CN115922761B - Magnetic control variable configuration array self-sensing space adhesion grabbing device - Google Patents
Magnetic control variable configuration array self-sensing space adhesion grabbing device Download PDFInfo
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- CN115922761B CN115922761B CN202211699369.7A CN202211699369A CN115922761B CN 115922761 B CN115922761 B CN 115922761B CN 202211699369 A CN202211699369 A CN 202211699369A CN 115922761 B CN115922761 B CN 115922761B
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- 239000010410 layer Substances 0.000 claims abstract description 36
- 239000000853 adhesive Substances 0.000 claims abstract description 17
- 230000001070 adhesive effect Effects 0.000 claims abstract description 16
- 239000012790 adhesive layer Substances 0.000 claims abstract description 6
- 230000005611 electricity Effects 0.000 claims abstract description 4
- 239000007779 soft material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 8
- 238000003795 desorption Methods 0.000 abstract description 6
- 238000012544 monitoring process Methods 0.000 abstract description 6
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- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 238000005411 Van der Waals force Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
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- 238000007667 floating Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
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Abstract
The invention discloses a magnetic control variable configuration array self-sensing space adhesion grabbing device, which comprises: a base and a plurality of grabbing components; each grasping element comprises: an adhesion unit and a magnetic control sliding unit. The adhesion unit includes: an adhesive panel, an electret self-sensing layer and a rotatable ball; an adhesive layer is arranged on the upper surface of the adhesive panel to adhere the target object; the electret self-sensing layer is fixedly arranged on the lower surface of the adhesion panel so as to monitor the grabbing state of the adhesion panel to the target object, and the rotatable ball block is embedded on the lower surface of the electret self-sensing layer. The magnetic control sliding unit comprises: the device comprises a sliding rod, a friction electricity self-sensing layer, an axial electromagnetic unit, a sliding rod spring and a sliding rod sleeve. The magnetic control variable configuration array self-sensing space adhesion grabbing device can adapt to target objects with different shapes and different angles, can realize real-time self-power monitoring of contact force and displacement in the adhesion and desorption processes, and has the advantages of high integration level, small volume and strong adaptability.
Description
Technical Field
The invention belongs to the field of industrial automation control, and particularly relates to a magnetic control variable configuration array self-sensing space adhesion grabbing device.
Background
In recent years, with rapid progress of human science and technology, activities around the earth are increasingly frequent, generated space debris is greatly increased, maintenance tasks of satellites and space stations are also more heavy, and space robots are needed to replace human beings to perform space manipulation tasks.
The space control is to realize effective grabbing of the space target object, and is different from the ground grabbing operation, the space object is in a gravity-free floating state, the space object cannot be grabbed smoothly by the conventional ground operation, and the grabbing state needs to be monitored in real time, so that the grabbing strategy is adjusted. The shape of the object is different, and the gripping device is required to have adaptability to objects of different shapes. The expensive space launching cost needs to be grasped and controlled by the mechanism to meet the requirements of miniaturization and light weight.
Therefore, there is a need to develop a variable configuration space gripping device that can have an adaptive self-sensing function.
Disclosure of Invention
The invention aims to provide a grabbing device suitable for space target objects, which can grab the space target objects from different angles in a weightless state and has universality for the target objects with different shapes.
In order to achieve the above-mentioned purpose, the present invention provides a magnetically controlled variable configuration array self-sensing space adhesion gripping device, which comprises: the base and the plurality of grabbing components are arranged on the base; each grasping element comprises: an adhesion unit and a magnetic control sliding unit;
The adhesion unit includes: an adhesive panel, an electret self-sensing layer and a rotatable ball; an adhesive layer is arranged on the upper surface of the adhesive panel so as to adhere the target object; the electret self-sensing layer is fixedly arranged on the lower surface of the adhesion panel so as to monitor the grabbing state of the adhesion panel on the target object, and the rotatable ball block is embedded on the lower surface of the electret self-sensing layer;
The magnetic control sliding unit comprises: the device comprises a sliding rod, a friction electricity self-sensing layer, an axial electromagnetic unit, a sliding rod spring and a sliding rod sleeve; the sliding rod can move in the sliding rod sleeve along the axial direction; the sliding rod comprises a first end and a second end, the first end of the sliding rod is provided with an arc-shaped sliding groove which is matched with the rotatable ball block, so that the rotatable ball block can rotate in the arc-shaped sliding groove to drive the adhesion panel to rotate so as to adaptively adhere the target object; the triboelectric self-sensing layer is arranged on the outer wall of the sliding rod and is positioned between the sliding rod and the sliding rod groove so as to monitor the motion state and/or the position information of the sliding rod; the axial electromagnetic unit is sleeved on the side wall of the sliding rod and is close to the second end of the sliding rod; one end of the sliding rod spring is fixed at the bottom of the sliding rod sleeve, and the other end of the sliding rod spring is sleeved at the second end of the sliding rod; the sliding rod sleeve is fixed on the base, and a permanent magnet is arranged at the bottom of the sliding rod sleeve and matched with the axial electromagnetic unit so as to pull the sliding rod towards the direction of the base.
