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A gripper and segment technology, which is applied in the direction of chucks, manipulators, program control manipulators, etc., can solve the problems of increasing gripper mechanism segments, reducing reliability, and high number of parts
Inactive Publication Date: 2015-09-09
ABB (SCHWEIZ) AG
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[0004] A disadvantage within the prior art is that the number of components required for such a parallelogram structure is very high due to the bearings
This would on the one hand increase the work of constructing and manufacturing such a jaw mechanism segment and on the other hand would reduce the reliability of such a segment since individual components are potential sources of failure
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[0037] figure 1 A top view of a first exemplary jaw mechanism segment 10 is shown. The two parallel-arranged rod-shaped couplings 12 , 14 , the first coupling holder 16 and the second coupling holder 18 are arranged in a parallelogram configuration, in particular in the special case of a rectangular configuration. For the compliant connection between those four elements, four hinges implemented as plates of elastic material are foreseen, one of which is marked with the reference numeral 22 in this figure. Four pivot axes - one around each plate of elastic material 22 - are marked with the reference numeral 20 . The term "pivot axis 20" is not quite correct since each elastic material plate 22 has a longitudinal extension and the pivoting is achieved by deformation of the corresponding part of the elastic material plate along the longitudinal extension. In any event, for reasons of easier description of the invention, the deformation of the plate of elastic material should be...
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Abstract
The invention is related to a gripper mechanism segment (10, 40, 74, 76, 78, 80), comprising two bar-like links (12, 14, 42, 44, 108, 110), a first (16, 46, 86, 88) and a second (18, 48) link holder which are connected together by four hinges to a pivotable parallelogram structure, whereas the four axis of pivoting (20, 84, 102) are in parallel. The hinges are carried out as elastic material plates (22, 104). The invention is also related to a gripper mechanism, comprising a base body (90), two gripper mechanism segments (10, 40) according to claim 7 or 8, which are connected thereto with their first link holders (16, 46, 86, 88) in that way, that the parallelogram structures are moveable in the same plane and obverse each to each other. The belonging second link holders (18, 48) are connected with a finger bar (62, 64) each, so that an object (66) inbetween the two finger bars (62, 64) can be gripped by pivoting the parallelogram structures against each other.
Description
technical field [0001] The invention relates to a jaw mechanism segment comprising two rod-shaped links, a first link holder and a second link holder, which are jointly connected by four hinges into a pivotable parallelogram structure, and The four pivot axes are parallel. The invention also relates to a jaw mechanism having two jaw mechanism segments. Background technique [0002] It is known that robots or other manipulators must be equipped with gripper mechanisms or gripper tools for some manipulation or manufacturing tasks, which include gripper fingers similar to the fingers of a human hand. The belonging clamping process itself may correspond to clamping the object to be clamped between at least two clamping jaw fingers, which are movable relative to each other. To enable such a clamping process, for example one movable and one fixed gripper finger, two movable and one fixed gripper fingers, or three movable gripper fingers Gripper mechanisms for moving jaw fingers...
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