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Gripper with heavy load and wide range

A gripper, wide-range technology, applied in the field of large-load, wide-range clamping devices, can solve the problems of complex structure and control, high cost, limited clamping range, etc., and achieve the effect of less degrees of freedom

Inactive Publication Date: 2010-02-17
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The problems existing in the above two types of manipulators: industrial grippers can grip large-mass objects, but their gripping range is limited, requiring regular gripping objects, which are generally dedicated to specific objects; although dexterous hands can achieve flexible and diverse Fine operation, but most of the bionic grippers are only used in laboratories at present, and most of them are designed for small loads, small shape changes or experimental applications, and most of them have complex structures and controls, and the cost is relatively high. high

Method used

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  • Gripper with heavy load and wide range
  • Gripper with heavy load and wide range
  • Gripper with heavy load and wide range

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Embodiment Construction

[0031] Such as figure 1 As shown, the present invention takes a clamper with three fingers A1, B2, C3, and each finger has two finger rods as an embodiment. Two fingers B2, C3 are arranged and one finger A1 is arranged on the other side. The number of the fingers is not limited to three, as long as the installation position of the fingers on one side is staggered from the installation position of the fingers on the other side, and no interference occurs during the movement of the fingers. The present invention also includes a transmission case 4 for arranging the driving device and installing the hands, and a connecting flange 5 that can be installed on the robot. The transmission case 4 can also be in other shapes that are convenient for installation and placement, and is not limited thereto.

[0032] Such as figure 2 As shown, the finger A1 is composed of a first finger A101 and a second finger A102; wherein the first finger 101A and the sector gear 108 are connected to ...

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Abstract

The invention discloses a gripper which adopts a connecting rod for transmission and has wide range as well as heavy load, comprising a transmission box body, a plurality of finger parts used for grasping articles and a flange used for being connected with a robot; each finger part comprises two finger rods, wherein the first finger rod adopts a gear wheel for driving, and a second finger rod adopts a connecting rod for driving; articles with different diameters can be gripped in an circular enveloping way through the linkage of all finger parts and the finger rods thereof. The gripper is driven only by one motor and adopts a synchronous belt and a gear set which are both positioned inside the box body in the transmission from the motor to the finger rods in the transmission box body. Thegripper has the advantages of more contact points of grasped articles, heavy load, high grasping stability, high reliability, and the like.

Description

technical field [0001] The invention relates to a clamping device with a large load and a wide range, in particular to a multi-joint clamper which can be used for connecting rod transmission in various fields such as scientific experiment, industry and entertainment. Background technique [0002] At present, there are mainly two kinds of manipulators: one is an industrial gripper, which usually means that its structure is fixed according to the shape of the gripping object. Industrial grippers have fewer degrees of freedom and generally only have one movable joint. Since its structure is fixed with the shape of the clamped object, such an industrial clamp is what we usually call a special clamp. The other is the intelligent robot dexterous hand developed by scientists in the 1960s. The characteristic of this type of gripper is that its mechanical structure is similar to that of a human hand. It has multiple movable joints and more degrees of freedom. It can grip different ...

Claims

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Application Information

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IPC IPC(8): B25J15/00
Inventor 战强杨双龙马健胡维蔡尧段三军
Owner BEIHANG UNIV
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