Optionally, sliding rod sliding grooves are axially formed in the inner walls of the two opposite sides of the sliding rod sleeve; the sliding rod is also provided with a transverse electromagnetic unit, the transverse electromagnetic unit extends out of the protrusion towards the sliding groove of the sliding rod, and the protrusion is matched with the sliding groove of the sliding rod and used for clamping the sliding rod to prevent the sliding rod from moving.
Optionally, the sliding rod sleeve has a semi-surrounding structure.
Optionally, a plurality of gear teeth are arranged on the sliding rod at intervals along the axial direction; the grabbing component further comprises a self-locking unit; the self-locking unit includes: the self-locking piece, the electromagnetic coil and the self-locking sleeve; the self-locking sleeve is of a semi-surrounding structure and is fixed on the base, is arranged opposite to the sliding rod sleeve, surrounds the sliding rod, and is fixed on the inner wall of the self-locking sleeve far away from the sliding rod and points to the gear teeth; the self-locking sleeve is further provided with a self-locking sliding groove which extends towards the gear teeth, the self-locking block is in sliding connection with the self-locking sleeve through the self-locking sliding groove, the self-locking block comprises a self-locking block first end and a self-locking block second end, and the self-locking block first end is provided with a clamping piece which is interlocked with the gear teeth; and a magnetic pole is arranged at the second end of the self-locking block, and in an electrified state, the electromagnetic coil adsorbs the magnetic pole, so that the clamping piece is separated from the gear teeth, and the interlocking is released.
Optionally, the adhesion layer is an array of micro-protrusions made of a dielectric elastic soft material.
Optionally, the gripping assemblies are arranged in an array on the base to form a gripping array.
Optionally, the gripping device further comprises at least one supporting component, each supporting component is composed of a supporting unit and a magnetic control sliding unit, and the supporting unit comprises: a support panel, an electret self-sensing layer and a rotatable ball block; the electret self-sensing layer is fixedly arranged on the lower surface of the support panel so as to monitor the support state of the support panel on the target object, and the rotatable ball block is embedded on the lower surface of the electret self-sensing layer and can drive the support panel to rotate so as to support the target object in a self-adaptive manner.
Optionally, the grabbing device comprises 1-10 supporting units, and the supporting units are uniformly distributed in the grabbing array.
Optionally, the grabbing device comprises 2 supporting units, and the supporting units are symmetrically arranged in the grabbing array.
Optionally, the gripping device comprises 4 supporting units, which are respectively arranged at 4 corners of the gripping array.
Compared with the prior art, the invention has at least the following beneficial effects:
The gripping device provided by the invention can be suitable for target objects with different shapes and different angles, can realize real-time self-powered monitoring of contact force and displacement in the process of adhesion and desorption, and has the characteristics of high integration level, small volume, strong adaptability and the like.
Drawings
Fig. 1 is a schematic structural diagram of a magnetic control variable configuration array self-sensing space adhesion grabbing device.
Fig. 2 is an exploded view of a single grasping assembly of the invention.
Fig. 3 is a front view of the adhesion unit 1 and the magnetron sliding unit 2.
Fig. 4 is a sectional view A-A of fig. 3.
Fig. 5 is a schematic view of the structure of the sliding rod sleeve 206.
Fig. 6 is a schematic diagram of the overall state of an object adhered by the magnetron configuration array self-sensing space adhering and grabbing device.
Fig. 7 is a schematic structural diagram of the magnetic control variable configuration array self-sensing space adhesion grabbing device in adhesion with a target object.
