| 摘要 |
A grapple device having a serial hinged structure and driven by single-acting cylinders with elastic bellows covers, said grapple device consisting of a palm and two flexible fingers, or of a palm and three flexible fingers. The structure of each flexible finger is identical and consists primarily of a single-acting cylinder (10) with an elastic bellows cover and serially-connected hinges (4); a torsion spring (5, 6) is arranged upon the shaft of each hinge, the specific parameters and pre-tension angle of each leaf torsion spring (5, 6) being optimally designed according to the features of the object to be grasped; the grapple device relies upon drive furnished by single-acting cylinders (10) with elastic bellows covers to provide gripping force. The present grapple device belongs to the technical fields of robotics or mechatronics and is applicable to grasping easily-broken fragile objects, or oddly-shaped objects of varying shapes or sizes, and when coupled to a robot body, is particularly suited to picking up, sorting or packaging food, agricultural or light-industrial products in the fields of production or logistics. |
