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Double-finger double-driving translation clamping type flexible grip and control method

A dual-drive, clamping technology, applied in the direction of collets, manipulators, manufacturing tools, etc., can solve the problems of poor flexibility and lack of force perception ability of flexible grippers, and achieve easy open modular configuration and improved force control accuracy , the effect of improving flexibility

Active Publication Date: 2013-11-13
SHANDONG ACAD OF SCI INST OF AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The flexible grippers used in industrial robots have poor flexibility and lack of force perception, especially the research on flexible grasping strategies. The movement and force of objects cannot be realized through active control of each finger

Method used

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  • Double-finger double-driving translation clamping type flexible grip and control method
  • Double-finger double-driving translation clamping type flexible grip and control method
  • Double-finger double-driving translation clamping type flexible grip and control method

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Embodiment Construction

[0035] The present invention is described in detail below in conjunction with accompanying drawing:

[0036] Such as figure 1 As shown, the gripper includes a left finger 17 and a right finger 1, the left finger 17 and the right finger 1 are arranged under the main frame 4, and the left finger 17 and the right finger 1 pass through the lead screw 33 respectively. Under action, it can slide back and forth along the sliding guide rail on the main frame 4, and the left finger 17 and the right finger 1 are respectively driven by a set of drive systems. The left finger 17 is equipped with a left finger force sensor 18, and the right finger 1 is equipped with a right finger sensor 19.

[0037] The driving system of the left finger 17 includes a left finger motor 13, and the left finger motor 13 drives the synchronous pulley I16, and the synchronous pulley I16 drives the synchronous pulley II15 through the synchronous toothed belt I14, and the output shaft of the synchronous pulley ...

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Abstract

The invention discloses a double-finger double-driving translation clamping type flexible grip and a control method. The double-finger double-driving translation clamping type flexible grip comprises double servo motor systems, double motor end synchronous pulleys, double positioning sliding guide rail systems, double ball screw systems, double screw synchronous pulleys, double finger paws, a U-shaped main rack of the grip and a main rack cover plate, wherein the coordinating fetching action of two paws is realized by the control on two servo motors. A fetching method is characterized in that the double motors are used as power, double fingers are respectively fixedly arranged on two screw guide rail synchronous switching modules, through the rotation of two synchronous toothed belts between the double motor end synchronous pulleys and the ends of the double screw end synchronous pulleys, the rotation of the motor is converted into linear motion by a screw, so that the double fingers are translated respectively along two positioning sliding guide rails, and the translation switching on and off of the double paws along double guide rail surfaces can be realized. Due to the fact that the device is used for independently driving the corresponding paws to move by the double motors, so that the double fingers can more flexibly move, and different fetching speeds can be set for the double fingers, and the position precision is high.

Description

technical field [0001] The invention specifically discloses a two-finger, double-drive translation clamping type flexible gripper and a control method. Background technique [0002] The function of the robot is mainly reflected by grabbing objects with claws and operating them. Therefore, the research on the claw occupies an extremely important position in the entire robot technology. It is generally installed on the front end of the robot to perform various operations. It is defined as: "the part of the robot that can directly act on the work object." At present, grippers driven by motors usually only need one motor to control two-finger grasping to realize two-finger symmetrical grasping. The two-finger translation gripping gripper is currently the most widely used one. It can clamp the outside of the object with the inner surface of the finger, or extend the finger into the hole of the object, spread the two fingers through translation, and clamp the object with the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08B25J13/08
Inventor 王学林孙洁刘成业赵永国范新建王其林
Owner SHANDONG ACAD OF SCI INST OF AUTOMATION
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