The attached drawings are identified:
Adhesive unit 1
Adhesive panel 101
Adhesive layer 1011
Electret self-sensing layer 102
Recess 1021
Rotatable ball 103
Magnetic control sliding unit 2
Slide bar 201
First end 2011 of slide bar
Second end 2012 of slide bar
Arcuate chute 2013
Triboelectric self-sensing layer 202
Axial electromagnetic unit 203
Transverse electromagnetic unit 204
Projection 2041
Slide bar spring 205
Sliding rod sleeve 206
Permanent magnet 207
Slide bar chute 208
Gear teeth 209
Self-locking unit 3
Self-locking block 301
Clip 3011
Magnetic pole 3012
Electromagnetic coil 302
Self-locking sleeve 303
Base 4
Target object 5
Support unit 6
Support panel 601.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are directions or positional relationships based on the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; may be a mechanical connection; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1, a magnetically controlled variable configuration array self-sensing space adhesion grabbing device of the present invention comprises: a base 4 and a plurality of grabbing components. Each grasping element comprises: the adhesion unit 1 is correspondingly connected with the adhesion unit 1 and provided with a magnetic control sliding unit 2. In order to realize the universal application of grabbing target objects with different shapes, the grabbing components are arranged in an array form to form a grabbing array.
As shown in fig. 2, the adhesion unit 1 includes: an adhesive panel 101, an electret self-sensing layer 102 and a rotatable ball 103.
An adhesive layer 1011 is provided on the upper surface of the adhesive panel 101 to adhere the target 5 (see fig. 6). In this example, the adhesion layer 1011 is an array of micro-protrusions made of a dielectric elastic soft material, which can adhere to the target object 5 based on van der waals force effect after being attached to the target object 5 in a weightless state, so as to adhere to and grip the target object 5.
The electret self-sensing layer 102 is fixedly arranged on the lower surface of the adhesion panel 101, so as to monitor the grabbing state of the adhesion panel 101 on the target object 5, and determine whether to grab the target object successfully.
The rotatable ball 103 is embedded in the lower surface of the electret self-sensing layer 102, and can drive the adhesion panel to rotate so as to adaptively adhere the target object 5. In this example, a recess 1021 matching with the rotatable ball 103 is provided on the lower surface of the electret self-sensing layer 102, and the rotatable ball 103 is fixed to the recess 1021 in an adhesive manner.
Herein, "self-adapting" refers to that the adhesion panel 101 is driven to rotate by the rotatable ball 103 by a certain angle according to the angle of the contact surface of the adhesion panel with the adhered target object 5, so that the contact surface is matched and attached, and further the target object 5 is grabbed.
As shown in fig. 2, the magnetically controlled sliding unit 2 includes: slide bar 201, triboelectric self-sensing layer 202, axial electromagnetic unit 203, slide bar spring 205, and slide bar sleeve 206. The slide bar 201 is axially movable within the slide bar sleeve 206.
As shown in fig. 3 and 4, the slide bar 201 includes a slide bar first end 2011 and a slide bar second end 2012. The slide bar first end 2011 is provided with an arcuate chute 2013 that mates with the rotatable knob 103 such that the rotatable knob 103 can rotate within the arcuate chute 2013. The rotatable ball 103 is slidably connected with the slide rod 201 through the arc chute 2013, and the rotatable ball 103 cannot deviate from the arc chute 2013 during rotation.
The triboelectric self-sensing layer 202 is disposed on the outer wall of the sliding rod 201 and between the sliding rod 201 and the sliding rod groove 206 to monitor the friction force between the sliding rod 201 and the sliding rod groove 206, and the friction force is converted into an electric signal, so as to obtain the motion state and position information of the sliding rod 201, and the motion state and position information are used for monitoring the adhesion condition of each unit, so that the follow-up control is facilitated.
The axial electromagnetic unit 203 is sleeved on the side wall of the sliding rod 201, and is close to the second end 2012 of the sliding rod.
As shown in fig. 5, the sliding rod sleeve 206 is fixed on the base 4, and a permanent magnet 207 is disposed at the bottom of the sliding rod sleeve 206 and cooperates with the axial electromagnetic unit 203, and in the energized state, the magnetic attraction force between the two can pull the sliding rod 201 toward the base 4. One end of the slide bar spring 205 is fixed at the bottom of the slide bar sleeve 206, and the other end is sleeved at the second end 2012 of the slide bar. In some embodiments, the sliding rod spring 205 is fixed on the permanent magnet 207 or is surrounded around the permanent magnet 207, such that the axis of the sliding rod spring 205 coincides with the center of the permanent magnet 207.
