Large multi-sensor integration electric claw

Abstract

A large multi-sensor integrated electric gripper belongs to the technology field of machinery. A motor support, a joint part and a video camera are clamped between a lower plate and an upper plate, and the joint part is positioned on the geometrical center axis of the gripper; a first gear shaft, a second gear shaft and a third gear shaft are all connected between the lower plate and the upper plate; a decelerating motor is fixed on the motor support, a small bevel gear is arranged on the reduction motor, a big bevel gear and a pinion are coaxially fixed on the first gear shaft, a rack wheel and a first contra-rotating gear are coaxially fixed on the second gear shaft and a second contra-rotating gear is fixed on the third gear shaft. A right finger component and a left finger component are connected between the lower plate and the upper plate; the gripper is covered by an outer covering at the periphery outside; a multi-sensor system is integrated in the gripper mechanism. The gripper is capable of providing a positive pressure of 1685N at the finger tip of the gripper, a relative switching speed of the two finger tips at 74mm / s and a switching range of 300mm, and is widely applied to various industrial fields.

Description

technical field [0001] The invention relates to a device in the field of mechanical technology, specifically, a large-scale multi-sensor integrated gripper. Background technique [0002] The gripper is a very important terminal tool in the technical field of robots, especially industrial manipulators. The robotic arm responds to different needs by using various types of claws, grabs different objects, and completes corresponding tasks. The electric gripper in the opening and closing mode can be continuously controlled, has high motion precision, and has a wide range of applications. In order to cope with complex operations in an uncertain environment, the gripper is required to carry or be equipped with a corresponding sensor system to sense external environmental information. Therefore, indicators such as load capacity, mechanism, and sensor system integration are very important for judging the performance of the gripper and determining the application space of the grippe...

AI Technical Summary

Problems solved by technology

The weak point of this invention is: (1) although the mechanism that uses nut screw rod to cooperate has provided mechanical self-locking ability, but friction is big and efficiency is low; Poor versatility; if a longer structural finger is designed, the overall stiffness will decrease rapidly; (3) It only describes the multi-sensor equipment, but does not indicate the specific installation space, installation status, serial number and other information, and cannot explain how to carry out integrated design and integration

(4) The displacement sensor relying only on the incremental code disc principle cannot obtain the absolute position information of the finger, and cannot measure the size of the workpiece in the clamping direction

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