 on one of the jaw bodies 2 presses one surface of the switch 5, and the dry adhesion pads of the three dry adhesion components on the other jaw body press and adhere to the other surface of the switch 5, that is, the wedge-shaped bristle bundles 452 are bent to increase the contact area between the wedge-shaped bristle bundles 452 and the surface to be adhered to the switch 5, so as to generate sufficient van der waals force, that is, normal adhesion force, thereby achieving the adsorptive clamping. When the rotating base rotates by 90 degrees, the clamping jaw body adsorbs and clamps the switch 5 through Van der Waals force and friction force, so that the switch 5 synchronously rotates by 90 degrees to be opened or closed, at the moment, the inclined surfaces of the wedge-shaped bristle bundles of the dry adhesion pads are tightly attached to the surface to be adhered of the switch 5, and the outermost ends of the wedge-shaped bristle bundles of the dry adhesion pads are upward; during unloading, the two jaw bodies 42 are opened, the clamping pad 34 of the elastic component 3 does not extrude the switch 5 any more, and the rotating base 41 and the two jaw bodies 42 simultaneously move upwards synchronously to drive the dry adhesion pad 45 to move upwards, at the moment, the inner end of the wedge-shaped rigid hair bundle 452 of the dry adhesion pad is pulled upwards, so that the wedge-shaped rigid hair bundle 452 is reset, the contact area of the wedge-shaped rigid hair bundle 452 and the switch 3 is reduced, van der waals force is lost, and the separation and unloading operation of the self-adaptive mechanical jaw and the switch 5 is realized.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. An adaptive mechanical claw based on Van der Waals force and friction force, which is characterized in that: comprises a rotary base, two clamping jaw bodies connected on the rotary base, an elastic component connected on the clamping end of one clamping jaw body and a plurality of dry adhesion components connected on the clamping end of the other clamping jaw body;
the elastic assembly comprises an elastic guide base, an elastic guide shaft, a spring and a clamping pad, the elastic guide base is fixed on the clamping end of the corresponding clamping jaw main body, the inner end part of the elastic guide shaft is inserted on the elastic guide base, the spring is sleeved on the periphery of the elastic guide shaft, the inner end of the spring is fixedly connected with the elastic guide base, the outer end of the spring is fixedly connected with the outer end of the elastic guide shaft, and the clamping pad is fixed on the outer end of the elastic guide shaft;
each dry adhesion assembly comprises a transmission guide base, a transmission shaft, guide springs, an angle adjusting seat, a dry adhesion pad and two angle adjusting springs, wherein the transmission guide base is fixed on the clamping end of the corresponding clamping jaw main body, the inner end part of the transmission shaft is inserted into a guide sleeve in the middle of the transmission guide base, the guide springs are sleeved on the periphery of the transmission shaft, the inner ends of the guide springs are fixedly connected with the guide sleeve of the transmission guide base, the outer ends of the springs are fixedly connected with the outer end of the transmission shaft, the middle part of the angle adjusting seat is hinged on the outer end of the transmission shaft, the dry adhesion pad is fixed on the outer end face of the angle adjusting seat, and of the two angle adjusting springs, the two ends of one angle adjusting spring are respectively fixedly connected with one end of the transmission guide base and one end of the angle adjusting seat, and the two ends of the other angle adjusting spring are respectively fixedly connected with the other end of the transmission guide base, The other end of the angle adjusting seat is fixedly connected;
when the two clamping jaw bodies clamp the to-be-clamped piece, the elastic component on one clamping jaw body extrudes one surface of the to-be-clamped piece, and the dry adhesion pads of the dry adhesion components on the other clamping jaw body are extruded and adhered to the other surface of the to-be-clamped piece.
2. The adaptive mechanical gripper based on Van der Waals force and friction force as claimed in claim 1, wherein: the clamping end parts of the two clamping jaw bodies are parallel and opposite to each other.
3. The adaptive mechanical gripper based on Van der Waals force and friction force as claimed in claim 1, wherein: the clamping pad of the elastic assembly is a hemispherical rubber pad, the hemispherical surface of the clamping pad faces outwards, and the circular plane of the clamping pad is fixed on the outer end of the elastic guide shaft.