In some embodiments, two opposite side walls of the sliding rod sleeve 206 are respectively provided with a sliding rod chute 208 along the axial direction; the sliding rod 201 is further provided with a transverse electromagnetic unit 204, and the transverse electromagnetic unit 204 extends to two opposite side walls of the sliding rod sleeve 206 to form a protrusion 2041, which cooperates with the sliding rod chute 208 to block the sliding rod 201 and prevent the sliding rod from sliding downwards (i.e. towards the direction of the base 4). In the energized state of the transverse electromagnetic unit 204, the projection 2041 is retracted and the slide bar 201 is unlocked from the slide bar sleeve 206.
In some embodiments, the sliding bar sleeve 206 has a semi-enclosed structure. A plurality of gear teeth 209 are axially arranged on the sliding rod 201 at intervals. The gripping assembly also comprises a self-locking unit 3 comprising: a self-locking block 301, a solenoid 302 and a self-locking sleeve 303. The self-locking sleeve 303 is of a semi-surrounding structure, is fixed on the base 4, is arranged opposite to the sliding rod sleeve 206, and encloses the sliding rod 201 therein. The electromagnetic coil 302 is fixed on the inner side wall of the self-locking sleeve 303 far away from the sliding rod 201 and points to the gear teeth 209 on the sliding rod, namely, the electromagnetic coil 302 extends towards the gear teeth 209. The self-locking sleeve 303 is further provided with a self-locking chute (not shown) near the inner side wall of the sliding rod 201, which extends towards the gear teeth 209, and the self-locking block 301 is slidably connected with the self-locking sleeve 303 through the self-locking chute. The self-locking block 301 comprises a self-locking block first end and a self-locking block second end, wherein the self-locking block first end is provided with a clamping piece 3011 which is interlocked with the gear teeth 209 to prevent the sliding rod 201 from sliding; and a magnetic pole 3012 is arranged at the second end of the self-locking block, and in an electrified state, the electromagnetic coil 302 adsorbs the magnetic pole 3012, so that the clamping piece 3011 is separated from the gear teeth 209, and the interlocking is released.
In some embodiments, as shown in fig. 1, the gripping device further includes at least one supporting component, each supporting component includes a supporting unit 6, and each supporting unit 6 is correspondingly connected to and provided with a magnetic control sliding unit 2. The support unit 6 includes: support panel 601, electret self-sensing layer 102 and rotatable ball 103. The electret self-sensing layer 102 is fixedly arranged on the lower surface of the support panel 601 so as to monitor the support state of the support panel 601 on the target object 5, and the rotatable ball 103 is embedded on the lower surface of the electret self-sensing layer 102 so as to drive the support panel 601 to rotate so as to support the target object 5 in a self-adaptive manner. The support unit 6 is different from the adhesion unit 1 in that an adhesion layer is not provided on the outer surface of the support unit 6. After the support panel 601 of the support unit 6 is close to the target object, the support panel 601 is only attached and not grabbed, and when the target object needs to be desorbed, the support panel 601 plays a role in supporting. In some embodiments, the gripping device comprises 1-10 support assemblies, preferably evenly distributed in the gripping array. In some embodiments, the supports are symmetrically disposed.
In some embodiments, the gripping device comprises 2 support units symmetrically arranged in the gripping array, e.g. two support units arranged along a diagonal of the gripping array.
In some embodiments, the gripping device comprises 4 support units, separated at 4 corners of the gripping array.
When the target object is required to be adhered, the transverse electromagnetic unit 204 and the self-locking unit 3 are started, the power is applied, the locking state of the sliding rod 201 is released, the adhering unit 101 is close to the target object, the adhering unit 101 automatically adjusts the angle under the rotation of the rotatable ball 103, so that the adhering unit 101 is tightly adhered to the target object, and the sliding rod 201 slides under the acting force of the target object to automatically adjust the height of the magnetic control sliding unit 2 so as to adapt to different convexities of the target object. The slide bar 201 remains fixed in position relative to the slide bar housing 206 when the force of the slide bar spring 205 and the force of the target object cancel each other. After the target object is successfully adhered, the self-locking unit 3 is powered off, the magnetic pole 3012 is not adsorbed by the electromagnetic coil 302, and the gear teeth 209 on the sliding rod 201 and the clamping piece 3011 of the self-locking block 301 are mutually locked; at the same time, the transverse electromagnetic unit 204 is de-energized, its protrusion 2041 extending, seizing the slide bar chute 208. Wherein, the self-locking unit 3 is locked in one direction, the locking force is stronger, and the locking is automatically performed instantly after adhesion. The transverse electromagnetic unit 204 is bi-directional but requires manual post-adhesive locking to supplement. The overall state of the magnetic control variable configuration array self-sensing space adhesion grabbing device adhesion target object is shown in fig. 6, wherein the structural morphology of the magnetic control variable configuration array self-sensing space adhesion grabbing device is shown in fig. 7 under the adhesion target object state.
