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Multifunctional manipulator claw

A technology of multifunctional machinery and manipulator claws, which is applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve problems such as the increase of multiple objects, the inability to clamp the claws at the same time, and the clamping force of the claws. Productivity, increased friction, enhanced adaptability effects

Inactive Publication Date: 2013-04-17
JIANGSU ZHONGKE YOUTE ROBOT TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although multi-claws can grab multiple objects at a time, because all the claws are controlled by a set of linkage mechanisms, when grabbing multiple objects, the claws cannot clamp multiple objects at the same time due to the difference in shape of the block objects. block objects or increase the clamping force of the claws in order to clamp multiple objects, and the objects will be damaged
At the same time, in some occasions, it is necessary to move the gripped object to a designated position, arrange it and then pack it. The existing mechanical claws cannot meet the above requirements.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] Such as figure 1 and figure 2 As shown, the multifunctional manipulator claw installed on the robot in this embodiment includes: a skeleton 1, a first joint 2, a left grab claw 3, a right grab claw 4, a left sorting claw 5, a right sorting claw 6, a front claw 7. Rear claw 8, laser sensor 9, friction plate 10, elastic element 11, first pair of guide rails 12, second pair of guide rails 13, third pair of guide rails 14, first slider 15, second slider 16, third pair of guide rails Slider 17, limit plate 18, limit block 19, transmission rod 20, second joint 21, third joint 22, first hydraulic cylinder 23, second hydraulic cylinder 24, third hydraulic cylinder 25.

[0031] The skeleton 1 of the multifunctional manipulator claw is provided with six left grab claws 3 and right grab claws 4 in parallel, wherein the six left grab claws 3 are connected with corresponding first sliders 15, and the first slider 15 is installed on On the first pair of guide rails 12 and can slid...

Embodiment 2

[0038] See Figures 4 to 6 , the multifunctional mechanical gripper provided by this embodiment, with respect to the modification of embodiment 1 is:

[0039] Such as Figure 4 , Figure 5 As shown, a fourth sliding block 31 is provided between the six right claws 4 and the first pair of guide rails 12 , so that the six right claws can slide freely on the first pair of guide rails 12 . A first hydraulic cylinder 23 is arranged on the skeleton 1, and six right grasp claws 4 are connected with the fourth hydraulic cylinder 32 through a second transmission rod 34 and a fourth joint 33, and the second transmission rod 34 passes through the six left grasping claws. Get the through hole 35 of claw 3, when the fourth hydraulic cylinder 32 works, six right grab claws 4 can move relative to the left grab claw 3, and its motion mode is controlled by robot computer. This improvement can increase the maximum distance between the left grabbing claw 3 and the right grabbing claw 4 to ada...

Embodiment 3

[0042] The modification of this embodiment is: replace the first hydraulic cylinder 23, the second hydraulic cylinder 24, the third hydraulic cylinder 25, the fourth hydraulic cylinder 32, the fifth hydraulic cylinder 36 and the sixth hydraulic cylinder with six independent cylinders. The hydraulic cylinder 39 is provided with a small air pump and a high-pressure gas storage tank on the skeleton 1, and uses air pressure as the power source of the manipulator claw, so that the control speed is faster, the pipeline arrangement is convenient, and it is convenient to adjust the air pressure of the gas storage tank according to the type of the object and change the manipulator. claw grip.

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Abstract

The invention relates to a multifunctional manipulator claw which comprises a plurality of pairs of parallel left grabbing claws and right grabbing claws, left settling claws and right settling claws and front claws and back claws. The left settling claws, the right settling claws, the front claws and the back claws form a rectangular framework. All the pairs of left grabbing claws and right grabbing claws, left settling claws and right settling claws and front claws and back claws are all applicable to relative displacement. The multifunctional manipulator claw can grab and move a plurality of objects to the designated position and can settle and array the objects and then tidily place the objects. Friction sheets are arranged on the left grabbing claws and elastic components are arranged on the right grabbing claws so that friction during object grabbing can be increased, and adaptive capacity of the grabbing claws to various objects can be improved. A robot provided with the multifunctional manipulator claw can complete grabbing, settling and carrying of the plurality of objects in one time, and production efficiency of enterprises is improved.

Description

technical field [0001] The invention relates to a multifunctional mechanical claw, which can be installed on a robot, and is used for grabbing multiple objects at one time and sorting them, so as to achieve the purpose of moving, sorting and placing the objects. Background technique [0002] In production lines, warehouses, docks, brick factories and other occasions, the robotic claws of robots are widely used to grab blocky objects and move them to designated positions. Due to the use of computer to control the operation of the mechanical gripper, the process is precise and fast, saving time and effort compared with manual operation. When the mechanical claw grabs the object, it first grabs the object in the direction perpendicular to the target object, moves the object to the target position, and then releases the object. Existing mechanical grippers are divided into single-handed grippers and multi-handed grippers according to the number of grippers. A single-handed cla...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/10
Inventor 骆敏舟孙继斌陈赛旋赵贤相
Owner JIANGSU ZHONGKE YOUTE ROBOT TECH
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