4. The adaptive mechanical gripper based on Van der Waals force and friction force as claimed in claim 1, wherein: the dry adhesion assemblies are distributed in one row or multiple rows.
5. The adaptive mechanical gripper based on Van der Waals force and friction force as claimed in claim 1, wherein: the dry adhesion pad comprises a supporting pad and wedge-shaped bristle bundles fixed on the supporting pad, the inner end face of the supporting pad is fixed on the outer end face of the angle adjusting seat, the wedge-shaped bristle bundles are fixed on the outer end face of the supporting pad, and the inclined faces of the wedge-shaped bristle bundles face towards the same direction.
6. The adaptive mechanical gripper based on Van der Waals force and friction force as claimed in claim 1, wherein: the two ends of the transmission guide base and the two ends of the angle adjusting seat are respectively provided with a spring connecting lug plate, and the two ends of the angle adjusting spring are respectively connected with the corresponding spring connecting lug plates in a locking mode.
7. The adaptive mechanical gripper based on Van der Waals force and friction force as claimed in claim 1, wherein: the middle part of the inner end face of the angle adjusting seat is provided with a U-shaped hinged seat, the shortest connecting line between two vertical parts of the U-shaped hinged seat is perpendicular to the axis between two ends of the angle adjusting seat, and the outer end of the transmission shaft is hinged to the U-shaped hinged seat through a pin shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111257489.7A CN113954117B (en) | 2021-10-27 | 2021-10-27 | Self-adaptive mechanical claw based on Van der Waals force and friction force |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111257489.7A CN113954117B (en) | 2021-10-27 | 2021-10-27 | Self-adaptive mechanical claw based on Van der Waals force and friction force |
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| Publication Number | Publication Date |
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| CN113954117A true CN113954117A (en) | 2022-01-21 |
| CN113954117B CN113954117B (en) | 2024-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111257489.7A Active CN113954117B (en) | 2021-10-27 | 2021-10-27 | Self-adaptive mechanical claw based on Van der Waals force and friction force |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115922761A (en) * | 2022-12-28 | 2023-04-07 | 上海航天控制技术研究所 | Magnetic control variable-configuration array self-sensing space adhesion gripping device |
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| KR20180065339A (en) * | 2016-12-07 | 2018-06-18 | 한국콘베어공업 주식회사 | Gripper |
| US20190322451A1 (en) * | 2018-04-18 | 2019-10-24 | Bastian Solutions, Llc | End of arm tool (eoat) for beverage cartons |
| JP2020066084A (en) * | 2018-10-24 | 2020-04-30 | 学校法人早稲田大学 | Gripper |
| CN112223330A (en) * | 2020-08-31 | 2021-01-15 | 重庆大学 | Clamping device |
| CN113070896A (en) * | 2021-04-13 | 2021-07-06 | 中北大学 | Electric-heating driving type soft gripper simulating gecko toes and preparation method thereof |
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2021
- 2021-10-27 CN CN202111257489.7A patent/CN113954117B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150287626A1 (en) * | 2014-04-03 | 2015-10-08 | Asm Ip Holding B.V. | Anti-Slip End Effector For Transporting Workpiece Using Van Der Waals Force |
| CN105364936A (en) * | 2014-08-19 | 2016-03-02 | 通用汽车环球科技运作有限责任公司 | Conformable electroadhesive holding device |
| KR20180065339A (en) * | 2016-12-07 | 2018-06-18 | 한국콘베어공업 주식회사 | Gripper |
| US20190322451A1 (en) * | 2018-04-18 | 2019-10-24 | Bastian Solutions, Llc | End of arm tool (eoat) for beverage cartons |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115922761A (en) * | 2022-12-28 | 2023-04-07 | 上海航天控制技术研究所 | Magnetic control variable-configuration array self-sensing space adhesion gripping device |
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| Publication number | Publication date |
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| CN113954117B (en) | 2024-02-09 |
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