In the process of adhering the adhering unit 1 and the target object 5 to the desorption process, the electret self-sensing layer 102 converts vibration of the adhering panel 101 into an electric signal, so that real-time monitoring of the adhering and desorption process is realized. When the sliding rod 201 moves along the sliding rod sleeve 206, the triboelectricity on the sliding rod 201 converts the friction energy into electric energy from the sensing layer 202, and is used for real-time monitoring of the moving state and the position of the sliding rod 201.
When the target object needs to be desorbed, an operator starts the transverse electromagnetic unit 204 of the grabbing assembly, the bulge 2041 retracts, and the sliding rod 201 is unlocked from the sliding rod sleeve 206; the operator starts the axial electromagnetic unit 203 of the grabbing assembly, the permanent magnet 207 and the adsorption force of the axial electromagnetic unit 203 pull the sliding rod 201 to slide towards the base 4, and the adhesion unit 1 is driven to be separated from the target object 5 under the support of the support unit 6 (the support assembly is kept motionless in the desorption process).
The grabbing device takes a space target object in a gravity-free floating state as a grabbing object, and performs adhesion grabbing on the target object based on Van der Waals force. It can be appreciated that the gripping device of the present invention can grip objects of different shapes from different angles, for example, the gripping device can be placed side by side and adhered to and gripped laterally; or can be placed upside down and adhered and grabbed from the lower surface.
The gripping device of the present invention of course comprises a power source for providing energy; a signal processing system or controller may also be included, but these are not part of the improvement of the present invention and are not described in detail.
In summary, according to the magnetic control configuration-variable array self-sensing space adhesion grabbing device, configuration-variable adhesion of the array is achieved through a magnetic control method, and real-time monitoring of grabbing states is achieved through the self-sensing unit. After the adhesion device approaches to the target object, the array type adhesion unit panel contacts with the target object, and the panel array angle self-adaptive adjustment is realized through the self-rotation of the rotatable ball block under the contact force of the target object. Meanwhile, the sliding rod of the magnetic control sliding unit array is retracted under the pushing of the protrusion of the target object, so that the height of the panel array is adaptively adjusted. The angle and height self-adaptive adjustment function can maximize the contact area between the adhesion panel and the target object, so as to effectively adhere and grab the target object. When the adhesion is required to be removed, the adhesion panel of the adhesion unit is pulled to be separated from the adhered surface of the target object through the adsorption action of the axial electromagnetic unit and the permanent magnet. Meanwhile, the electret self-sensing unit of the adhesion unit panel monitors the adhesion process in real time. The friction electricity of the adhesion unit sliding rod monitors the position and the speed of the sliding rod in real time from the sensing unit. Compared with the prior art, the invention can realize the drive-sensing-control integrated design of the whole process of adhesion-desorption in a limited volume, and has the characteristics of high integration level, small volume, variable configuration, strong adaptability and the like.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (8)
1. The utility model provides a magnetic control becomes configuration array self-sensing space and adheres grabbing device which characterized in that includes: the base and the plurality of grabbing components are arranged on the base; each grasping element comprises: an adhesion unit and a magnetic control sliding unit;
The adhesion unit includes: an adhesive panel, an electret self-sensing layer and a rotatable ball; an adhesive layer is arranged on the upper surface of the adhesive panel so as to adhere the target object; the electret self-sensing layer is fixedly arranged on the lower surface of the adhesion panel so as to monitor the grabbing state of the adhesion panel on the target object, and the rotatable ball block is embedded on the lower surface of the electret self-sensing layer;
