Robot electric gripper

A robot and gripper technology, applied in the field of robot electric grippers, can solve the problems that materials cannot be grasped, grasping speed, grasping force cannot be adjusted, and the gripper is not flexible enough to achieve clamping speed Fast, small impact load, stable transmission effect

Inactive Publication Date: 2014-12-17
FUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this kind of gripper is not flexible enough, and the gripping speed and gripping force cannot be adjusted, which will cause many materials to be unable to be gripped, such as eggs.

Method used

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  • Robot electric gripper
  • Robot electric gripper
  • Robot electric gripper

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0020] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0021] Such as figure 1 , 2 , 3, the robot electric gripper can be divided into three parts, namely: the drive-control part composed of the motor drive module inside the motor 17, the cover 1; the harmonic reducer 18, the worm 11, the worm gear The deceleration-power-increasing part formed by the curved rod 9 (ie, the crooked connecting rod); The harmonic reducer 18 is positioned through the first flange 12, the motor 17 is connected to the harmonic reducer 18 through the second flange 13, and the entire electric gripper is ensured to be compatible with the robot through the third flange 14. Finally, the gripper is fixed to the robot through the fourth flange 15. The casing made of case cover one 2 and case cover two 5 is used for fixing the parallel clamping structure.

[0022] Such as Figure 4 As shown, the connection ...

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PUM

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Abstract

The invention provides a robot electric gripper, which comprises a flange base, wherein the middle part of interior of the flange base is provided with a worm, the two sides of the worm are provided with one pair of fan-shaped worm wheels which are engaged with the worm and rotate in the same direction, the axes of the pair of fan-shaped worm wheels are respectively and fixedly connected with a crank connecting rod, the lower end of each crank connecting rod is hinged to a hand claw, the pair of fan-shaped worm wheels are fixedly arranged in a box body, the interior of the box body is hinged to curved rods which are parallel with the crank connecting rods, the lower end of each curved rod is connected with each hand claw, and the crank connecting rods, the curved rods and the hand claws form a parallel double-crank mechanism. The gripper has the advantages that a brushless direct current flat motor is used for driving, so the gripping force, gripping speed and position can be more flexibly and conveniently controlled; by designing the gripping method of fitting the worm wheels and the worm, the parallel double-crank mechanism is adopted, and the hand claws are always parallel in the gripping process; meanwhile the strength of the gripping mechanism is improved, the impact load in the gripping process is little, the transmission is stable, and the noise is low.

Description

technical field [0001] The invention relates to a robot electric gripper. Background technique [0002] The robot gripper is a robot component that can realize functions similar to human hands. It is one of the important actuators used to hold workpieces or tools. It is not only a sensor and final actuator that actively senses information about the working environment, but also a highly integrated Mechatronic systems with perception and intelligence. In the entire robot system, the application of the gripper is the core of the entire working process, which determines the working quality and efficiency of the entire robotic arm. The usual gripper generally adopts a finger cylinder of a pneumatic mechanism, or a vacuum suction cup. These grippers are simple and convenient to use, and can be operated with only one switch signal, and the cost is low. However, this kind of gripper is not flexible enough, and the gripping speed and gripping force cannot be adjusted, which will ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08B25J9/12
Inventor 吴海彬蒋佑煊林涛李炜兵黄家源
Owner FUZHOU UNIV
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