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Paw for double-position grabbing

A dual-position, gripper technology, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve the problems of easy damage to special-shaped targets, poor stability, poor grasping flexibility, etc., and achieve novel structure settings, low manufacturing costs, and structural simple effect

Inactive Publication Date: 2016-01-20
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention solves the problem that the manipulator can only grab a part of the sample during use, and when grabbing a special-shaped object, the stability and flexibility of grabbing are poor, and at the same time, the problem that the grabbing method is simple and easy to damage the special-shaped target , and then propose a two-position grasping gripper

Method used

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  • Paw for double-position grabbing
  • Paw for double-position grabbing

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Experimental program
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specific Embodiment approach 1

[0014] Specific implementation mode one: combine figure 1 with figure 2 Describe this embodiment, the gripper in this embodiment includes a housing 1, a motor 2, a transmission component and two grasping parts 4;

[0015] Both the motor 2 and the transmission parts are located in the casing 1, and the transmission parts include a first set of gear pairs 3-1, a driving gear connecting shaft 3-2, a driving gear 3-3, a slider 3-4, and a fixed plate 3 -9, two sets of second sets of gear pairs 3-5, two lead screws 3-6, two connecting rods 3-7, two elastic struts 3-8 and two fixed rods 3-10, the motor The output shaft of 2 is connected with one end of the driving gear connecting shaft 3-2 through the first set of gear pairs 3-1, and the other end of the driving gear connecting shaft 3-2 is set with a driving gear 3-3, and the driving gear 3-3 respectively meshes with two sets of second sets of gear pairs 3-5 arranged side by side, and the second set of gear pairs 3-5 is arranged ...

specific Embodiment approach 2

[0020] Specific implementation mode two: combination figure 1 with figure 2 Describe this embodiment. In this embodiment, the side surface of the second position grabbing block 4-4 close to the other grabbing part 4 is processed with a groove along its length direction. The elastic component 4 corresponding to the second position grabbing block 4-4 -3 and the first position grasping block 4-2 are both arranged in the groove. The arrangement of the groove in this embodiment is to more effectively shorten the stroke between the grabbing block 4-4 at the second position and the grabbing block 4-2 at the first position. The elastic component 4-3 and the first position grab block 4-2 corresponding to the second position grab block 4-4 refer to the first position grab block 4-2, the elastic component 4-3 and the first position grab block 4-2 in the same gripping part 4. Second position grabs block 4-4. Other unmentioned structures and connections are the same as those in the fir...

specific Embodiment approach 3

[0021] Specific implementation mode three: combination figure 1 with figure 2 This embodiment is described. In this embodiment, the upper end of each elastic strut 3-8 is hinged on the connection handle 4-1 which is connected close to the fixed rod 3-10. Other unmentioned structures and connections are the same as those in the first or second embodiment.

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Abstract

The invention discloses a paw for double-position grabbing, and relates to a paw. A manipulator is capable of grabbing one part of a sample only during a use process, and is low in grabbing stability and flexibility while being used for grabbing a irregularly-shaped object, and is liable to damage the irregularly-shaped object due to a simple grabbing manner. According to the invention, a motor and a transmission component of the paw disclosed by the invention are both located in a housing, wherein the transmission component comprises a first gear pair, a drive gear connection shaft, a drive gear, a slide block, a fixed plate, two second gear pairs, two lead screws, two connection rods, two elastic support rods and two fixed rods; two grabbing parts are arranged in parallel; the top of each fixed rod is fixedly connected with the bottom of a connection handle of the grabbing part corresponding to said fixed rod; a vertically-arranged second position grabbing block is fixedly connected to the top of each connection handle; a clamping lug is machined at the top of each second position grabbing block; and a face, adjacent to the other grabbing part, of each second position grabbing block, is connected with the outer side surface of the corresponding first position grabbing block through an elastic assembly. The paw disclosed by the invention is used for stably clamping the irregularly-shaped object.

Description

technical field [0001] In particular, the invention relates to a gripper for two-position grasping. Background technique [0002] The purpose of the field trip is to record the natural geography and ecological environment of the surveyed place. Due to the complexity of the research objects in the field trip, it is difficult for the staff to determine the relevant attributes of the research objects on the spot. An effective method for later laboratory research. When the location of the sample or the sample itself is dangerous, it is not suitable for the staff to carry out the sampling work in person. The use of manipulators for grasping effectively solves the problem of the staff personally grasping, but due to the The shapes are different and irregular. Although a few manipulators in the existing manipulators can grasp multiple parts of special-shaped objects, their structures are complex and expensive, and it is difficult to be widely used in field investigations. Most of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12B25J15/08
Inventor 杜志江王伟东毛薇
Owner HARBIN INST OF TECH
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