The magnetic control sliding unit comprises: the device comprises a sliding rod, a friction electricity self-sensing layer, an axial electromagnetic unit, a sliding rod spring and a sliding rod sleeve; the sliding rod can move in the sliding rod sleeve along the axial direction; the sliding rod comprises a first end and a second end, the first end of the sliding rod is provided with an arc-shaped sliding groove which is matched with the rotatable ball block, so that the rotatable ball block can rotate in the arc-shaped sliding groove to drive the adhesion panel to rotate so as to adaptively adhere the target object; the triboelectric self-sensing layer is arranged on the outer wall of the sliding rod and is positioned between the sliding rod and the sliding rod groove so as to monitor the motion state and/or the position information of the sliding rod; the axial electromagnetic unit is sleeved on the side wall of the sliding rod and is close to the second end of the sliding rod; one end of the sliding rod spring is fixed at the bottom of the sliding rod sleeve, and the other end of the sliding rod spring is sleeved at the second end of the sliding rod; the sliding rod sleeve is fixed on the base, and a permanent magnet is arranged at the bottom of the sliding rod sleeve and matched with the axial electromagnetic unit so as to pull the sliding rod towards the base;
The sliding rod sleeve is of a semi-surrounding structure; a plurality of gear teeth are arranged on the sliding rod at intervals along the axial direction; the grabbing component further comprises a self-locking unit; the self-locking unit includes: the self-locking piece, the electromagnetic coil and the self-locking sleeve; the self-locking sleeve is of a semi-surrounding structure and is fixed on the base, is arranged opposite to the sliding rod sleeve, surrounds the sliding rod, and is fixed on the inner wall of the self-locking sleeve far away from the sliding rod and points to the gear teeth; the self-locking sleeve is further provided with a self-locking sliding groove which extends towards the gear teeth, the self-locking block is in sliding connection with the self-locking sleeve through the self-locking sliding groove, the self-locking block comprises a self-locking block first end and a self-locking block second end, and the self-locking block first end is provided with a clamping piece which is interlocked with the gear teeth; and a magnetic pole is arranged at the second end of the self-locking block, and in an electrified state, the electromagnetic coil adsorbs the magnetic pole, so that the clamping piece is separated from the gear teeth, and the interlocking is released.
2. The magnetic control variable configuration array self-sensing space adhesion grabbing device according to claim 1, wherein sliding rod sliding grooves are axially formed in inner walls of two opposite sides of the sliding rod sleeve; the sliding rod is further provided with a transverse electromagnetic unit, the transverse electromagnetic unit extends out of the protrusion towards the sliding groove of the sliding rod, and the protrusion is matched with the sliding groove of the sliding rod and used for clamping the sliding rod to prevent the sliding rod from moving.
3. The array self-sensing space adhesive gripping device of claim 1, wherein the adhesive layer is an array microprotrusions made of dielectric elastic soft material.
4. The array self-sensing spatial adhesive gripping device of claim 1, wherein the gripping elements are arranged in an array on the base to form a gripping array.
5. The device of claim 4, further comprising at least one support assembly, each support assembly comprising a support unit and a magnetically controlled sliding unit, the support unit comprising: a support panel, an electret self-sensing layer and a rotatable ball block; the electret self-sensing layer is fixedly arranged on the lower surface of the support panel so as to monitor the support state of the support panel on the target object, and the rotatable ball block is embedded on the lower surface of the electret self-sensing layer and can drive the support panel to rotate so as to support the target object in a self-adaptive manner.
6. The magnetically controlled variable configuration array self-sensing spatial adhesive gripping device of claim 5, wherein the gripping device comprises 1-10 support units uniformly distributed in the gripping array.
7. The magnetically controlled variable configuration array self-sensing spatial adhesive gripping device of claim 5, wherein the gripping device comprises 2 support units symmetrically disposed in the gripping array.
8. The magnetically controlled variable configuration array self-sensing spatial adhesive gripping device of claim 5, wherein the gripping device comprises 4 support units disposed at 4 corners of the gripping array.
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| CN202211699369.7A CN115922761B (en) | 2022-12-28 | 2022-12-28 | Magnetic control variable configuration array self-sensing space adhesion grabbing device |
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| CN210884303U (en) * | 2019-11-11 | 2020-06-30 | 青岛英特盛智能科技有限公司 | A palletizing robot grasping device |
| CN111168701B (en) * | 2019-12-31 | 2021-09-21 | 清华大学 | Controllable adhesion manipulator with adaptive surface curvature |
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| CN113910271A (en) * | 2021-09-09 | 2022-01-11 | 张旭 | Anti-falling gripper for robot |
| CN113954117A (en) * | 2021-10-27 | 2022-01-21 | 合肥科大智能机器人技术有限公司 | Self-adaptive mechanical claw based on Van der Waals force and friction force |
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